WO2021180574A1 - Compensation de la derive en temperature d'un accelerometre embarque dans un vehicule automobile a deux-roues pour mesurer l'inclinaison du vehicule - Google Patents
Compensation de la derive en temperature d'un accelerometre embarque dans un vehicule automobile a deux-roues pour mesurer l'inclinaison du vehicule Download PDFInfo
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- WO2021180574A1 WO2021180574A1 PCT/EP2021/055544 EP2021055544W WO2021180574A1 WO 2021180574 A1 WO2021180574 A1 WO 2021180574A1 EP 2021055544 W EP2021055544 W EP 2021055544W WO 2021180574 A1 WO2021180574 A1 WO 2021180574A1
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- accelerometer
- value
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- temperature drift
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/028—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure
- G01D3/036—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure on measuring arrangements themselves
- G01D3/0365—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure on measuring arrangements themselves the undesired influence being measured using a separate sensor, which produces an influence related signal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
- B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/415—Inclination sensors
- B62J45/4151—Inclination sensors for sensing lateral inclination of the cycle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P1/00—Details of instruments
- G01P1/006—Details of instruments used for thermal compensation
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- 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
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
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- 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
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/06—Sensor zero-point adjustment; Offset compensation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/08—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for safeguarding the apparatus, e.g. against abnormal operation, against breakdown
Definitions
- the present invention relates generally to the detection of the inclination ("tilt" in English) of a two-wheeled vehicle using an on-board accelerometer, and more particularly to the compensation of the temperature drift of such an accelerometer.
- the invention finds applications, in particular, in a two-wheeled motor vehicle computer with a combustion engine comprising an accelerometer for measuring, while the vehicle is running, the angle of the lateral inclination (" bank angle ”) of the vehicle with automatic engine shutdown when a tilt threshold is exceeded.
- An autonomous sensor for measuring the lateral inclination of a two-wheeled vehicle of the motorcycle type or the like can be used to determine its inclination in order to cause the engine to switch off when this inclination is greater than a threshold considered critical.
- the purpose of this automatic engine shutdown function when a lateral inclination threshold is exceeded is to protect the user, in the event of a fall, against the possible consequences related to moving parts (driving wheel, chain, etc. ) of the motorcycle, and the risk of ignition of the assembly in the event of spillage of fuel that would be caused by the accident.
- a multi-axis accelerometer for example of the three-axis type, X, Y and Z.
- This type of accelerometer is now available as a monolithic integrated circuit ("standalone »In English), and can be integrated on the printed circuit of an on-board electronic computer.
- standalone »In English In combination with a software function, such an accelerometer makes it possible to estimate the inclination of the vehicle, thus avoiding equipping the vehicle with a dedicated roll gyroscope, resulting in substantial savings.
- the inclination calculation of the vehicle is dependent on the physical measurements carried out by the sensors of the accelerometer, which are generally uniaxial, biaxial (or 2D, set for "two-dimensional measurement”) and / or cells tri-axes (or 3D, put for "three-dimensional measurement”) integrated on a single semiconductor product chip.
- microelectromechanical systems or MEMS, which means “micro-electro-mechanical-systems”, in English
- MEMS microelectro-mechanical-systems
- Interdigital capacitors produced by etching thin layers at the surface
- accelerometers exploit the difference in stress between each of the axes, the beams being stressed in torsion and / or in bending depending on the direction of acceleration to which the accelerometer is subjected. And detection by suitable electronics makes it possible to measure the level of stress in the direction of each axis.
- an acceleration measurement error generates an error in the estimation of the inclination of the vehicle. Since the automatic engine shutdown function is intended to shut off the engine when the maximum tilt threshold is exceeded, an error in estimation can lead to an early shutdown of the engine, which can compromise the safety of the motorcycle operator.
- a sensor measuring device transforms a physical parameter into an electrical signal, which can then be converted into digital data.
- Calibration also known as “calibration”
- calibration aims to ensure that measuring devices of the same range (same brand, same model) give the same measurement result when placed in the same situation. There is therefore a need for a procedure making it possible to obtain the same result from the same situation.
- the calibration of a measuring device can be defined (leaving aside the uncertainties of measurement) as a procedure which, under specified conditions, establishes in a first phase a relation between measurement values which are provided by standards and the corresponding indications which are provided by the apparatus, then in a second phase uses a relation making it possible to obtain a measurement result from any indication given by the device.
- a calibration can therefore be expressed as a statement, a calibration function, a calibration diagram, a calibration curve or a calibration table.
- the first phase of calibration is a characterization of the response of the sensor over the entire operating range of the sensor.
- the second phase consists of exploiting the results of the first. In certain cases (especially if the sensor is not adjustable so that an adjustment is impossible), the second phase may consist of an additive or multiplicative correction of the indication given by the device.
- the invention aims to avoid such a characterization of accelerometers from axis to axis, and MEM tests by MEM to be carried out with a view to defining a correction polynomial associated with each MEM, which are at the very least long and expensive.
- Such a characterization cannot generally be carried out autonomously by on-board means of the vehicle, such as the engine control computer of a motorcycle, for example, which has limited calculation and storage means.
- the temperature near the engine control computer which, in general, incorporates the accelerometer, varies over a very wide range of values.
- This ambient temperature of the accelerometer typically varies between -20 ° C at start-up (which is the generally lowest outside temperature, in winter, in the countries targeted by the applications of the invention) and + 90 ° C when the engine is completely hot (which is generally the maximum temperature of the engine in operation, taking into account the cooling means (radiator, fan, etc.) which are used, if necessary.
- the invention starts from the observation that the variation in acceleration measurement as a function of the ambient temperature, which is intrinsic to accelerometer technology, can be learned in a simple and efficient manner specifically for each particular accelerometer, and can then be learned. be taken into account during a measurement given by said accelerometer, thus making it possible to reduce errors in estimating the inclination of the vehicle.
- the document JP2007322347A discloses a compensation of the measurement of the accelerometers as a function of the temperature, in order to detect the inclination of a four-wheeled vehicle, which would be due to a lifting of the vehicle in the event of theft of a tire .
- the document provides a calibration solution, with temperature correction based on updates to sensor voltage reference values.
- Document US20040194327A1 discloses the determination of the geometry angles of a running gear of a four-wheeled vehicle, with compensation for temperature drift by correcting the angle of inclination by calibration.
- the invention for its part provides a method with a first phase comprising the learning, preferably along each of the three axes of a 3D accelerometer, for example, the temperature drift (we also speak of offset in temperature) which is due to the change in its operating temperature, and with a second phase comprising the correction of this drift as a function of the current temperature during any measurement.
- a method for compensating for a temperature drift of an accelerometer for measuring the inclination of a motor vehicle with two wheels and with a heat engine said method having: - a learning phase of the temperature drift of the accelerometer comprising:
- a first temperature drift coefficient defined as the ratio of the difference between the first acceleration measurement value and the reference acceleration value, on the one hand, on the difference between the first value temperature measurement and the first reference temperature value, on the other hand;
- a second temperature drift coefficient defined as the ratio of the difference between the second acceleration measurement value and the reference acceleration value, on the one hand, on the difference between the second value temperature measurement and the first reference temperature measurement value, on the other hand;
- a correction phase in which an acceleration value indicated by the accelerometer at a given measurement point at which the temperature is equal to a current temperature value is corrected as a function of the difference between said current temperature value and the reference temperature value on the one hand, and the single temperature drift coefficient, on the other hand. Thanks to this method, it is possible to determine the inclination of a two-wheeled vehicle, during travel, corrected for the temperature drift of the accelerometer, with prior learning of the temperature drift of the accelerometer specifically used in the vehicle in question, which is produced on said vehicle itself, autonomously by on-board means.
- the learning phase of the method according to the modes of implementation of the invention makes it possible to apply a temperature compensation to the indications supplied by the accelerometer, which takes account of the dispersions of characteristics affecting the accelerometers capable of being used.
- learning according to the proposed method makes it possible to take into account the dispersion of the characteristics of the components during their manufacture, which offers an advantage over a calibration process.
- dispersions we mean the fact that accelerometers inherently do not react in exactly the same way due to varying factors that necessarily affect their manufacture on an industrial scale.
- the method does not need to know a temperature correction curve covering the entire operating temperature range of the accelerometer, which would result from a long and tedious characterization phase.
- the modes of implementation of the proposed method are advantageously characterized, on the one hand, by the learning strategy which can be implemented specifically for each accelerometer a once installed in the vehicle, and this autonomously by means onboard said vehicle, and on the other hand by the fact that said learning strategy comprises the estimation of the temperature drift in at least two steps, at each times between two measuring points spaced within the operating temperature range of the accelerometer, to efficiently and accurately compensate for the temperature drift of the accelerometer.
- Methods of implementation taken alone or in combination, further provide that: - Obtaining and storing the single temperature drift coefficient can only be carried out if the first temperature drift coefficient and the second temperature drift coefficient are signed digital values having the same sign;
- the single temperature drift coefficient can be obtained by calculating an average of the first temperature drift coefficient and of the second temperature drift coefficient
- the first range of temperature values may include temperature values at least 30 ° C above the reference temperature value
- the second range of temperature values may include temperature values at least 30 ° C higher than the first temperature measurement value
- the range of reference temperature values may include temperature values between -20 ° C and + 55 ° C;
- the accelerometer being a multi-axis accelerometer, all the steps of the process can be carried out simultaneously for each axis of the accelerometer;
- the acquisition of a reference acceleration value at the reference measurement point can be carried out, with the engine stopped, at the end of the vehicle production line, while the other steps of the phase of learning of the temperature drift of the accelerometer can be carried out later, with the engine running.
- the invention also relates to a device for compensating for a temperature drift of an accelerometer for measuring the inclination of a two-wheeled motor vehicle with a thermal engine, comprising an electronic control unit for the engine of a two-wheeled motor vehicle with a thermal engine comprising an accelerometer and means for measuring, while the vehicle is traveling, the lateral inclination of the vehicle with automatic engine shutdown when an inclination threshold is exceeded, means for determining the ambient temperature, means for determining the engine temperature, means for determining whether the vehicle is upright, and having means suitable for carrying out all the steps of the method according to the first aspect above. It may be a computer configured for this purpose, for example the engine control computer of the motorcycle.
- a third aspect of the invention relates to a two-wheeled motor vehicle computer with a heat engine, comprising an accelerometer and a device according to the second aspect above for the measurement, while the vehicle is running, the lateral inclination of the vehicle with automatic engine shutdown when an inclination threshold is exceeded.
- This may be, in particular, the engine control computer of the motorcycle.
- the indication given by the accelerometer i.e., an acceleration measurement
- the learning and then the correction can be done by the software.
- the invention also relates to a computer program product comprising one or more sequences of instructions stored on a memory medium readable by a machine comprising a processor, said sequences of instructions being adapted to carry out all the steps of the method according to the first aspect of the invention when the program is read from the memory medium and executed by the processor.
- FIG. 1A is a diagram showing a side view of a motorcycle, in which the method may be carried out;
- FIG. 1B is a diagram showing a front view of the motorcycle of FIG. 1A at three respective inclinations with respect to the vertical;
- FIG. 2A is a simplified representation of an accelerometer with three measurement axes which can be integrated into an on-board computer of the motorcycle of FIGS. 1A and 1B, and curves of the evolution as a function of time of the values of ′ acceleration measured along the three axes of the accelerometer when the motorcycle is upright;
- FIG. 2B is a simplified representation of the accelerometer of FIG. 2A, and curves of the evolution as a function of time of the acceleration values measured along the three axes of the accelerometer when the motorcycle is tilted by an angle Q with respect to the vertical;
- FIG. 3 is a graph showing a set of curves representing the dispersion of the temperature drift of a determined batch of accelerometers
- FIG. 4 is a graph illustrating the calculation of the slope of a curve representing the temperature drift of a determined accelerometer
- Figure 5 is a functional diagram illustrating the implementation of the steps of the method of the invention.
- Figure 6 is a step diagram illustrating examples of implementation of the learning phase of the process.
- X, Y and Z denote the longitudinal, lateral and vertical axes, respectively, of the frame of reference linked to the Earth (also called the terrestrial frame of reference);
- acceleration g is given in meters per second squared (m / s 2 ), or Gforce (g), which is equal to 9.81 m / s 2 ;
- - T ° designates the ambient temperature at the level of the accelerometer, which can be given by a temperature sensor arranged for example in the immediate vicinity of the computer incorporating the accelerometer, or in the housing of said computer;
- T1 and T2 denote determined values of the temperature T ° at which a reference measurement of the acceleration values ⁇ Ax_ref, Ayjref, Az_ret ⁇ , a first learning measurement of the acceleration values ⁇ Ax_T1, Ay_T1, Az_T1 ⁇ and a second measurement of learning acceleration values
- ⁇ Ax_T2, Ay_T2, Az_T2 ⁇ are given by the accelerometer;
- - Q designates the lateral tilt angle (“bank angle”) of the vehicle, and therefore of the accelerometer that it incorporates;
- Slope_1, Slope_2 and Slopejcor are temperature drift coefficients of the accelerometer, expressed in g / ° C, and which can take positive or negative values; they correspond to the slope of portions of straight lines which can represent the temperature drift of the accelerometer, as a first approximation; we will sometimes speak of “slope coefficient”, with reference to this representation.
- a two-wheeled motor vehicle such as a motorcycle or the like, moves in a three-dimensional space, which can be defined by three perpendicular axes two-by-two which are linked to the Earth. These X, Y and Z axes are hereinafter referred to as the longitudinal, lateral and vertical axes, respectively.
- the peculiarity of a two-wheeled vehicle is its ability to be tilted relative to the vertical, especially when cornering.
- an accelerometer and in particular a 3D accelerometer, can indicate how an object is oriented relative to the Earth.
- a smartphone for example, this is used to switch from a portrait view to a landscape view.
- a 3D accelerometer tracks the movement in space of the player's hand, and this is used by the game as an interface with the player.
- One of the applications of an accelerometer in a two-wheeled vehicle is the calculation of the inclination of the vehicle with respect to the vertical, in particular within the framework of the automatic cut-off function of the heat engine when a determined inclination threshold is exceeded. .
- the tilt due to a rotation around the longitudinal axis X is called roll ( “Roll” in English)
- the inclination due to a rotation around the lateral axis Y is called pitch (“pitch” in English)
- the inclination due to a rotation around the vertical axis Z is called yaw ( “Yaw” in English).
- pitch the inclination due to a rotation around the vertical axis Z
- yaw “Yaw” in English
- tilt angle in English
- lateral inclination or “bank” in English
- lateral inclination angle or “bank angle” in English
- FIGs of Figure 1A and Figure 1B show, by way of example, a side view and front views, respectively of a motorcycle 101 in which can be implemented the method according to modes of implementation implementation of the invention.
- This method can be implemented in any type of motorized two-wheeled vehicle, such as a motor scooter, moped, moped, scooter, motorcycle (or motorbike), etc.
- the two-wheeled vehicle is more particularly motorized by a heat engine, or an explosion engine or even an internal combustion engine.
- the engine can be single, twin, three or four cylinder, or more. It can be a two or four stroke engine, optionally with direct or indirect injection.
- the vehicle is equipped with a thermal injection engine.
- the engine is then controlled by an electronic control unit (ECU, standing for “Electronic Control Unit”), such as an engine control computer (or ECU also, which in this context is put for “Engine Control Unit” ).
- ECU electronice control unit
- an engine control computer or ECU also, which in this context is put for “Engine Control Unit”
- At least one accelerometer is implanted in the ECU. This is for example an accelerometer produced on a semiconductor product and integrated into a chip.
- the measurement of the inclination of the vehicle which is provided by the accelerometer allows the ECU to shut off the engine in the event of a fall of the vehicle, which is determined by exceeding a threshold d. tilt of the vehicle.
- the fact that the engine continues to operate during a fall of the vehicle represents an additional danger for the driver and additional risks for the vehicle.
- the inclination referred to here is the lateral inclination of the vehicle (to one side or the other, in relation to its direction of travel. displacement), relative to the vertical, which corresponds to the direction of the aforementioned vertical axis Z.
- vertical is meant here the direction of the force of gravity g.
- the vertical direction of the vehicle frame 101 is represented by the thick arrow Z1, which is oriented in the direction from bottom to top.
- the longitudinal direction of the vehicle frame which also corresponds to its straight-line direction of travel, is represented by the thick arrow X1, which is oriented from the rear to the front.
- the lateral direction of the vehicle frame is represented by the thick arrow Y1, which is oriented in the direction from right to left.
- the vertical reference direction Z1 is parallel to the vertical direction Z
- the reference directions X1 and Y1 form a plane which is parallel to the ground plane defined by the axes X and Y.
- the X1, Y1 and Z1 axes move with the vehicle 101 and pivot with respect to the X, Y and Z axes linked to the Earth, at the same time as the vehicle.
- FIG 1B illustrates different lateral inclinations of the motorcycle 101 of Figure 1A relative to the vertical.
- the motorcycle In 101a, the motorcycle is in a straight position, that is to say vertical: its vertical reference axis Z1 is parallel to the direction of the force of gravity g.
- positions 101b and 101c the motorcycle is inclined respectively along its right lateral side and along its left lateral side, in both cases by an angle Q.
- This lateral inclination angle (“bank angle” in English) defines the measurement. of the inclination of the motorcycle with respect to the vertical Z.
- the ECU relies on the continuous measurement and monitoring of the value of this angle Q to stop the engine, in the event of a lateral fall of the vehicle.
- FIG. 2A gives, in the upper part, a simplified representation of an accelerometer 102 which measures the acceleration along three axes, for example three perpendicular axes two by two.
- a three-axis accelerometer allows the determination of the exact angular orientation, with respect to the earth, of the accelerometer 102 and therefore of the vehicle 101 of FIGS. 1A and 1B when it is on board. said vehicle, for example in a computer such as the engine control computer of said vehicle. It is assumed here, for the sake of simplicity of the present disclosure, that the system of axes linked to the vehicle 101 corresponds to the systems of axes linked to the accelerometer 102.
- the accelerometer 102 is fixedly arranged in the computer of the vehicle 101 in such a way that the axes of these sensors coincide with the axes X1, Y1 and Z1 of the vehicle 101 represented by the thick arrows in FIGS. 1A and 1B.
- This is obtained by mounting the accelerometer in the computer and / or the computer in the vehicle, so as to make the axes of the axis overlap as precisely as possible. measurement of the accelerometer sensors with the reference axes X1, Y1 and Z1 of the vehicle.
- the accelerometer can have a different angular position, and possibly random, with respect to the reference mark of the vehicle, determination means and calculation means based for example on a rotation matrix that can then make it possible to compensate for this difference in orientation in order to act as if the mark of the accelerometer coincided with that of the vehicle.
- FIG. 2A shows curves which represent an example of change as a function of time of acceleration values measured on these three axes X, Y and Z when the vehicle is kept in a substantially vertical position.
- a non-zero acceleration Az namely a signal which is equal to 1g , where g is the unit of acceleration corresponding approximately to the acceleration of gravity on the surface of the Earth, that is to say approximately 9.81 ms 2 , with a few fluctuations which depend on the possible oscillation of the vehicle around the vertical during the duration of the measurement.
- the acceleration values Ax and Ay given by the accelerometer for the other measurement directions, namely the longitudinal direction X and the lateral direction Y, respectively, are substantially equal to zero also with a few fluctuations depending on the stability of the vehicle in the upright position.
- the force of gravity g is represented by a thick vertical arrow pointing downward.
- FIG. 2B shows, in the upper part, the same accelerometer 102 when the vehicle is inclined with respect to the vertical direction Z, for example a lateral inclination to the right corresponding to the position 101b of FIG. 1B.
- the angle of inclination with respect to the vertical axis Z is always noted Q.
- the vertical axis Z1 of the accelerometer chip 102 is here inclined by an angle Q along the direction of the vertical axis Z.
- FIG. 2B shows the change over time of the values Ax, Ay and Az given by the accelerometer 102 thus inclined relative to the vertical Z.
- the value Az has decreased slightly and is now between 0 and 1g, while the Ax value has not changed and the Ay value has slightly decreased and is now between 0 and -1g (for an angle Q between 0 and 45 °, in the example shown).
- the figure shows a bundle of curves giving the drift, or shift, or offset (expressed in mg, that is to say in thousandths of the value g of the acceleration due to the force of Earth attraction g), in function of the temperature T ° (expressed in degrees Celsius, or Deg C or ° C), for a set of different accelerometers which are all of the same model.
- This batch of accelerometers comes from the same manufacture. As such, the accelerometers considered are supplied by the manufacturer as having identical measurement characteristics.
- accelerometers from the same batch exhibit a dispersion of characteristics.
- Those skilled in the art will appreciate that, even if we are only interested here in the drift of the acceleration values provided as a function of the ambient temperature, the dispersion of characteristics is a global phenomenon which can affect all the characteristics. of such a component.
- the bundle of curves shown in Figure 3 reveals three pieces of information.
- all the accelerometers effectively give the same temperature measurement at a nominal temperature equal to approximately 20 ° C. in the example shown. At this nominal temperature, all accelerometers exhibit an offset substantially equal to zero. Visually, this is reflected by the fact that all the curves pass through a nominal point 30 corresponding to 20 ° C. on the abscissa and 0 mg on the ordinate. This value of 20 ° C is not due to chance, since it corresponds approximately to the value of the ambient temperature at which the accelerometers are supposed to operate in a majority of applications. This is why manufacturers generally guarantee zero, or at least minimal, offset at this nominal temperature.
- each accelerometer has a linear drift as a function of the temperature, in the temperature range between -40 ° C and plus 125 ° C which is shown in the figure.
- the curves represented are substantially inclined lines.
- Some accelerometers exhibit a drift with an offset coefficient (or drift coefficient) which is positive, resulting in an ascending line as a function of the temperature, while others have a drift with a negative offset coefficient, i.e. conversely translating into a descending line as a function of the temperature.
- the principle which is the basis of the method according to implementations of the invention is that, the temperature drift of the accelerometers being linear, it suffices to know it and to be able to compensate for it when measurements are taken at using a determined accelerometer, to know on the one hand the value of the slope of the corresponding straight line and on the other hand, a determined measurement point through which this straight line passes.
- the temperature drift of the accelerometers being linear, it suffices to know it and to be able to compensate for it when measurements are taken at using a determined accelerometer, to know on the one hand the value of the slope of the corresponding straight line and on the other hand, a determined measurement point through which this straight line passes.
- it rather than characterizing the temperature drift of each accelerometer over all of their possible operating temperature ranges, which is long and tedious and probably at least difficult independently with on-board means in the vehicle, it It suffices to learn these two pieces of information in order to be able to compensate for the temperature drift by appropriately correcting each acceleration measurement made with said accelerometer.
- the learning according to examples of implementation of the method comprises the determination of a reference measurement point corresponding substantially to the value of the nominal temperature for which the accelerometers are guaranteed reliable by the manufacturer, that is, i.e. 20 ° C in the example.
- this temperature is the standard ambient temperature in the majority of applications so that it suffices to place oneself in such standard temperature conditions to be substantially at this nominal temperature. In the application considered here, this implies placing oneself in conditions in which the engine of the vehicle is cold, because it is known that a hot engine gives a ambient temperature in its vicinity which greatly exceeds the standard ambient temperature, namely approximately 20 ° C.
- Another advantage of the fact of being placed at this reference point of measurement is that one is located at the intersection node 30 of all the straight lines representing the temperature drift of the accelerometers likely to be used, so that one s 'frees as much as possible from the effects of a possible shift in relation to this reference measurement point within the batch of accelerometers concerned.
- the graph of FIG. 4 shows a curve 41 of the temperature drift of a determined accelerometer, and the straight line 40 by which this drift can be defined in an approximate manner.
- Line 40 and curve 41 pass each other through node 30, which corresponds to the reference measurement point defined by temperature To on the abscissa and a zero offset value on the ordinate.
- the curve 41 substantially follows the shape of the straight line 40 by which it can be estimated, local variations over a small temperature interval can locally give a slope different from the ideal slope. of the line 40 shown.
- the slope of the curve 41 can locally present an inverse sign to that of the slope of the straight line 40.
- measurement artefacts can give, over a small temperature interval, a break in the monotony of the drift. temperature of the accelerometer.
- the highest engine temperature 7 ° in the so-called “hot engine” situation, corresponds to the maximum temperature taking into account any cooling means present in the vehicle, on the one hand, and the conditions of use (/ .e., vehicle with the engine running but stationary, or rolling vehicle subjected to the apparent wind resulting from the movement of the vehicle relative to the air), on the other hand, and which is for example equal to + 90 ° vs.
- the minimum temperature for starting a cold engine can be lower or higher than + 20 ° C, typically it can be between -20 ° C and + 55 ° C.
- the maximum temperature reached by a hot engine can be greater than + 90 ° C, and reach temperatures up to + 125 ° C, for example.
- Three temperature intervals 500, 510 and 520 which will be discussed later.
- Three acceleration measurement points 50, 51 and 52 have also been shown by the accelerometer on board the vehicle 101 to which, on the one hand, the vehicle 101 is straight (that is to say that the angle Q relative to the earth's vertical is substantially equal to zero), and to which, on the other hand, the temperature 7 ° is included in the temperature interval 500, in the temperature interval 510, and in the temperature interval 520, respectively.
- the temperatures corresponding to the three measuring points 50, 51 and 52 are denoted Tref, 77 and 72, respectively. In the remainder of the description, these temperatures will sometimes be referred to as the reference temperature Tref, the first learning temperature 77, and the second learning temperature 72, respectively.
- the temperature intervals 500, 510 and 520 are sometimes referred to as the reference temperature interval 500, the first training temperature interval 510 and the second training temperature interval 520, respectively.
- This temperature interval 500 corresponds for example to the interval between a minimum temperature Tmin and a maximum temperature Tmax, which define the range ambient temperatures which may be observed when the engine is started from the “cold engine” situation, in the applications envisaged.
- Tmin can thus be equal to -20 ° C and Tmax can be equal to plus + 55 ° C.
- the lower limit of the first learning temperature interval 510 may be equal to the reference temperature Tref increased by a first temperature difference DT1.
- the reference temperature Tref and the first training temperature interval 510 are spaced, in temperature, by a temperature difference D T1.
- the upper limit of the first training temperature interval 510 can be equal to the maximum conceivable temperature, that is to say +125 ° C in the example.
- the gap 510 may not be bounded upward, which is the same from the point of view of understanding the present disclosure, and is in practice simpler to implement. implementation of this process by software engineering.
- the temperature interval 510 can include temperatures of 7 ° for which 7 °> Tref + DTI.
- the lower limit of the second learning temperature interval 520 may be equal to the first learning temperature T1 increased by a second temperature difference D T2.
- the first training temperature interval 77 and the second training temperature interval 520 are spaced, in temperature, by a temperature difference DT2.
- the upper limit of the second training temperature interval 520 can be equal to the maximum conceivable temperature, that is to say + 125 ° C in the example. Alternatively, like interval 510, interval 520 is not bounded upward. In other words, again, the temperature interval 520 can include temperatures of 7 ° for which 7 °> 77 + DT2.
- the temperature differences DT1 and DT2 have the function of ensuring a temperature distance between the first learning temperature 77 and the reference temperature Tref, and between the second training temperature 72 and the first training temperature 77, respectively, which is sufficient to provide better precision and greater reliability in the estimation of the slope of the temperature drift of the accelerometer between the measuring points 51 and 50 and between the measuring points 52 and 51, respectively.
- the estimation of the slope of a straight line is all the better than the spacing between the measurement points between which this estimation is carried out. , is high.
- the temperature difference DT1 and / or the temperature difference DT2 can be greater than 30 ° C, for example between 30 ° C and 40 ° C.
- step diagram of FIG. 6 we will describe methods of implementing the procedure for learning the temperature drift of an accelerometer in the context of the invention. This description is given with further reference to the diagram of FIG. 5 which illustrates this context.
- step 61 one wonders whether the reference measurement Aref at the reference measurement point 50 has been carried out or not. If so, the method goes to step 62. Otherwise, it goes to step 611.
- step 611 one wonders whether the ambient temperature T ° near the accelerometer is included in the reference temperature interval 500. If not, the procedure restarts with the execution of the step 61. If yes, the method goes to step 612.
- step 612 one wonders whether the vehicle is right, that is to say whether one is in the particular condition called "right motorcycle".
- one wonders whether the angle Q between the vertical axis Z1 of the accelerometer and the vertical axis Z of the terrestrial frame of reference is substantially zero or not.
- This condition can be verified from a combination of states of different sensors of the vehicle. For example, we can base our on one or more information supplied by a sensor on the vehicle key, a sensor on the vehicle's clutch, a sensor on the stand (center stand or side stand), a speed sensor of the vehicle, an engine speed sensor (indicating whether it is idling or accelerating), etc. If the motorcycle is not upright then the procedure restarts with the execution of step 61.
- step 613 the reference measurement Aref given by the accelerometer is recorded.
- the triplet of values ⁇ Ax_ref, Ayjref, Az_ref corresponding to the indications given by the accelerometer.
- step 613 comprises carrying out the reference measurement 50 of FIG. 5.
- the temperature Tref and the triplet of values ⁇ Ax_ref, Ayjref, Azjret ⁇ are stored in a non-volatile memory of the computer in order to be able to be recovered later in order to carry out the rest of the steps of the process.
- step 62 one wonders whether the first learning measurement A 1 at the first learning measurement point 51 of FIG. 5 has been carried out or not. If so, the method goes to step 63. Otherwise, it goes to step 621.
- step 621 one wonders whether the ambient temperature T ° near the accelerometer is included in the first learning temperature interval 510. If not, the procedure restarts with the execution of l step 61. If so, the method proceeds to step 622.
- step 622 we ask our whether the vehicle is upright, that is to say whether we are in the particular condition called "right motorcycle". In other words, one wonders whether the angle Q between the vertical axis Z1 of the accelerometer and the vertical axis Z of the terrestrial frame of reference is substantially zero or not. This condition can be verified in the same way as in step 612 already described above. If the motorcycle is not upright then the procedure restarts with the execution of step 61. If conversely the motorcycle is upright then the process continues to step 623.
- step 623 the first learning measurement A 1 given by the accelerometer is recorded.
- the triplet of values ⁇ Ax_1, Ay_1, Az_1 ⁇ corresponding to the indications given by the accelerometer.
- the temperature 7 ° given at that time is recorded by a temperature sensor, which defines the first learning temperature 77.
- step 623 comprises carrying out the first learning measurement 51 of figure 5.
- ⁇ Ax_1, Ay_1, Az_1 ⁇ we calculate a first slope coefficient Slope_1 of the temperature drift of the accelerometer, as was explained above with reference to Figure 4. More in particular, the slope is calculated for each of the axes of the accelerometer. It follows that the slope coefficient Slope_1 is in fact a three-dimensional vector, ie, is defined by a triplet of values ⁇ Slope_1x, Slope_1y, Slope_1z ⁇ .
- step 63 one wonders whether the second learning measurement A2 at the second learning measurement point 52 of FIG. 5 has been carried out or not. If so, the method goes to step 64. Otherwise, it goes to step 631.
- step 631 one wonders whether the ambient temperature T ° near the accelerometer is included in the second learning temperature interval 520. If not, the procedure restarts with the execution of l 'step 61.
- step 632 we ask our whether the vehicle is upright, that is to say whether we are in the particular condition called "upright motorcycle".
- the angle Q between the vertical axis Z1 of the accelerometer and the vertical axis Z of the terrestrial frame of reference is substantially zero or not. This condition can be verified in the same way as in step 612 and in step 622 already described above. If the motorcycle is not upright then the procedure restarts with the execution of step 61. If conversely the motorcycle is upright then the process continues to step 633.
- step 633 the first learning measurement A2 given by the accelerometer is recorded.
- the triplet of values ⁇ Ax_2, Ay_2, Az_2 ⁇ corresponding to the indications given by the accelerometer.
- the temperature 7 ° given at that time is recorded by a temperature sensor, which defines the second learning temperature 72.
- step 633 comprises carrying out the second learning measurement 52 of figure 5.
- ⁇ Ax_2, Ay_2, Az_2 ⁇ we calculate a second slope coefficient Slope_2 of the temperature drift of the accelerometer, as was explained above with reference to Figure 4. More in particular, the slope is calculated for each of the axes of the accelerometer. It follows that the slope coefficient Slope_2 is in fact a three-dimensional vector, ie, is defined by a triplet of values ⁇ Slope_2x, Slope_2y, Slope_2z ⁇ .
- the Slope_2x value is obtained by calculating the ratio of the difference (Ax_2 - Ax_ref) between Ax_2 and Axjref on the difference (T2-Tref) between 72 and Tref. And the same for the Y and Z axes.
- the ⁇ Slope_2x, Slope_2y, Slope_2z ⁇ values thus obtained are saved temporarily, until the end of the execution of the procedure.
- step 64 the monotony of the temperature drift of the accelerometer is verified, as determined twice in succession, in steps 623 and 633, respectively.
- the sign of the slope coefficient Slope_1 of the temperature drift determined between the measurement points 51 and 50 and the sign of the slope coefficient Slope_2 of the temperature drift between the measurement points 52 and 50 are identical . If they are not identical [ie, if sgn (Slope_2) 1 sgn (Slope_1), where “sgn” denotes the mathematical operator “sign of”], then the procedure restarts with the execution of step 61.
- step 64 it is also verified in step 64 (or in an independent step 64a), that the absolute value of the difference between the respective absolute values of the first coefficient Slope_1 of the drift in temperature and the second coefficient Slope_2 of the temperature drift, is less than a determined threshold Th.
- a difference between the values of these coefficients would again reflect a measurement artefact, which would be inconsistent and which justifies stopping the process.
- the procedure then restarts with the execution of step 61.
- the threshold Th can be equal to 1.5 mg / ° C.
- step 65 it is determined whether, in addition, the absolute value of the first slope coefficient Slope_1 of the temperature drift of the accelerometer and the absolute value of the second slope coefficient Slope_2 of the temperature drift of the accelerometer, are included in a determined interval of values, between values S1 and S2.
- values S1 and S2 can be equal to or linked to the negative value Off_31 and to the positive value Off_32 which correspond to the slope of line 31 and to the slope of line 32, respectively, in figure 3.
- step 65 is, as for step 64, to exclude measurement results which would be inconsistent from the point of view of the expected behavior of the accelerometer as a function of the temperature, in order to preserve the reliability of the method notwithstanding the measurement artifacts that are always possible.
- step 65 If the result of the test from step 65 is negative, the process is interrupted and the procedure restarts with the execution of step 61. If the result of the test is positive, we go to step 66.
- a single temperature drift coefficient Slopejcor is obtained, from the first temperature drift coefficient Slope_1 and from the second temperature drift coefficient Slope_2. And we record this single temperature drift coefficient Slope_cor in the non-volatile memory of the computer. It can thus be used subsequently, in a correction phase, in which an acceleration value indicated by the accelerometer at a given measurement point at which the temperature is equal to a current temperature value of 7 ° is corrected as a function of the difference between said current temperature value and the reference temperature value Tref on the one hand, and of the single temperature drift coefficient Slope_cor determined by the learning procedure described above, on the other hand.
- the single temperature drift coefficient is the single temperature drift coefficient
- Slopejcor is obtained by calculating an average of the first temperature drift coefficient Slope_1 and of the second temperature drift coefficient Slope_2. This can be the arithmetic mean of the Slope_1 and Slope_2 values, or any other mean such as a root mean square, for example.
- the fact of obtaining the single temperature drift coefficient Slopejcor from two coefficients such as the first temperature drift coefficient Slope_1 and the second temperature drift coefficient Slope_2, allows everything to both to perform measurement consistency tests such as the tests of steps 64 and 65, on the one hand, and to cover a very wide temperature range, on the other hand.
- the operating temperature range of the accelerometer is very high during the temperature rise phase of the thermal engine of the motorcycle from the "cold engine” situation, since it can extend from -20 ° C or less, up to + 90 ° C or higher.
- the acquisition of a reference acceleration value Aref at the reference measurement point can be carried out with the engine stopped, at the end of the vehicle production line, while the other stages of the learning phase of the temperature drift of the accelerometer and in particular the acquisition of the first and second measurements learning at the learning measurement points 51 and 52, can be / are carried out subsequently, with the engine running, either in the sales store just before delivery to the first purchaser of the vehicle, or during the first kilometers on the road by the end user.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
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Abstract
Description
Claims
Priority Applications (3)
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BR112022017943A BR112022017943A2 (pt) | 2020-03-09 | 2021-03-05 | Compensação da deriva de temperatura de um acelerômetro a bordo de um veículo motorizado de duas rodas para medir a inclinação de veículo |
CN202180019825.6A CN115190962A (zh) | 2020-03-09 | 2021-03-05 | 装载在两轮机动车辆中的用于测量车辆倾斜的加速度计的温度漂移补偿 |
US17/797,827 US11724764B2 (en) | 2020-03-09 | 2021-03-05 | Compensating the temperature drift of an accelerometer on board a two-wheeled motor vehicle for measuring vehicle tilt |
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FRFR2002287 | 2020-03-09 | ||
FR2002287A FR3107954B1 (fr) | 2020-03-09 | 2020-03-09 | Compensation de la dérive en température d’un accéléromètre embarqué dans un véhicule automobile à deux-roues pour mesurer l’inclinaison du véhicule |
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PCT/EP2021/055544 WO2021180574A1 (fr) | 2020-03-09 | 2021-03-05 | Compensation de la derive en temperature d'un accelerometre embarque dans un vehicule automobile a deux-roues pour mesurer l'inclinaison du vehicule |
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US (1) | US11724764B2 (fr) |
CN (1) | CN115190962A (fr) |
BR (1) | BR112022017943A2 (fr) |
FR (1) | FR3107954B1 (fr) |
TW (1) | TW202202810A (fr) |
WO (1) | WO2021180574A1 (fr) |
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TWI779912B (zh) * | 2021-10-29 | 2022-10-01 | 智盟能源股份有限公司 | 自行車電子換檔及具車輛姿態感測之裝置 |
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- 2021-03-05 CN CN202180019825.6A patent/CN115190962A/zh active Pending
- 2021-03-05 WO PCT/EP2021/055544 patent/WO2021180574A1/fr active Application Filing
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US20230054694A1 (en) | 2023-02-23 |
FR3107954A1 (fr) | 2021-09-10 |
FR3107954B1 (fr) | 2022-01-28 |
TW202202810A (zh) | 2022-01-16 |
BR112022017943A2 (pt) | 2022-10-18 |
CN115190962A (zh) | 2022-10-14 |
US11724764B2 (en) | 2023-08-15 |
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