KR20160062590A - Error detection method of sensor for vehicle - Google Patents

Abstract

An error detection method of a sensor for a vehicle is disclosed. The error detection method of a sensor for a vehicle comprises: an acquisition step of acquiring vehicle information through a vehicle sensor; a disturbance determination step of determining whether there is disturbance in the vehicle information; a critical range determination step of determining a critical range to detect an error of the vehicle sensor in accordance with the presence of the disturbance; and an error detection step of detecting an error of the vehicle sensor using the determined critical range. Therefore, an electromagnetic control diving safety device can be normally operated by preventing wrong error detection of the vehicle sensor due to the occurrence of the disturbance.

Description

Technical Field [0001] The present invention relates to an error detection method for a vehicle sensor,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a method of detecting an error in a vehicle sensor, and more particularly, to a method of detecting an error in a vehicle sensor that takes into account a disturbance such as a parking turn table and a door slam.

An electronic stability control (ESC) is a device that stabilizes the movement of a car by comparing the steering wheel operation of the driver with the turning state of the vehicle and individually controlling the brakes of the wheels.

The electronic control stability stabilizer obtains information necessary for operation through various sensors and analyzes the obtained information to determine whether to operate. When the operation is determined, the braking force of each wheel is individually controlled to vary the braking force of each wheel So that the running direction of the vehicle is stably maintained.

 The electronic control stability device determines whether to operate using a yaw rate sensor that detects the turnover of the vehicle body and an acceleration sensor (Low-g) that detects the acceleration of the vehicle about the X axis and the Y axis, It is an important factor for stable operation of yaw rate sensor and acceleration sensor.

In general, the yaw rate represents a ratio of values that rotate left and right with respect to the Z axis of the vehicle, and the acceleration of the vehicle refers to the acceleration values of the vehicle with respect to the X axis and the Y axis due to an external collision or the like.

The yaw rate sensor and the acceleration sensor are determined to be normal through the initial test, and the electronic control stability device determines whether the yaw rate sensor and the acceleration sensor operate based on the result of whether or not the yaw rate sensor and the acceleration sensor are normal.

The initialization test for the conventional yaw rate sensor and the acceleration sensor is performed through an offset test and a deflect test. Further, the test is repeated about three times when the test fails. According to the result, the electronic control stability stabilizer receives the information about whether or not it is normal, and determines whether or not the electronic stability control stabilizer operates according to the information.

In the initialization test, no consideration is given to the situation in which disturbances are introduced due to a turn table and a door slam, that is, the actual vehicle behavior and the influence on the surrounding environment, and even when the yaw rate sensor and the acceleration sensor are normal However, there is a problem that it can not be determined that an error has occurred due to such a disturbance, and the electronic control travel safety device is prevented from operating with a wrong judgment.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a vehicular sensor which can accurately determine whether a vehicle sensor is normal or not by determining a critical range of a vehicle sensor in consideration of disturbance caused by a parking turntable, The purpose of the method is to provide.

According to another aspect of the present invention, there is provided an error detection method for a vehicle sensor, including: acquiring vehicle information through a vehicle sensor; A disturbance judgment step of judging whether disturbance is present in the vehicle information; Determining a critical range for detecting an error of the vehicle sensor according to presence / absence of the disturbance; And an error detection step of detecting an error of the vehicle sensor using the determined critical range.

The vehicle sensor may include a yaw rate sensor, an acceleration sensor, a wheel speed sensor, a steering angle sensor and a side impact sensor, and the vehicle information may include a yaw rate value, an acceleration value, a wheel speed, a steering angle and a side crash value.

Wherein the error detection step comprises an initialization test step of initializing the yaw rate sensor or the acceleration sensor using the determined threshold range; And an end confirmation step of confirming whether the initialization test is proceeded at the end of the initialization test or a preset number of retries or more.

An excess count checking step of checking the number of times the X-axis collision value or the Y-axis collision value of the side collision value exceeds the determined critical range; And a retry adjustment step of adding the number of times that the X-axis collision value or the Y-axis collision value exceeds the determined threshold range in the exceeding number confirmation step to increase the preset retry number.

Wherein the error detecting step determines that the yaw rate sensor or the acceleration sensor is normal when the yaw rate value or the acceleration value is within the determined threshold range and if the yaw rate value or the acceleration value is located outside the determined threshold range It can be determined that there is an error in the yaw rate sensor or the acceleration sensor.

And a transmitting step of transmitting normal information or error information according to whether the yaw rate sensor or the acceleration sensor is in error.

The disturbance determination step may determine whether the disturbance is present in the yaw rate value or the acceleration value using the wheel speed, the steering angle, and the side impact value.

Wherein the disturbance determining step determines the disturbance based on the y-axis acceleration value of the acceleration value while the yaw rate is equal to or less than a predetermined first reference yaw rate when the wheel yaw rate is equal to or less than a preset reference speed, Value is equal to or less than the predetermined first reference acceleration value, it can be determined that the disturbance occurs.

Wherein the disturbance determining step determines that the wheel yaw rate is equal to or less than a preset reference speed and when the Y-axis acceleration value and the Y-axis acceleration value among the side collision value and the acceleration value are equal to or greater than a predetermined second reference acceleration value, If it is equal to or less than the set second reference revolution speed, it can be determined that the disturbance has occurred.

Wherein the step of determining the critical range comprises the step of determining whether the disturbance occurs by applying the yaw rate value or the Y axis acceleration value to a threshold range of the predetermined yaw rate sensor or a threshold range of the acceleration sensor And a threshold range correction step of correcting the threshold range.

The critical range correction step may be performed by moving or extending each of the critical ranges by adding the yaw rate value or the Y-axis acceleration value.

Wherein the checking of the excess times comprises checking the number of times that the X-axis collision value or the Y-axis collision value out of the side collision values exceeds the determined critical range, and the retry adjusting step may include the X- May be increased by adding the number of times exceeding the determined threshold range to the preset number of retries.

According to the error detection method of the vehicle sensor according to the embodiment of the present invention, it is possible to prevent the vehicle sensor from being judged as an error due to the disturbance due to the parking turn table, the door slam, The electronic control travel safety device can be normally operated.

1 is a block diagram briefly showing an apparatus for detecting a fault of a vehicle sensor according to an embodiment of the present invention.
2 is a flowchart briefly showing an error detection method of a vehicle sensor according to an embodiment of the present invention.
3 is a graph for explaining an initialization test of a vehicle sensor according to an embodiment of the present invention.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings. However, the present invention can be implemented in various different forms, and is not limited to the embodiments described. In order to clearly describe the present invention, parts that are not related to the description are omitted, and the same reference numerals in the drawings denote the same members.

Throughout the specification, when an element is referred to as " including " an element, it does not exclude other elements unless specifically stated to the contrary. The terms "part", "unit", "module", "block", and the like described in the specification mean units for processing at least one function or operation, And a combination of software.

Referring to FIG. 1, an apparatus for detecting an error of a vehicle sensor according to an exemplary embodiment of the present invention detects an error of various sensors of a vehicle and transmits the determined result to an electronic control travel safety device. A determination unit 200, a correction unit 300, and a test unit 400.

The sensor unit 100 includes a wheel speed sensor, a steering angle sensor, a yaw rate sensor, a crash sensor (High-g), and an ACU (Airbag) And an acceleration sensor (Low-g) inside the control unit.

Here, the error detection apparatus of the vehicle sensor of the present invention performs an initialization test on the yaw rate sensor or the acceleration sensor (Low-g) and transmits the result to the electronic control travel safety device, but is not limited thereto.

The determination unit 200 determines whether or not disturbance exists in the yaw rate value or the acceleration value in the vehicle information using the vehicle information received from the sensor unit 100. [ Here, the disturbance occurs depending on the behavior of the actual vehicle and the surrounding environment of the vehicle, and may include, for example, a situation where the vehicle is located on a rotating turntable on which the vehicle is rotating and an operation in which the occupant closes the door after getting off the vehicle.

The determination unit 200 may determine whether or not disturbance exists in the yaw rate value or the acceleration value using the vehicle speed, the steering angle, and the side collision value among the vehicle information.

If the yaw rate is equal to or less than a predetermined first reference yaw rate when the wheel speed is less than a preset reference speed and the steering angle has a constant value, the Y-axis acceleration value among the acceleration values It can be determined that a disturbance has occurred in the yaw rate value or the acceleration value.

Here, the predetermined reference speed may be, for example, a speed close to 0 [kph], and the predetermined first reference revolving speed may be, for example, 10 [deg / s] For example, 0.05 [g].

In general, the judging unit 200 judges that the wheel speed has a value close to 0 [kph], the steering angle has a fixed value, and while the yaw rate is within 10 [deg / s] Is less than 0.05 [g], it can be determined that a disturbance has occurred in the yaw rate value and the acceleration value because the vehicle is located on the turntable on which the vehicle is rotating.

When the yaw rate is less than a predetermined reference speed and the Y-axis acceleration value among the side collision value and the acceleration value is equal to or greater than a predetermined second reference acceleration value, , It can be determined that a disturbance occurs in the yaw rate value or the acceleration value.

Here, the predetermined second reference acceleration value may be, for example, 2 [g], and the predetermined second reference turning speed may be a turning speed close to 0 [deg / s].

In general, the judging unit 200 judges that the wheel speed has a value close to 0 [kph], the yaw rate has a value close to 0 [deg / s], the side collision value and the Y- , It can be determined that a disturbance has occurred in the acceleration value by the door closing (Door Slam). Although the turntable and the door are closed by disturbance in the above description, it is obvious that the disturbance can be judged by various vehicle behaviors and the surroundings of the vehicle.

If it is determined by the determination unit 200 that the disturbance has occurred in the yaw rate value and the acceleration value, the correction unit 300 sets the yaw rate value or the Y-axis acceleration value to the threshold range of the predetermined yaw rate sensor and the threshold range of the acceleration sensor Is applied and corrected.

The correcting unit 300 can correct the yaw rate or Y axis acceleration value by moving or extending the critical range by adding the yaw rate value or the Y axis acceleration value to each of the critical range of the yaw rate sensor and the critical range of the acceleration sensor.

The test unit 400 is an apparatus that performs an initialization test of a yaw rate sensor and an acceleration sensor. The test unit 400 detects an error in the yaw rate sensor and the acceleration sensor through an initialization test, and transmits the result to the electronic control- .

The test unit 400 may perform an initialization test of the yaw rate sensor and the acceleration sensor by performing an offset test and a deflect test to which a predetermined threshold range is applied when disturbance does not occur, The offset test and the deflection test to which the corrected threshold range is applied through the corrector 300 can be performed to initialize the yaw rate sensor and the acceleration sensor. Here, a detailed description of the offset test and the deflection test will be described later with reference to FIG.

The test unit 400 determines that the yaw rate sensor or the acceleration sensor is normal when the yaw rate value or the acceleration value is within a predetermined or corrected threshold range and the yaw rate sensor or the acceleration sensor is determined to be normal, If it is located, it can be judged as an error of the yaw rate sensor or the acceleration sensor.

If the initialization test is performed at the end of the initialization test according to the normal judgment of the yaw rate sensor or the acceleration sensor or the number of retry times exceeding the predetermined number of retries according to the error detection of the yaw rate sensor or the acceleration sensor, The results can be transmitted to the electronic control travel safety device. Here, it is determined whether or not the electronic control running safety apparatus is operated according to a result of the test section 400. [

If the retry of the initialization test is determined according to the error detection of the yaw rate sensor or the acceleration sensor, the determination unit 300 determines the number of times that the X-axis collision value or the Y-axis collision value of the side collision value exceeds the determined threshold range And the number of retries of the initialization test can be increased by the number of times that the X-axis collision value or the Y-axis collision value exceeds the determined threshold range.

Accordingly, if the result of the initialization test for the yaw rate sensor or the acceleration sensor indicates an error, the test unit 400 proceeds the initialization test for the number of retries determined by the determination unit 300. [

Referring to FIGS. 1 and 2, a method of detecting an error of a vehicle sensor according to an embodiment of the present invention includes: first, when the vehicle is turned on by the driver (S201), the sensor unit 100 (S203). Here, the vehicle information includes a wheel speed, a steering angle, a yaw rate value, and an acceleration value.

Then, the determination unit 200 determines whether there is a disturbance in the yaw rate value or the acceleration value according to the environment change in the vehicle interior and the exterior using the vehicle speed, the steering angle, the yaw rate, and the acceleration value acquired at step S205.

Then, when the correcting unit 300 determines that a disturbance has occurred in the yaw rate value and the acceleration value, the preset threshold range of the yaw rate sensor or the acceleration sensor is corrected (S207).

Then, the test unit 400 performs an offset test and a deflection test to which a predetermined threshold range or a corrected threshold range is applied to initialize the yaw rate sensor or the acceleration sensor (S209).

Then, the test unit 400 determines whether to retry or terminate the test according to whether the yaw rate sensor or the acceleration sensor is faulty or exceeds the predetermined number of retries (S211). Here, the preset number of retries may be, for example, three times.

Then, the determination unit 200 determines how many times the X-axis acceleration value or the Y-axis acceleration value exceeds the predetermined threshold range (S213).

Then, the determination unit 200 increments the preset number of retries by the number of times that the X-axis collision value or Y-axis collision value out of the side collision values exceeds a preset threshold range (S215). Here, if the test unit 400 determines that the error is an error of the yaw rate sensor or the acceleration sensor, the test unit 400 performs the initialization test for the preset number of retries.

Then, when the initialization test is performed because the yaw rate sensor or the acceleration sensor is determined to be normal or exceeds the number of retries, the test section 400 ends the initialization test and determines whether the yaw rate sensor or the acceleration sensor is in error or not (S217).

Then, the test unit 400 transmits normal information or error information according to whether the yaw rate sensor or the acceleration sensor is faulty (S219, S221). Here, the test unit 400 may transmit the sensor status information for the normal information or the error information to the electronic control travel safety device.

The electronically controlled safety device that receives the sensor status information does not receive the wrong sensor status information due to the disturbance occurrence, so it can operate normally.

Referring to FIG. 3, a graph for explaining an offset test and a deflection test with a predetermined threshold range or a corrected threshold range can be confirmed.

The offset test selects a plurality of sample values for each of the yaw rate value or the acceleration value, calculates an average value for each of the plurality of sample values, and checks whether each of the calculated average values is within a preset threshold range or a corrected threshold range To check whether the offset of the yaw rate sensor or the acceleration sensor is abnormal.

Also, the offset test may be performed by checking whether the difference value between the current value and the previous value among the plurality of sample values for the yaw rate value or the acceleration value is within a preset threshold range or a corrected threshold range, You can also check to see if this is the case.

The deflection test has a positive deflection test and a negative deflection test. The positive deflection test arbitrarily adjusts each yaw rate or acceleration value in a positive direction, and then a plurality of sample values for each yaw rate or acceleration value And calculates an average value for each of a plurality of sample values, and then determines whether the calculated average value is within a preset or corrected threshold range.

On the other hand, in the negative deflection test, each of the yaw rate value or the acceleration value is arbitrarily adjusted in the minus direction, a plurality of sample values are selected for each of the yaw rate value or the acceleration value, and an average value is calculated for each of the plurality of sample values And then checking whether the calculated average value is within a preset or corrected threshold range.

The method according to an embodiment of the present invention can be implemented as a computer-readable code on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and a carrier wave (for example, transmission via the Internet). The computer-readable recording medium may also be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art.

Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

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400: Test section

Claims (12)

An acquiring step of acquiring vehicle information through a vehicle sensor;
A disturbance judgment step of judging whether disturbance is present in the vehicle information;
Determining a critical range for detecting an error of the vehicle sensor according to presence / absence of the disturbance; And
An error detection step of detecting an error of the vehicle sensor using the determined critical range
And detecting the error of the vehicle sensor. The method according to claim 1,
Wherein the vehicle sensor includes a yaw rate sensor, an acceleration sensor, a wheel speed sensor, a steering angle sensor, and a side impact sensor,
Wherein the vehicle information includes a yaw rate value, an acceleration value, a wheel speed, a steering angle, and a side impact value. 3. The method of claim 2,
The error detection step
An initialization test step of initializing the yaw rate sensor or the acceleration sensor using the determined threshold range; And
An end confirmation step of confirming whether the initialization test is proceeded at the end of the initialization test or a preset number of retries or more;
And detecting the error of the vehicle. The method of claim 3,
An excess count checking step of checking the number of times the X-axis collision value or the Y-axis collision value of the side collision value exceeds the determined critical range; And
A retry adjustment step of adding the number of times the X-axis collision value or the Y-axis collision value exceeds the determined threshold range in the exceeding number confirmation step to increase the preset retry number;
Further comprising the steps of: detecting an error of the vehicle; 5. The method of claim 4,
The error detection step
When the yaw rate value or the acceleration value is within the determined threshold range, the yaw rate sensor or the acceleration sensor is determined to be normal, and when the yaw rate value or the acceleration value is located outside the determined threshold range, Or an error of the acceleration sensor. 6. The method of claim 5,
A transmission step of transmitting normal information or error information according to whether the yaw rate sensor or the acceleration sensor is in error,
Further comprising the steps of: detecting an error of the vehicle; 6. The method of claim 5,
The disturbance determination step
And determining whether the disturbance is present in the yaw rate value or the acceleration value using the wheel speed, the steering angle, and the side impact value. 8. The method of claim 7,
The disturbance determination step
Wherein the yaw rate value is equal to or less than a predetermined first reference yaw rate when the wheel speed is less than a predetermined reference speed and the steering angle has a constant value, 1 < / RTI > reference acceleration value, it is determined that the disturbance has occurred. 8. The method of claim 7,
The disturbance determination step
Axis acceleration value is equal to or less than a preset reference velocity and the Y-axis acceleration value and the Y-axis acceleration value of the side impact value and the acceleration value are equal to or greater than a predetermined second reference acceleration value, And when the vehicle speed is equal to or lower than the predetermined speed, it is determined that the disturbance has occurred. 6. The method of claim 5,
The step of determining the threshold range
Wherein the controller determines whether the disturbance is generated through the disturbance determination step, by applying the yaw rate value or the Y-axis acceleration value to the threshold range of the predetermined yaw rate sensor or the threshold range of the acceleration sensor, step
And detecting the error of the vehicle. 11. The method of claim 10,
The threshold range correction step
And the yaw rate value or the Y-axis acceleration value is added to each of the threshold ranges to correct or correct each of the threshold ranges. 5. The method of claim 4,
The excess times checking step
Determining a number of times that the X-axis collision value or the Y-axis collision value out of the side collision values exceeds the determined threshold range,
Wherein the retry adjusting step increases the number of times that the X-axis collision value or the Y-axis collision value exceeds the determined threshold range, in addition to the preset retry number.

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