CN110726419B - System for installing accelerometer and gyroscope on vehicle device and correction method - Google Patents
System for installing accelerometer and gyroscope on vehicle device and correction method Download PDFInfo
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- CN110726419B CN110726419B CN201810970368.9A CN201810970368A CN110726419B CN 110726419 B CN110726419 B CN 110726419B CN 201810970368 A CN201810970368 A CN 201810970368A CN 110726419 B CN110726419 B CN 110726419B
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- 238000012937 correction Methods 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000006870 function Effects 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 101
- 230000001133 acceleration Effects 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 20
- 238000010295 mobile communication Methods 0.000 claims description 6
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/50—Service provisioning or reconfiguring
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W8/00—Network data management
- H04W8/22—Processing or transfer of terminal data, e.g. status or physical capabilities
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Abstract
The invention discloses a system for installing an accelerometer and a gyroscope on a vehicle device and a correction method, which consists of a smart phone, the accelerometer, the gyroscope and the vehicle device, wherein the smart phone is used for rapidly installing and correcting the accelerometer and the gyroscope which are installed on the vehicle, and an installer operates the smart phone under normal conditions and is connected with the vehicle device through a Bluetooth online so as to achieve the rapid correction and installation functions of the accelerometer and the gyroscope. By the system and the method for installing the accelerometer and the gyroscope on the vehicle device, an installer can accurately and properly install the accelerometer and the gyroscope at a proper position on the vehicle, and can quickly correct and use equipment, so that the system and the method for installing the accelerometer and the gyroscope on the vehicle device are efficient and convenient to install, and the safe purpose of detecting and managing the vehicle state is achieved.
Description
Technical Field
The present invention relates to installation and calibration of devices for vehicles, and more particularly, to a system and calibration method for installing accelerometers and gyroscopes in a vehicle device.
Background
Currently, when using tools to install accelerometers and gyroscopes in vehicle devices, it is often necessary to manually operate calibration equipment, which is very much affected for the purpose of installation at precise angles, in particular, vehicle devices can be detected in the background by long-distance wireless network means (GPRS, 3G/HSDPA, wiMax, 4G/LTE), then initialized and parameter calibrated for accelerometers and gyroscopes, and manually calibrated by installers, which easily affects calibration time and accuracy due to network communication conditions.
As described above, the method of installing the accelerometer and the gyroscope on the vehicle device still requires the intervention of the user operation or the equipment initialization and parameter correction of the accelerometer and the gyroscope can be performed only remotely, which has the disadvantage that the correction time may be affected by the network problem.
As can be seen from the above, if a method for installing and correcting the equipment of the vehicle device can be found, for example, by using a portable device, the above-mentioned drawbacks of remotely initializing the equipment of the accelerometer and correcting the parameters can be further improved, which is an urgent problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to achieve the purpose of correctly installing the accelerometer and the gyroscope on the vehicle-mounted equipment by a user through simple setting only by a smart phone, so that the detection and the safety management of the vehicle state are simpler and more convenient, and the invention can be applied to the active safety front-mounted service of the vehicle in a vehicle factory, thereby achieving the purpose of simple control and management and saving operation manpower.
To achieve the above and other objects, the present invention provides a system for mounting an accelerometer and a gyroscope to a device for a vehicle, comprising: a vehicle state detecting device, which is arranged in the vehicle and is used for collecting vehicle state information of the vehicle to obtain a vehicle acceleration value and an angular velocity value; a vehicle-mounted device, which is arranged in the vehicle and is used for receiving the vehicle acceleration value and the angular velocity value from the vehicle state detection device, so as to analyze and calculate the vehicle acceleration value and the angular velocity value to obtain a vehicle velocity value and a rotation angle value, and generate correction information when the vehicle velocity value and the rotation angle value respectively exceed a set value and a default deviation angular velocity value; the handheld communication equipment is connected to the vehicle-mounted device through the identity recognition of the vehicle-mounted device, so that a user can control the vehicle-mounted device through the handheld communication equipment to install and correct the accelerometer and the gyroscope, wherein the handheld communication equipment is used for transmitting remote management information with the vehicle-mounted device through a long-distance wireless communication network and transmitting handshake information and correction information with the vehicle-mounted device through a short-distance wireless communication network.
In one embodiment, the vehicle-mounted device is configured to determine whether the vehicle speed value exceeds the set value, notify the handheld communication device via the short-range wireless communication network when the vehicle speed value exceeds the set value, perform the correction of the accelerometer parameter and the hard device, and determine whether the gyroscope mounted on the vehicle exceeds the default offset angular velocity value, and notify the handheld communication device via the short-range wireless communication network when the vehicle speed value exceeds the offset angular velocity value, perform the correction of the gyroscope parameter and the hard device.
In another embodiment, the vehicle-mounted device includes a long-range wireless communication module, a short-range bluetooth communication interface, and a wired transmission interface for connecting to the vehicle status detection device.
In yet another embodiment, the vehicle state detection device includes the accelerometer, the gyroscope, and a wired transmission interface, the wired transmission interface is used for connecting to the vehicle-mounted device, and the accelerometer and the gyroscope are used for obtaining the vehicle state information.
In yet another embodiment, the handheld communication device includes a bluetooth communication interface for short-range connection with the vehicle-mounted device, a mobile communication network for long-range connection with the vehicle-mounted device, and a positioning unit for authentication/setup, emergency contact, and initiation of calibration functions with the vehicle-mounted device. The positioning unit performs positioning using GPS, AGPS, wifi or Cell ID.
In an embodiment, the vehicle-mounted device is a vehicle computer, an external host, a tablet computer or a smart phone, the long-distance wireless communication network is GPRS, 3G/HSDPA, wiMax or 4G/LTE, and the short-distance wireless communication network is Bluetooth communication.
In addition, the vehicle state detection device can be integrated in the vehicle-mounted device.
The invention also provides a correction method for installing the accelerometer and the gyroscope on the vehicle device, which comprises the following steps: the handheld communication equipment is connected with the vehicle-mounted device after identity recognition; the vehicle state detection device obtains the vehicle state information of the vehicle and transmits the vehicle state information to the vehicle-mounted device; the vehicle-mounted device analyzes and calculates the vehicle state information to obtain a vehicle speed value and a rotation angle value of the vehicle; and enabling the vehicle-mounted device to judge whether the vehicle speed value and the rotation angle value exceed a set value and a default deviation angular speed value or not, so as to inform the handheld communication equipment through a short-distance wireless communication network to correct accelerometer parameters and hard equipment or correct gyroscope parameters and hard equipment when the rotation angle value exceeds the set value or the rotation angle value exceeds the default deviation angular speed value.
In addition, the vehicle state information comprises a three-axis angular velocity value and a three-axis acceleration value, the three-axis angular velocity value and the three-axis acceleration value are transmitted to a central processing unit of the vehicle-mounted device to be calculated to obtain the vehicle velocity value and the rotation angle value and stored in a memory of the vehicle-mounted device, and when the vehicle velocity value and the rotation angle value exceed the set value and the default offset angular velocity value, the installation correction of the accelerometer and the gyroscope is executed.
Compared with the prior art, the invention aims to install the accelerometer and the gyroscope on the vehicle device by using the handheld communication equipment such as the smart phone, and the system consists of the smart phone, the accelerometer, the gyroscope, the vehicle-mounted device and the like. Specifically, the smart phone allowing the accelerometer and the gyroscope to be installed is stored in the vehicle-mounted device, one of the gate number/IMSI number/IMEI number/MAC address of the bluetooth device can be used as an identity to control the use object of the vehicle-mounted device, and the vehicle-mounted device can have long-distance wireless (3G/HSDPA, 4G/LTE) communication functions to execute the correction data return function. In addition, when the smart phone is used for installing the accelerometer and the gyroscope on the vehicle device, the device correction operation interface can be immediately started when the vehicle device is connected with the smart phone for the first time according to Bluetooth communication interface signals of the smart phone of a user and the installation interface is started, the Bluetooth signal intensity of the connected smart phone can be detected at any time, and the device installation correction interface can still be automatically started through detecting the Bluetooth signal of the smart phone under the condition that the vehicle electric door is closed or the battery voltage is too low or the signal of long-distance wireless communication is lost or is very weak, so that the correct accelerometer and gyroscope parameter correction and position fixing are carried out, and the purpose of assisting a user in correctly and efficiently installing the accelerometer and the gyroscope on the vehicle device is achieved.
Drawings
FIG. 1 is a system architecture diagram of a system for mounting an accelerometer and gyroscope to a vehicle device of the present invention;
FIG. 2 is a step diagram of a method of calibrating an accelerometer and gyroscope to a vehicle device according to the present invention;
FIG. 3 is a schematic diagram of an embodiment of a system for mounting an accelerometer and a gyroscope to a vehicle device;
FIG. 4 is a flow chart of a calibration method for mounting an accelerometer to a vehicle device according to the present invention; and
FIG. 5 is a flow chart of a calibration method for mounting gyroscopes to in a vehicle in accordance with the present invention.
Symbol description
1. Vehicle-mounted device
11. Long-distance wireless communication module
12. Central processing unit
13. Memory
14. Bluetooth interface
15. Wired transmission interface
2. Hand-held communication device
2' smart phone
21. Long-distance wireless communication module
22. Bluetooth interface
23. Positioning unit
3. Vehicle state detecting device
31. Accelerometer
32. Gyroscope
33. Wired transmission interface
34. Vehicle control interface
4. Short-range wireless communication network
5. Long distance wireless communication network
100-102 steps
200-207 steps
300-307 steps
S201 to S204.
Detailed Description
The advantages and features of the present invention will be readily apparent to those skilled in the art from the following detailed description, given herein. However, that the invention may be practiced or carried out in other various embodiments.
FIG. 1 is a system architecture diagram illustrating a system of the present invention for mounting an accelerometer and gyroscope to a vehicle device. As shown in the drawings, the system for mounting an accelerometer and a gyroscope on a vehicle device of the present invention includes a vehicle-mounted device 1, a handheld communication apparatus 2, and a vehicle state detecting device 3.
The vehicle state detecting device 3 is disposed in the vehicle and is used for collecting vehicle state information of the vehicle to obtain a vehicle acceleration value and an angular velocity value.
In one embodiment, the vehicle state detecting device 3 includes an accelerometer, a gyroscope and a wired transmission interface, wherein the wired transmission interface is used for connecting to the vehicle-mounted device 1, and the accelerometer and the gyroscope are used as sensors for obtaining vehicle state information of the vehicle.
The vehicle-mounted device 1 is also disposed in the vehicle, and in an embodiment, the vehicle-mounted device 1 may be a vehicle computer, an external host, a tablet computer or a smart phone. The vehicle-mounted device 1 is used for receiving the vehicle acceleration value and the angular velocity value from the vehicle state detection device 3 to analyze and calculate the vehicle acceleration value and the angular velocity value to obtain a vehicle velocity value and a rotation angle value, so as to generate correction information when the vehicle velocity value and the rotation angle value respectively exceed a set value and a default deviation angular velocity value.
In one embodiment, the vehicle-mounted device 1 includes a long-distance wireless communication module, a short-distance bluetooth communication interface, and a wired transmission interface, wherein the wired transmission interface is used for connecting with the vehicle status detecting device 3.
The handheld communication device 2 is connected to the vehicle-mounted device 1 through the identity recognition of the vehicle-mounted device 1, and a user can control the vehicle-mounted device 1 through the handheld communication device 2 to install and correct the accelerometer and the gyroscope, wherein the handheld communication device 2 and the vehicle-mounted device 1 are in remote management information transmission through a long-distance wireless communication network 5, for example, the long-distance wireless communication network can be a communication network such as GPRS, 3G/HSDPA, wiMax or 4G/LTE; in addition, the handheld communication device 2 transmits the handshake information and the correction information with the in-vehicle apparatus 1 through a short-range wireless communication network 4, for example, the short-range wireless communication network 4 is bluetooth communication.
In one embodiment, the handheld communication device 2 includes a bluetooth communication interface, a mobile communication network and a positioning unit, wherein the bluetooth communication interface is used for short-distance connection with the vehicle-mounted device 1, the mobile communication network is used for long-distance connection with the vehicle-mounted device 1, and the mobile communication network and the positioning unit can be used for authentication/setting, emergency connection and starting of calibration functions with the vehicle-mounted device 1. In addition, the positioning unit can perform positioning by using GPS, AGPS, wifi or Cell ID
Specifically, the in-vehicle device 1 is configured to determine whether the vehicle speed exceeds the set value, and when the vehicle speed exceeds the set value, the short-range wireless communication network 4 notifies the handheld communication device 2 to perform the correction of the accelerometer parameters and the hardware; in addition, the vehicle-mounted device 1 is further configured to determine whether the gyroscope mounted on the vehicle exceeds a default offset angular velocity value, and notify the handheld communication device 2 via the short-range wireless communication network 4 to correct the gyroscope parameters and the hardware device when the offset angular velocity value is exceeded.
In order to reduce the space occupied by the equipment in the vehicle, in another embodiment, the vehicle condition detection device 3 is integrated into the in-vehicle device 1. In this case, the vehicle state detecting device 3 and the in-vehicle device 1 can perform internal data transmission without information transmission through an external line.
Fig. 2 is a schematic diagram illustrating steps of a method for calibrating an accelerometer and a gyroscope mounted on a vehicle device according to the present invention, namely, a vehicle is mounted with a vehicle-mounted device and a vehicle state detecting device, the vehicle state detecting device senses a vehicle state and transmits the vehicle state back to the vehicle-mounted device, and the vehicle-mounted device can be connected with a handheld communication device of a user for the user to calibrate the accelerometer and the gyroscope mounted on the handheld communication device, as shown in the schematic diagram, please refer to the system architecture of fig. 1.
In step S201, the handheld communication device is connected to the vehicle-mounted device after being identified. The step is to indicate that the handheld communication device can be connected with the vehicle-mounted device on the vehicle only after identity recognition, and the identity recognition mode can be performed through one of a door number, an IMSI code, an IMEI code or a MAC address of the Bluetooth device of the smart phone; after identification, the hand-held communication device is allowed to be connected with the vehicle-mounted device and the control right of the correction device is given out to be operated by a user.
In step S202, a vehicle state detecting device obtains vehicle state information of a vehicle and transmits the vehicle state information to the in-vehicle device. Since the correction is performed, vehicle state information such as a triaxial acceleration value, a triaxial angular velocity value, and the like is acquired and sent to the in-vehicle device for analysis and judgment, and if the acquired vehicle state information is different from the data presented by the accelerometer and the gyroscope, the correction needs to be performed by the accelerometer and the gyroscope.
In step S203, the vehicle-mounted device analyzes and computes the vehicle status information to obtain a vehicle speed value and a rotation angle value of the vehicle. The step illustrates that the vehicle-mounted device analyzes and calculates according to the vehicle state information, such as the three-axis angular velocity value and the three-axis acceleration value, so as to transmit the three-axis angular velocity value and the three-axis acceleration value to the central processing unit of the vehicle-mounted device for calculation, thereby obtaining the vehicle velocity value and the rotation angle value of the vehicle, wherein the vehicle velocity value and the rotation angle value can be stored in the memory of the vehicle-mounted device, and then are compared with the data presented by the accelerometer and the gyroscope.
In step S204, the vehicle-mounted device determines whether the vehicle speed value and the rotation angle value exceed a set value and a default offset angular speed value, so as to inform the handheld communication device through short-distance wireless communication to correct the accelerometer parameters and the hard device or correct the gyroscope parameters and the hard device when the rotation angle value exceeds the set value or the rotation angle value exceeds the default offset angular speed value. The step illustrates determining whether the vehicle speed value and the rotation angle value exceed the set value and the default offset angular speed value, and if yes, indicating that the accelerometer or the gyroscope needs to be corrected, so that the handheld communication device can be connected through the short-distance wireless communication network, and the user can operate the vehicle-mounted device through the handheld communication device after receiving the notification so as to correct the parameters of the accelerometer or the gyroscope and the hardware device.
Fig. 3 is a schematic diagram of an architecture of an embodiment of a system for installing an accelerometer and a gyroscope on a vehicle device according to the present invention, and further illustrates the overall architecture of the system for installing an accelerometer and a gyroscope on a vehicle device and specific implementation details of the device apparatuses such as the vehicle device 1, the smart phone 2', and the vehicle state detection device 3 under the architecture shown in fig. 1.
The in-vehicle apparatus 1 includes a long-distance wireless communication module 11, a central processing unit 12, a memory 13, a bluetooth interface 14, and a wired transmission interface 15. The long-distance wireless communication module 11 can be used for managing and setting/monitoring or receiving functions of installing the accelerometer and the gyroscope on the smart phone 2', and in addition, a short-distance bluetooth communication interface (abbreviated as bluetooth interface) can be used for being connected with the smart phone 2', which is used for judging and executing automatic prompt of the time for installing the accelerometer and correcting the gyroscope.
The smart phone allowing the control of the door is stored in the vehicle-mounted device 1, and the smart phone is identified by a door number, an IMSI number, an IMEI number or a MAC address of a bluetooth device, and is used as a basis for allowing the correction of the accelerometer and gyroscope functions and also for managing the vehicle authority. When the on-board device 1 and the smart phone 2 'with authentication permission complete the connection operation, the correction menu is entered, and the on-board device 1 gives the control right of the correction device to be operated by the user while only allowing the smart phone 2' to be connected with the on-board device 1.
Specifically, the in-vehicle device 1 may be a vehicle computer, an external host, a tablet computer, or a smart phone. The long-distance wireless communication (GPRS, 3G/HSDPA, wiMax, 4G/LTE) module 11 and the bluetooth interface 14 (short-distance bluetooth communication interface) of the vehicle-mounted device 1 can connect and exchange information between the vehicle-mounted device 1 and the smart phone 2' while the wired transmission interface 15 can be connected to the vehicle status detection device 3, for example, via USB/UART/RS-232, or the vehicle status detection device 3 can be integrated into the vehicle-mounted device 1 so that both are a single device.
The vehicle state detecting device 3 has sensors such as an accelerometer 31 and a gyroscope 32, a wired transmission interface 33, and a vehicle control interface 34. The vehicle control interface 34 is configured to take in vehicle status, such as door open status, accelerometer and gyroscope calibration status, electric door ON/OFF status, and has calibration data return functionality. The sensor is used for acquiring vehicle state information, the content of which can be triaxial angular velocity and triaxial acceleration value and is transmitted back to the vehicle-mounted device 1 through a wired transmission interface 33 (such as USB/UART/RS-232, etc.), the acceleration value obtained by the vehicle state detection device 3 detecting the vehicle is sent to the central processing unit 12 of the vehicle-mounted device 1 to calculate the vehicle speed value, so as to judge whether the running speed exceeds a set value and store the running speed value in the memory 13 of the vehicle-mounted device 1. In addition, the vehicle state detecting device 3 detects the angular velocity value obtained by the vehicle and transmits the value to the central processing unit 12, so that the central processing unit 12 calculates the value of the rotation angle, and the smart phone 2' is informed to the user to execute the accelerometer and gyroscope installation correction by judging whether the rotation angle exceeds the default offset angular velocity value and storing the value in the memory 13.
In the foregoing, the vehicle condition detection device 3 may be integrated in the in-vehicle device 1, in which case, the arrangement of the wired transmission interface (USB/RS-232) between the in-vehicle device 1 and the vehicle control interface 34 of the vehicle condition detection device 3 can be reduced.
The smartphone 2' has a long-range wireless communication module 21, a bluetooth interface 22 (bluetooth communication interface), and a positioning unit 23. The bluetooth interface 22 provides the user with a connection to the in-vehicle device 1 through the smart phone 2', and at this time, receives the sensing data obtained by the in-vehicle device through the short-range wireless communication network 4. The long-distance wireless communication module 21, such as mobile communication systems including GPRS, 3G/HSDPA, wiMax, and 4G/LTE, is configured to provide the smart phone 2 'with the in-vehicle device 1 via the long-distance wireless communication network 5, and this state means that when the smart phone 2' is far away from the in-vehicle device 1, only information can be transmitted via the long-distance wireless communication network 5, so that the use of authentication/configuration, emergency contact and calibration function initiation with the in-vehicle device 1 can be generally provided. In addition, the positioning unit 23 can perform positioning using GPS, AGPS, wifi and Cell ID.
Under the above architecture, the automatic prompt installation of the accelerometer and gyroscope correction scenario is further described. The vehicle-mounted device 1 is arranged in a vehicle, can mutually transmit information with the smart phone 2' of a user in a wireless transmission mode, and the vehicle state detection device 3 is also arranged in the vehicle and is used for collecting the vehicle state and transmitting the vehicle acceleration and the angular velocity to the vehicle-mounted device 1 for numerical calculation; the handheld communication device particularly refers to a smart phone 2' with a Bluetooth communication interface, and a user can connect with the vehicle-mounted device 1 through the device so as to install the basis of the accelerometer and the gyroscope on the vehicle-mounted device 1. The long-distance wireless communication network 5 is used as a medium for transmitting remote management information of the vehicle-mounted device 1 and the smart phone 2', and the short-distance wireless communication network 4 is used as a medium for transmitting information of the vehicle-mounted device 1 and the smart phone 2', and is used as a basis for correcting parameters of the interfacing equipment. The vehicle-mounted device 1 is used for judging whether the running speed exceeds a set value, when the running speed exceeds the set value, the short-range wireless communication network 4 is used for informing the smart phone 2 'to correct the accelerometer parameters and the hardware, and the vehicle-mounted device 1 is used for judging whether the gyroscope installed on the vehicle exceeds a default offset angular velocity value, and when the gyroscope exceeds the default offset angular velocity value, the short-range wireless communication network 4 is used for informing the smart phone 2' to correct the gyroscope parameters and the hardware.
In other cases, for example, when the vehicle door is closed and the long-distance wireless (3G/HSDPA, 4G/LTE) signal is almost lost or lost (Link-loss), the vehicle device 1 can automatically store and record the current vehicle speed/rotation speed/positioning (GPS/AGPS/Wifi/Cell ID positioning) information.
After the vehicle-mounted device 1 detects the Bluetooth signal of the smart phone 2' and the signal is gradually enhanced for a plurality of seconds, the vehicle-mounted device 1 automatically prompts the installation of an accelerometer and gyroscope correction program so as to achieve the purpose that a user (driving) can conveniently install the accelerometer and gyroscope correction program.
In order to make the vehicle-mounted device 1 enter the power saving mode, when the latest position of the smart phone 2 'is at a distance which cannot be reached immediately as described above, the smart phone 2' can automatically give a sleep instruction to the vehicle-mounted device 1 via the long-distance wireless communication network 5 and close the bluetooth communication interface, and the power saving function can also be operated by the user to manually execute the sleep instruction by himself/herself. In addition, when the smart phone 2' of the user enters a position that can be reached for several minutes, the smart phone 2' can issue a wake-up instruction to the in-vehicle device 1 via the long-distance wireless communication network 5 and start the bluetooth communication interface, and the wake-up mechanism can also be executed by the user to operate the smart phone 2' by himself.
FIG. 4 is a flow chart illustrating a calibration method for mounting an accelerometer to a vehicle device according to the present invention. As shown in the figure, steps 100-102 determine whether the switch is in sleep mode or is needed to enter sleep mode by confirming whether the switch is on, and when the switch is on and is not needed to be in sleep mode, enter standby mode of step 200, in standby mode, steps 201-202 determine whether the on-vehicle device and the smart phone are on-line, if yes, enter steps 203-207, i.e. the on-vehicle device enters into a phase of determining whether a correction phase is needed, at this moment, step 203 reads the driving acceleration through the accelerometer, and then step 204 sends the driving acceleration to the central processor to calculate the driving speed, so as to determine whether the calculated driving speed is equal to the actual driving speed according to step 205. If yes, step 206 is performed to indicate that the calibration is completed, otherwise, step 207 is performed to change the accelerometer parameters and the mounting angle orientation, and then steps 203-205 are performed again to determine whether the calibration is completed or whether a recalibration is required.
Fig. 5 is a flowchart illustrating a calibration method of the device for mounting a gyroscope on a vehicle according to the present invention. As shown in the figure, steps 100 to 102 determine whether the switch is in the sleep mode or the sleep mode is needed by confirming whether the switch is on, and when the switch is on and the switch is not in the sleep mode, the steps 301 to 302 determine whether the on-vehicle device and the smart phone are on-line in the standby mode, if yes, the steps 303 to 307 are performed, that is, the on-vehicle device determines whether the correction stage is needed, at this time, the gyroscope is made to read the rotation angular velocity in step 303, then step 304 sends the read rotation angular velocity to the central processor to calculate the rotation angle, and in step 305, it is determined whether the calculated rotation angle is equal to the actual angle. If step 306 is entered, it indicates that the correction is completed, otherwise, step 307 is entered to change the gyroscope parameters and the mounting angle orientation, and then steps 303-305 are entered again to determine whether the correction is completed or whether a recalibration is required.
In summary, the present invention provides a system and a calibration method for installing an accelerometer and a gyroscope on a vehicle device, which has the following advantages compared with the prior art: (1) The vehicle-mounted device can automatically judge the time for mounting the equipment, and when a user approaches the vehicle-mounted device and detects the Bluetooth signal of the smart phone, the vehicle-mounted device automatically prompts to mount an accelerometer and gyroscope correction program without driving and then manually opening a correction menu; (2) The vehicle-mounted device can execute the program of installing the accelerometer and the gyroscope under the conditions that the vehicle owner extinguishes, and long-distance wireless (3G/HSDPA, 4G/LTE) signals are almost in a disconnection or losing (Link-loss) state, and has the advantages of convenience, safety and the like; (3) The invention combines the fleet management service to execute the detection and the safety management of the vehicle state. Therefore, the invention can combine the front-mounted vehicle active safety service of the vehicle factory to achieve the purposes of simple control and management and saving operation manpower.
The foregoing detailed description is directed to a practical embodiment of the present invention and is not intended to limit the scope of the claims, but rather should be construed according to the appended claims.
Claims (12)
1. A system for mounting an accelerometer and a gyroscope to a vehicle device, the system comprising:
a vehicle state detecting device, which is arranged in the vehicle and is used for collecting vehicle state information of the vehicle to obtain a vehicle acceleration value and an angular velocity value;
a vehicle-mounted device, which is arranged in the vehicle and is used for receiving the vehicle acceleration value and the angular velocity value from the vehicle state detection device, so as to analyze and calculate the vehicle acceleration value and the angular velocity value to obtain a vehicle velocity value and a rotation angle value, and generate correction information when the vehicle velocity value and the rotation angle value respectively exceed a set value and a default deviation angular velocity value;
the handheld communication equipment is connected to the vehicle-mounted device through the identity recognition of the vehicle-mounted device, so that a user can control the vehicle-mounted device through the handheld communication equipment to install and correct the accelerometer and the gyroscope, wherein the handheld communication equipment transmits remote management information with the vehicle-mounted device through a long-distance wireless communication network, a dormancy or awakening instruction of the vehicle-mounted device is issued, and the hand-held information and the correction information are transmitted with the vehicle-mounted device through a short-distance wireless communication network to install and correct the accelerometer and the gyroscope.
2. The system according to claim 1, wherein the vehicle-mounted device is configured to determine whether the vehicle speed value exceeds the set value, to notify the handheld communication device via the short-range wireless communication network to perform the correction of the accelerometer parameters and the hard device when the vehicle speed value exceeds the set value, and to determine whether the gyroscope mounted on the vehicle exceeds the default offset angular speed value to notify the handheld communication device via the short-range wireless communication network to perform the correction of the gyroscope parameters and the hard device when the vehicle speed value exceeds the offset angular speed value.
3. The system for mounting an accelerometer and a gyroscope to a vehicle device of claim 1, wherein the vehicle device is a vehicle computer, an external host, a tablet computer, or a smart phone.
4. The system for mounting an accelerometer and a gyroscope to a vehicle device of claim 1, wherein the vehicle device comprises a long range wireless communication module, a short range bluetooth communication interface, and a wired transmission interface for interfacing with the vehicle condition detection device.
5. The system of claim 1, wherein the vehicle condition detection device comprises the accelerometer, the gyroscope, and a wired transmission interface for connecting to the vehicle device, and wherein the accelerometer and the gyroscope are used for obtaining the vehicle condition information.
6. The system for mounting an accelerometer and a gyroscope to a vehicle device of claim 1, wherein the vehicle condition detection device is integrated within the vehicle device.
7. The system for mounting an accelerometer and a gyroscope on a vehicle according to claim 1, wherein the handheld communication device comprises a bluetooth communication interface for short-range connection with the vehicle-mounted device, a mobile communication network for long-range connection with the vehicle-mounted device, and a positioning unit for authentication/setup, emergency connection, and initiation of calibration functions with the vehicle-mounted device.
8. The system for mounting an accelerometer and a gyroscope to a vehicle device of claim 7, wherein the positioning unit is configured to position using GPS, AGPS, wifi, or Cell ID.
9. The system for mounting an accelerometer and a gyroscope to a vehicle device of claim 1, wherein the long-range wireless communication network is GPRS, 3G/HSDPA, wiMax or 4G/LTE.
10. The system for mounting an accelerometer and a gyroscope to a vehicle device of claim 1, wherein the short-range wireless communication network is a bluetooth communication.
11. A method of calibrating a device for mounting an accelerometer and a gyroscope to a vehicle, the method comprising:
the handheld communication equipment is connected with the vehicle-mounted device after identity recognition;
the vehicle state detection device obtains the vehicle state information of the vehicle and transmits the vehicle state information to the vehicle-mounted device;
the vehicle-mounted device analyzes and calculates the vehicle state information to obtain a vehicle speed value and a rotation angle value of the vehicle; and
the vehicle-mounted device judges whether the vehicle speed value and the rotation angle value exceed a set value and a default deviation angular speed value or not, and when the rotation angle value exceeds the set value or the rotation angle value exceeds the default deviation angular speed value, the hand-held communication device is informed through a short-distance wireless communication network to correct accelerometer parameters and hard equipment or gyroscope parameters and hard equipment, wherein the hand-held communication device can also transmit remote management information with the vehicle-mounted device through a long-distance wireless communication network to send a dormancy or awakening instruction to the vehicle-mounted device.
12. The method according to claim 11, wherein the vehicle state information includes a three-axis angular velocity value and a three-axis acceleration value, the three-axis angular velocity value and the three-axis acceleration value are transmitted to a central processor of the vehicle device to be calculated to obtain the vehicle velocity value and the rotation angle value and stored in a memory of the vehicle device, so as to perform the installation correction of the accelerometer and the gyroscope when the vehicle velocity value and the rotation angle value exceed the set value and the default offset angular velocity value.
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| Application Number | Priority Date | Filing Date | Title |
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| TW107124510 | 2018-07-16 | ||
| TW107124510A TWI673675B (en) | 2018-07-16 | 2018-07-16 | A system and calibration method of setting accelerometer and gyroscope to vehicle |
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| CN110726419B true CN110726419B (en) | 2024-03-12 |
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| Publication number | Publication date |
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| CN110726419A (en) | 2020-01-24 |
| TW202006655A (en) | 2020-02-01 |
| TWI673675B (en) | 2019-10-01 |
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