EP1791729A1 - Verfahren und eine vorrichtung zum einstellen des ruhewerts eines einfachen beschleunigungssensors zum messen einer beschleunigung eines fahrzeugs in richtung seiner hochachse - Google Patents
Verfahren und eine vorrichtung zum einstellen des ruhewerts eines einfachen beschleunigungssensors zum messen einer beschleunigung eines fahrzeugs in richtung seiner hochachseInfo
- Publication number
- EP1791729A1 EP1791729A1 EP05789363A EP05789363A EP1791729A1 EP 1791729 A1 EP1791729 A1 EP 1791729A1 EP 05789363 A EP05789363 A EP 05789363A EP 05789363 A EP05789363 A EP 05789363A EP 1791729 A1 EP1791729 A1 EP 1791729A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- acceleration
- state
- measured
- jounce
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
- B60G2800/702—Improving accuracy of a sensor signal
- B60G2800/7022—Calibration of a sensor, e.g. automatically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R2021/0002—Type of accident
- B60R2021/0018—Roll-over
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
- B60R2021/01325—Vertical acceleration
Definitions
- the invention relates to a device and a method for adjusting the rest value of a simple acceleration sensor for measuring an acceleration of a vehicle in the direction of its vertical axis according to claim 1 or 9.
- the determination of the inertial position by means of acceleration sensors usually is next to high-resolution acceleration sensors in vehicle transverse and longitudinal direction (y and x-direction or in the vehicle transverse or longitudinal axis) for measuring the lateral or longitudinal acceleration components, a further acceleration sensor. provided that measures the acceleration in the vertical vehicle direction (z-direction or in the vehicle's vertical axis), i. the vertical acceleration component.
- Inertiallage a vehicle ie the starting position relative to the Erdfesten coordinate system of the vehicle is known from DE 197 44 084 A1.
- accurate detection of the inertial position can only be achieved with high-precision acceleration sensors which have a low or exactly known quiescent value and only a very small drift of the quiescent value.
- high-precision acceleration sensors which are very expensive.
- a high-precision acceleration sensor which is particularly DC-capable, has a relatively small drift of his resting level based on his Messbreich on. The drift can z. B. due to aging or temperature fluctuations.
- a simple acceleration sensor has a relatively large drift in its quiescent level over a relatively long period of time.
- the object of the present invention is therefore to propose an apparatus and a method for setting the quiescent value of a simple acceleration sensor for measuring an acceleration of a vehicle in the direction of its vertical axis.
- the invention is based in particular on the recognition that a specific vehicle state can be stored as a type of reference value and used to set the quiescent value of the simple acceleration sensor during operation, ie, for example, during a journey.
- the jounce state of the vehicle which is essential for the determination of a vertical acceleration component, which inter alia depends on the load state of the vehicle, is preferably stored when the vehicle is at a standstill, possibly after a conversion, if the vehicle is not on an approximately horizontal plane but, for example, in FIG sloping terrain stands.
- the current jounce state of the vehicle is then continuously measured during a journey; as soon as the measured compression state approximately corresponds to the stored compression state, in particular does not change within a predetermined period of time, the resting value of the simple acceleration sensor can be set to a predetermined value, since in such a case it can be assumed that the vehicle is considered vertical Acceleration component only the gravitational acceleration acts.
- the resting value of the simple acceleration sensor can be set to a predetermined value, since in such a case it can be assumed that the vehicle is considered vertical Acceleration component only the gravitational acceleration acts.
- Acceleration component of the vehicle can be avoided, whereby the implementation costs of the inventive solution are lower than in the known from DE 197 44 084 A1 solution.
- the invention now relates to a device for adjusting the quiescent value of a simple acceleration sensor for measuring an acceleration of a vehicle in the direction of its vertical axis, with measuring means, which are designed to measure a jounce state of the vehicle when the vehicle is stationary, and calibration means, which are designed to set the simple acceleration sensor during travel to a predetermined value, when the jounce state substantially matches the jounce state measured at vehicle standstill.
- the calibration means are adapted to set the simple acceleration sensor to a predetermined value during a drive when the jounce state substantially corresponds to the jounce state measured at vehicle standstill and does not change for a predetermined period of time.
- the measuring means comprise at least two spring travel sensors for measuring at least the spring travel of two with respect to
- the measuring means further comprise a high-precision acceleration sensor for measuring the lateral and / or longitudinal acceleration of the vehicle.
- the quay center! may comprise a conversion unit, which is configured to convert the measured jounce state on the basis of the measured lateral and / or longitudinal acceleration such that it substantially corresponds to a jounce state of the vehicle on a horizontal plane.
- the conversion unit can be designed, for example, in the form of a processor that executes a program that is designed to convert the measured deflection state based on the measured lateral and / or longitudinal acceleration.
- the conversion unit may be communicatively connected to a memory comprising a conversion table having associations between the measured lateral and / or longitudinal acceleration and the measured jounce state on the one hand and a corresponding jounce state of the vehicle on a horizontal plane on the other hand.
- Input variables of the table are therefore typically the measured lateral and / or longitudinal acceleration and the measured compression state.
- An output of the table is the corresponding jounce state of the vehicle on a horizontal plane.
- the calibration means have a center of adjustment in a preferred embodiment! configured to set the simple acceleration observer while traveling to a predetermined value by correcting its characteristic such that its rest value corresponds to a value approximately equal to the gravitational acceleration.
- the adjusting means are arranged to determine whether the jounce state does not change for a predetermined period of time by checking to see if the derivative of the jounce state is about zero.
- the invention further relates to a method for setting the quiescent value.
- a simple acceleration sensor for measuring acceleration of a vehicle in the direction of its vertical axis, wherein a jounce state of the vehicle is measured at vehicle standstill and the simple acceleration sensor is set to a predetermined value during travel when the jounce state substantially matches the jounce state measured at vehicle standstill.
- the setting of the simple acceleration sensor while driving can be done, for example, whenever it is determined that the measured insertion state corresponds to that measured at vehicle style, or cyclically by periodically activating a measurement window in which the current jounce state is measured while driving and is compared with the stored jounce state measured at vehicle standstill.
- the simple acceleration sensor is set to a predetermined value during a running when the jounce state substantially corresponds to the jounce state measured at vehicle standstill and does not change for a predetermined time
- the jounce state can be determined, for example, by measuring the spring travel or the pressure of at least two shock absorbers opposite to the vehicle longitudinal axis.
- the measurement of the jounce state during vehicle standstill involves, in particular, determining a state of the vehicle in which the vertical acceleration component of the vehicle essentially corresponds to the gravitational acceleration, all possible vehicle states should be detected correctly when the vehicle is at a standstill.
- This can be achieved, in particular, by additionally measuring a lateral and / or longitudinal acceleration of the vehicle and converting the measured jounce state on the basis of the measured lateral and / or longitudinal acceleration such that it is in the Substantially corresponds to a jounce state of the vehicle on a horizontal plane.
- the measurement of the lateral and / or longitudinal acceleration determines whether the vehicle is standing on an oblique plane.
- the measured jounce state is then converted to a value corresponding to the corresponding jounce state on a horizontal plane.
- the conversion preferably takes place in that the measured lateral and / or longitudinal acceleration and the measured jounce state are assigned a corresponding jounce state of the vehicle on a horizontal plane from a conversion table.
- the conversion table therefore contains associations between compression states on a horizontal plane and compression states on inclined planes.
- the simple acceleration sensor is set to a predetermined value during a journey by correcting its characteristic such that its quiescent value corresponds to a value approximately corresponding to the gravitational acceleration.
- the jounce state does not change for a predetermined period of time, in particular by checking that the derivative of the jounce state is approximately zero.
- the derivative of the jounce state is approximately zero.
- Fig. 1 is a standing on a horizontal plane vehicle in the asymmetrically loaded state and the occurring
- Fig. 2 is a standing on an inclined plane vehicle in the asymmetrically loaded state and the occurring
- FIG. 3 shows a block diagram of an exemplary embodiment of a device according to the invention for setting the quiescent value of a simple acceleration sensor for measuring an acceleration of a vehicle in the direction of its vertical axis.
- Fig. 1 is a vehicle 12 on a horizontal plane 16.
- Femer is a coordinate system with the vehicle's vertical axis z and the
- Vehicle transverse axis y of the vehicle 12 is shown.
- the vehicle 12 is shown in the asymmetrically loaded state. Due to the loading of the left shock absorber 14 is more heavily loaded than the right shock absorber 15th Therefore, an acceleration component az in the vertical axis z and an acceleration component ay in the vehicle transverse axis y, caused by the gravitational acceleration g, act on the vehicle.
- the coordinate system y, z of the vehicle 12 is rotated relative to the stationary coordinate system y ' z ' due to the asymmetrical loading.
- FIG. 2 the vehicle 12 is now shown on an oblique plane 17 in the asymmetrically charged state.
- a substantially greater lateral acceleration component ay is caused by the asymmetrical loading of the vehicle in the direction of descent of the oblique plane 17 than in the laden state of the vehicle 12 on the horizontal plane, as shown in FIG.
- In the laden state reduces the acceleration az in the vertical axis z of the vehicle on the inclined plane 17 relative to the state on the horizontal plane.
- FIGS. 1 and 2 are intended to illustrate which acceleration components in the vehicle vertical and transverse axes act on the vehicle 12 on a horizontal and an oblique plane in the asymmetrically charged state. According to the invention is now at vehicle standstill of
- the Jounce condition substantially dependent on the load i. H. the jounce state of the vehicle 12, for which the state of the shock absorbers 14 and 15 is a measure.
- the jounce state of the vehicle 12 on the horizontal plane 16 is taken in accordance with the invention as a measure that the vehicle only the
- Gravitational acceleration g acts as the only acceleration component. Therefore, this state can be used to set the quiescent value of a simple, ie, not DC-capable, acceleration sensor used to measure the vertical acceleration component of the vehicle 12.
- the gravitational acceleration acts almost perpendicular to the simple acceleration sensor in the vehicle vertical axis z, even if the standing on the horizontal plane vehicle is loaded asymmetrically, for example, at 8% lateral inclination of the vehicle 12 due the loading the vertical acceleration component az is still about 0.99 g by cosine characteristic,
- the lateral acceleration component of the vehicle 12 is measured by means of a high-precision, DC-capable acceleration sensor in the y-direction. From the measured jounce state of the vehicle 12 on the inclined plane 17 and the measured lateral acceleration component ay, it is then calculated how the loading state would affect the deflection of the vehicle 12 ' on a horizontal plane, in other words, what jounce state the vehicle is calculated 12 on a horizontal plane at the same load.
- the values of the jounce state of the vehicle 12 on a horizontal plane may also be taken from a table including associations between load states of the vehicle at oblique planes and the corresponding jounce states on a horizontal plane.
- a table can be determined simulatively or experimentally during the development of the vehicle on the basis of known vehicle data, or the determination can also take place during operation.
- the adjustment method according to the invention also provides for a prolonged operation of a vehicle, d. H. a longer trip useful results.
- a device for adjusting the rest value of a simple acceleration sensor for measuring an acceleration of a vehicle in the direction of its vertical axis is now shown.
- An output signal of the simple, non-DC-capable acceleration sensor 10, which is the acceleration of the vehicle in the direction of the z-axis or the vertical axis and an output of a high-accuracy DC-capable acceleration sensor 20 which measures the acceleration of the vehicle in the transverse direction and in the y-axis, respectively, are fed to a control unit for an anti-overload protection system.
- the supplied signals serve to check the plausibility of a signal measured by a rotation rate sensor, which is used to detect a rollover event of the vehicle 12.
- the controller comprises a processor for processing the supplied signals, which executes a special rollover algorithm for detecting a rollover event. If a rollover event is detected by the control unit 32, it generates based on the signals supplied
- Acceleration sensors and the rotation rate sensor a trigger signal 34 for the rollover protection system.
- the control unit 32 must distinguish between uncritical and critical accelerations, in particular in the direction of the vertical axis of the vehicle, ie, the z-axis, during ongoing operation, ie during travel of the vehicle.
- Non-critical accelerations in the direction of the z-axis of the vehicle have a value which essentially corresponds to the acceleration of gravity 1 g, but in the case of a rollover process typically occur acceleration values deviating from the acceleration of gravity 1 g in the direction of the z-axis, that of the rollover algorithm must be recognized.
- a threshold value is implemented, which corresponds to a certain critical vertical acceleration component, which is decisive for a beginning rollover event.
- the simple acceleration sensor 10 typically has a relatively large drift region, which is usually quite slow, unlike a fast drift, it is possible and necessary to set the quiescent value of the simple acceleration sensor 10 from time to time. The adjustment takes place, - by the resting value of the simple acceleration sensor 10
- Acceleration sensor 10 is set to a predetermined value.
- the predetermined value is obtained by shifting the characteristic of the simple acceleration sensor 10 accordingly.
- pressure sensors 18 in air-suspended shock absorbers 14 of the vehicle are provided as measuring means.
- the pressure sensors 18 output an output signal that approximately corresponds to the jounce state or the load state of the vehicle.
- the output signal of each pressure sensor 18 is supplied to calibration means, which have a conversion unit 22.
- This conversion unit 22 further receives an output signal of the high-precision acceleration sensor 20, which corresponds to the lateral acceleration of the vehicle.
- the conversion unit 22 preferably receives the measured values when the vehicle is at a standstill or at a very low vehicle speed in order to be able to calculate the jounce state of the stationary or slow moving vehicle.
- the signal of the high-precision acceleration sensor 20 is used to determine whether the vehicle is on a horizontal or oblique plane. If it is on an inclined plane, the highly accurate acceleration sensor 20 outputs a lateral acceleration signal, which is taken into account by the conversion unit 22 such that the jounce state of the vehicle, which is detected substantially via the signals from opposite to the vehicle longitudinal axis pressure sensors 18, to a Compression state of the vehicle that it would have on a horizontal plane.
- the conversion is done concretely by the conversion unit 22 upon receiving a signal from the high-precision acceleration sensor 20 a memory with a conversion table 24 loads the corresponding data.
- the conversion unit 22 After determining the jounce state of the vehicle on a horizontal plane, the conversion unit 22 stores the detected value in a memory 26 as a kind of jounce state reference value.
- the stored in the memory 26 reference value is a comparator 28 in addition to the Wennsigna! a pressure sensor 18 is supplied.
- the comparator 28 compares the supplied values with each other and, if necessary, outputs a signal to setting means 30 for setting the quiescent value of the simple acceleration sensor 10.
- the comparison by the comparator 28 is expediently always when a vertical acceleration component is measured by the simple acceleration sensor 10, which corresponds approximately to the gravitational acceleration. But it can also be done periodically by the bosssigna! the simple acceleration sensor 10 is checked to see if it is about the
- a comparison is triggered by the comparator 28.
- the comparison is triggered by signals from compression or pressure sensors and acceleration sensors for the lateral and / or longitudinal acceleration of the vehicle.
- signals from compression or pressure sensors and acceleration sensors for the lateral and / or longitudinal acceleration of the vehicle.
- other calibration strategies are conceivable, such as a triggering of a comparison by the comparator 28 when certain external events occur, for example falling below a certain vehicle speed at which the probability of a rollover process is very low.
- the inventive method is preferably in a control device for occupant protection devices such as airbags and rollover protection systems implemented, for example, as part of an overroII algorithm.
- the calibration and adjustment center! can also be implemented in the form of an ASIC (Application Specific Integrated Circuit), or standard components such as a comparator circuit and a processor with memory for implementing the conversion unit 22 and the memories 24 and 26 can be used.
- ASIC Application Specific Integrated Circuit
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004045890A DE102004045890A1 (de) | 2004-09-22 | 2004-09-22 | Verfahren und Vorrichtung zum Einstellen des Ruhewerts eines einfachen Beschleunigungssensors zum Messen einer Beschleunigung eines Fahrzeugs in Richtung seiner Hochachse |
PCT/DE2005/001591 WO2006032239A1 (de) | 2004-09-22 | 2005-09-12 | Verfahren und eine vorrichtung zum einstellen des ruhewerts eines einfachen beschleunigungssensors zum messen einer beschleunigung eines fahrzeugs in richtung seiner hochachse |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1791729A1 true EP1791729A1 (de) | 2007-06-06 |
Family
ID=35427802
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05789363A Withdrawn EP1791729A1 (de) | 2004-09-22 | 2005-09-12 | Verfahren und eine vorrichtung zum einstellen des ruhewerts eines einfachen beschleunigungssensors zum messen einer beschleunigung eines fahrzeugs in richtung seiner hochachse |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1791729A1 (de) |
DE (2) | DE102004045890A1 (de) |
WO (1) | WO2006032239A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008010237B4 (de) * | 2008-02-21 | 2016-05-12 | Robert Bosch Gmbh | Verfahren zum Betrieb eines Seitenaufprallsensors für ein Fahrzeug und Seitenaufprallsensor |
DE102022001883B3 (de) | 2022-05-30 | 2023-05-11 | Mercedes-Benz Group AG | Verfahren zur Kalibrierung einer Inertialmesssensorik eines Fahrzeugs |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3924691C2 (de) * | 1989-07-26 | 1993-11-04 | Daimler Benz Ag | Verfahren zur kompensation von fehlern eines beschleunigungsgebers |
JP3080257B2 (ja) * | 1991-08-06 | 2000-08-21 | 株式会社ユニシアジェックス | 車両懸架装置 |
DE19744084A1 (de) | 1997-10-06 | 1999-04-08 | Bosch Gmbh Robert | Verfahren und Anordnung zum Ermitteln der Inertiallage eines Fahrzeugs |
DE19814357A1 (de) * | 1998-03-31 | 1999-10-07 | Maha Gmbh & Co Kg | Meßgerät zur Fahrzeugdiagnose |
DE19940490B4 (de) * | 1999-02-11 | 2011-06-16 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zur Ermittlung einer Vertikalbeschleunigung eines Rades eines Fahrzeugs |
DE10107949B4 (de) * | 2001-02-20 | 2005-01-13 | Conti Temic Microelectronic Gmbh | Kraftfahrzeugsteuersystem |
CN101115646B (zh) * | 2002-03-19 | 2011-11-16 | 汽车系统实验室公司 | 车辆倾翻检测系统 |
DE10260789A1 (de) * | 2002-12-23 | 2004-07-01 | Daimlerchrysler Ag | Anordnung und Verfahren zum Bestimmen zweier Bewegungsgrössen eines Fahrzeugs |
US6826468B2 (en) * | 2003-03-03 | 2004-11-30 | Robert Bosch Corporation | Method and system for classifying vehicle conditions |
-
2004
- 2004-09-22 DE DE102004045890A patent/DE102004045890A1/de not_active Withdrawn
-
2005
- 2005-09-12 WO PCT/DE2005/001591 patent/WO2006032239A1/de active Application Filing
- 2005-09-12 DE DE112005001842T patent/DE112005001842A5/de not_active Withdrawn
- 2005-09-12 EP EP05789363A patent/EP1791729A1/de not_active Withdrawn
Non-Patent Citations (1)
Title |
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See references of WO2006032239A1 * |
Also Published As
Publication number | Publication date |
---|---|
DE112005001842A5 (de) | 2007-05-31 |
WO2006032239A1 (de) | 2006-03-30 |
DE102004045890A1 (de) | 2006-03-23 |
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