A yaw angular velocity sensor signal calibration method, device and storage medium

Abstract

The application provides a yaw angular velocity sensor signal checking method, device and storage medium. The yaw angular velocity sensor signal checking method comprises the following steps: in response to obtaining vehicle driving operation data, when the vehicle driving data meets a first preset condition, it is determined that the vehicle is in a steady state driving condition; the angle deviation within a calibration time is calculated according to the vehicle driving sensing data; and the yaw angular velocity sensor signal is checked according to the angle deviation. The yaw angular velocity sensor signal checking method, device and storage medium provided by the application are based on vehicle driving operation data, and when the vehicle is in a steady state driving condition, the angle deviation is obtained according to vehicle driving sensing data, so that the yaw angular velocity sensor can be accurately checked, and the safety hidden danger of vehicle control can be avoided.

Description

Technical Field

[0001] This application relates to the field of yaw rate sensor technology, specifically to a yaw rate sensor signal verification method, device, and storage medium. Background Technology

[0002] With the development of vehicle intelligence, many vehicles are equipped with yaw rate sensors, making yaw rate calibration particularly important. Currently, there are generally two methods for yaw rate calibration on the market. The first is that the manufacturer verifies the yaw rate signal using a third-party sensor calibration device before the vehicle leaves the factory. The second is that after the vehicle leaves the factory, when the yaw rate is completely inconsistent with the vehicle's driving state, an error in the yaw rate signal is detected.

[0003] In the process of conceiving and implementing this application, the inventors discovered at least the following problems: The first method can be verified before the vehicle leaves the factory, but once the vehicle leaves the factory, it is impossible to accurately know whether the yaw rate signal is abnormal, which may cause safety hazards in vehicle control; The second method can only detect problems when the yaw rate sensor produces obvious abnormalities, such as when the vehicle is turning and the sensor value is always 0. If the sensor value can change, but the change amplitude is unreasonable, it is impossible to accurately verify.

[0004] The preceding description is intended to provide general background information and does not necessarily constitute prior art. Summary of the Invention

[0005] To alleviate the above problems, this application provides a method, apparatus and storage medium for verifying yaw rate sensor signals.

[0006] In one aspect, this application provides a method for verifying yaw rate sensor signals, specifically including:

[0007] In response to acquiring vehicle driving operation data, when the vehicle driving data meets a first preset condition, it is determined that the vehicle is in a steady-state driving state.

[0008] The angle deviation within the calibration time is calculated based on the vehicle driving sensor data.

[0009] The yaw rate sensor signal is verified based on the stated angle deviation.

[0010] Optionally, the vehicle driving operation data in the yaw rate sensor signal verification method includes the vehicle's lateral acceleration signal, longitudinal acceleration signal, vehicle speed signal, accelerator pedal status, brake pedal status signal, and steering wheel status, and the first preset condition includes at least one of the following:

[0011] The lateral acceleration signal of the vehicle is located in the first threshold range;

[0012] The longitudinal acceleration signal of the vehicle is located in the second threshold range;

[0013] The vehicle speed signal is located in the third threshold range;

[0014] The accelerator pedal is not depressed;

[0015] The brake pedal is not depressed.

[0016] Based on the steering wheel state, the steering wheel angle is calculated to be within the fourth threshold range;

[0017] The steering wheel angle change rate is calculated to be less than the fifth threshold based on the steering wheel state.

[0018] Optionally, the vehicle driving sensing data in the yaw rate sensor signal verification method includes the yaw rate sensor signal, the vehicle's lateral acceleration signal, vehicle speed signal, and wheel speed signal. The step of calculating the angle deviation within the calibration time based on the vehicle driving sensing data includes:

[0019] The first yaw rate is calculated based on the vehicle's lateral acceleration signal and vehicle speed signal, and the second yaw rate is calculated based on the wheel speed signal.

[0020] Read the yaw rate sensor signal and calculate the angle deviation accumulated over the calibration time based on the first yaw rate and the second yaw rate.

[0021] Optionally, in the step of calculating the first yaw rate based on the vehicle's lateral acceleration signal and the vehicle speed signal, the yaw rate sensor signal verification method calculates according to the following expression:

[0022] YawRate_Ay=ay*V_Vehicle

[0023] Where YawRate_Ay is the first yaw rate, ay is the lateral acceleration signal, and V_Vehicle is the vehicle speed signal.

[0024] Optionally, the yaw rate sensor signal verification method includes at least one of the following steps in performing the step of calculating the second yaw rate based on the wheel speed signal:

[0025] When the vehicle is a front-wheel drive vehicle, the rear wheel track is read, and the second yaw rate is calculated based on the left rear wheel speed and the right rear wheel speed. The wheel speed signal includes the left rear wheel speed and the right rear wheel speed.

[0026] When the vehicle is a rear-wheel drive vehicle, the front wheel track is read, and the second yaw rate is calculated based on the left front wheel speed and the right front wheel speed. The wheel speed signal includes the left front wheel speed and the right front wheel speed.

[0027] Optionally, in the step of reading the rear wheel track and calculating the second yaw rate based on the left and right rear wheel speeds, the yaw rate sensor signal verification method calculates the yaw rate according to the following expression:

[0028] YawRate_Whl=(V_RR-V_RL)*T_RA

[0029] Where YawRate_Whl is the second yaw rate, V_RR is the right rear wheel speed, V_RL is the left rear wheel speed, and T_RA is the rear wheel track.

[0030] Optionally, in the step of reading the front wheel track and calculating the second yaw rate based on the left and right front wheel speeds, the yaw rate sensor signal verification method calculates the yaw rate according to the following expression:

[0031] YawRate_Whl=(V_FR-V_FL)*T_FA

[0032] Where YawRate_Whl is the second yaw rate, V_FR is the right front wheel speed, V_FL is the left front wheel speed, and T_FA is the front wheel track.

[0033] Optionally, the angle deviation in the yaw rate sensor signal verification method includes a first angle deviation, a second angle deviation, and a third angle deviation. The step of reading the yaw rate sensor signal and calculating the angle deviation accumulated over the calibration time based on the first yaw rate and the second yaw rate includes:

[0034] Calculate the first deviation between the first yaw rate and the yaw rate sensor signal, calculate the second deviation between the second yaw rate and the yaw rate sensor signal, and calculate the third deviation between the second yaw rate and the first yaw rate;

[0035] Within the calibration time, the first deviation, the second deviation, and the third deviation are integrated respectively to obtain the first angle deviation, the second angle deviation, and the third angle deviation.

[0036] Optionally, in the step of calculating the first deviation between the first yaw rate and the yaw rate sensor signal, the yaw rate sensor signal verification method calculates according to the following expression:

[0037] YawDiff_AY_Sensor=YawRate_Ay-YawRate_Sensor

[0038] Wherein, YawDiff_AY_Sensor is the first deviation, YawRate_Sensor is the yaw rate sensor signal, and YawRate_Ay is the first yaw rate.

[0039] Optionally, in the step of calculating the second deviation between the second yaw rate and the yaw rate sensor signal, the yaw rate sensor signal verification method calculates according to the following expression:

[0040] YawDiff_WhlSpd_Sensor=YawRate_Whl-YawRate_Sensor

[0041] Wherein, YawDiff_WhlSpd_Sensor is the second deviation, YawRate_Whl is the second yaw rate, and YawRate_Sensor is the yaw rate sensor signal.

[0042] Optionally, in the step of calculating the third deviation between the second yaw rate and the first yaw rate, the yaw rate sensor signal verification method calculates according to the following expression:

[0043] YawDiff_WhlSpd_Ay=YawRate_Whl-YawRate_Ay

[0044] Among them, YawDiff_WhlSpd_Ay is the third deviation, YawRate_Whl is the second yaw rate, and YawRate_Ay is the first yaw rate.

[0045] Optionally, in the step of integrating the first deviation, the second deviation, and the third deviation respectively within the calibration time to obtain the first angle deviation, the second angle deviation, and the third angle deviation, the yaw rate sensor signal calibration method calculates according to the following expression:

[0046] AngleDiff_AY_Sensor=∫YawDiff_AY_Sensor*dt

[0047] AngleDiff_WhlSpd_Sensor=∫YawDiff_WhlSpd_Sensor*dt

[0048] AngleDiff_WhlSpd_Ay=∫YawDiff_WhlSpd_Ay*dt

[0049] Wherein, AngleDiff_AY_Sensor is the first angular deviation, AngleDiff_WhlSpd_Sensor is the second angular deviation, AngleDiff_WhlSpd_Ay is the third angular deviation, YawDiff_AY_Sensor is the first deviation, YawDiff_WhlSpd_Sensor is the second deviation, YawDiff_WhlSpd_Ay is the third deviation, and dt is the derivative of the calibration time.

[0050] Optionally, the yaw rate sensor signal verification method includes the following steps in performing the step of verifying the yaw rate sensor signal based on the angle deviation:

[0051] When the first angle deviation, the second angle deviation, and the third angle deviation meet the second preset condition, or when the first angle deviation, the second angle deviation, and the third angle deviation do not meet the second preset condition, and the first angle deviation, the second angle deviation, and the third angle deviation meet the third preset condition, the yaw rate sensor signal is determined to be abnormal.

[0052] Optionally, the second preset condition in the yaw rate sensor signal verification method includes at least one of the following:

[0053] The first angular deviation is greater than the sixth threshold;

[0054] The second angular deviation is greater than the seventh threshold;

[0055] The third angle deviation is located in the eighth threshold range.

[0056] Optionally, the third preset condition in the yaw rate sensor signal verification method includes at least one of the following:

[0057] The first angular deviation is less than the ninth threshold;

[0058] The second angular deviation is less than the tenth threshold;

[0059] The third angle deviation is located in the eleventh threshold range.

[0060] On the other hand, this application also provides a yaw rate sensor signal verification device, specifically, the yaw rate sensor signal verification device includes a processor and a storage medium interconnected, wherein:

[0061] The storage medium is used to store computer programs;

[0062] The processor is used to execute the computer program to implement the yaw rate sensor signal verification method as described above.

[0063] On the other hand, this application provides a storage medium, specifically, the storage medium stores a computer program, which, when executed by a processor, implements the yaw rate sensor signal verification method as described above.

[0064] As described above, the yaw rate sensor signal verification method, device and storage medium provided in this application are based on vehicle driving operation data. When the vehicle is in a steady driving state, the angle deviation is obtained according to the vehicle driving sensing data, thereby achieving accurate verification of the yaw rate sensor and avoiding safety hazards in vehicle control. Attached Figure Description

[0065] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0066] Figure 1 This is a flowchart of the yaw rate sensor signal verification method according to the first embodiment of this application.

[0067] Figure 2 This is a flowchart of the yaw rate sensor signal verification method according to the second embodiment of this application.

[0068] The realization of the objectives, functional features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and textual descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0069] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0070] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0071] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0072] Lateral acceleration and yaw rate are two key physical quantities describing the lateral motion of a vehicle. Lateral acceleration describes the lateral forces acting on the vehicle, while yaw rate describes the vehicle's rotational motion around its axis of gravity. These two parameters are important indicators for evaluating a vehicle's handling stability, active safety, and ride comfort during lateral movements.

[0073] First Embodiment

[0074] On one hand, this application provides a method for verifying yaw rate sensor signals. Figure 1 This is a flowchart of the yaw rate sensor signal verification method according to the first embodiment of this application.

[0075] Please see Figure 1 In one embodiment, the yaw rate sensor signal verification method includes:

[0076] S10: In response to acquiring vehicle driving operation data, when the vehicle driving data meets the first preset condition, it is determined that the vehicle is in a steady-state driving state.

[0077] Optionally, before verification, the vehicle can be confirmed to be in a steady-state driving state by using operational data such as lateral acceleration signal, longitudinal acceleration signal, vehicle speed signal, accelerator pedal status, brake pedal status signal, and steering wheel status. This can avoid misjudgment of diagnostic results and improve diagnostic accuracy.

[0078] S20: Calculate the angle deviation within the calibrated time based on vehicle driving sensor data.

[0079] Optionally, the angular deviation can be a lateral angular deviation. During vehicle operation, the body sensors continuously detect various driving data, such as lateral acceleration, longitudinal acceleration, left wheel speed, and right wheel speed.

[0080] S30: Verify the yaw rate sensor signal based on the angle deviation.

[0081] For example, under normal circumstances, the angular deviation in the left and right directions should remain within a reasonable range. If it exceeds the calibrated range, it may indicate that a certain sensing data has become abnormal. In this embodiment, the yaw rate sensor signal verification method is based on vehicle driving operation data. When the vehicle is in a steady driving state, the angular deviation is obtained according to the vehicle driving sensing data to accurately verify the yaw rate sensor and avoid safety hazards in vehicle control.

[0082] In one embodiment, the vehicle driving operation data in the yaw rate sensor signal verification method includes the vehicle's lateral acceleration signal, longitudinal acceleration signal, vehicle speed signal, accelerator pedal status, brake pedal status, and steering wheel status. The first preset condition includes:

[0083] The vehicle's lateral acceleration signal is within the first threshold range.

[0084] Optionally, this application does not limit the size of the first threshold interval. The first threshold interval in the lateral acceleration sensor signal verification method is a calibration value, which can be from -4 m / s^2 to 4 m / s^2, used to determine whether the vehicle's lateral acceleration meets the steady-state driving conditions. A suitable size of the first threshold interval is selected by comprehensively considering the actual driving state of the vehicle. For example, if the vehicle's lateral acceleration value is too large, it means that the vehicle is in a sharp turn. At this time, the vehicle's angle deviation error will be relatively large, and the sensing signals of related sensors will be more distorted, which is not conducive to the verification of the yaw rate sensor signal.

[0085] In one embodiment, the first preset condition includes:

[0086] The vehicle's longitudinal acceleration signal is located in the second threshold range.

[0087] Optionally, this application does not limit the size of the second threshold interval. The second threshold interval in the yaw rate sensor signal verification method is a calibration value, which can be from -4 m / s² to 4 m / s², used to determine whether the vehicle's longitudinal acceleration meets the steady-state driving conditions. A suitable size of the second threshold interval is selected by comprehensively considering the actual driving state of the vehicle. For example, if the vehicle's longitudinal acceleration value is too large, it means that the vehicle is in a state of rapid acceleration or sudden braking. At this time, the vehicle's angle deviation error will be relatively large, and the sensing signals of the relevant sensors will be more distorted, which is not conducive to the verification of the yaw rate sensor signal.

[0088] In one embodiment, the first preset condition includes:

[0089] The vehicle speed signal is located in the third threshold range.

[0090] Optionally, this application does not limit the size of the third threshold interval. The third threshold interval in the yaw rate sensor signal verification method is a calibration value, which can be from 1 kph to 60 kph, used to determine whether the vehicle speed meets the steady-state driving conditions. A suitable size of the third threshold interval is selected by comprehensively considering the actual driving state of the vehicle. For example, when the vehicle speed is too high, it means the vehicle may be in a high-speed driving state; when the vehicle speed is too low, it means the vehicle may be in a low-speed or even idling state. At this time, the error of the vehicle's angle deviation will be relatively large, and the sensing signals of the relevant sensors will be more distorted, which is not conducive to the verification of the yaw rate sensor signal.

[0091] In one embodiment, the first preset condition includes:

[0092] The accelerator pedal is not depressed.

[0093] An unpressed accelerator pedal indicates that the vehicle is not accelerating. If the accelerator pedal is pressed, it means the vehicle is accelerating, which will result in a larger error in the vehicle's angle deviation and more distorted sensor signals, making it difficult to verify the yaw rate sensor signal.

[0094] In one embodiment, the first preset condition includes:

[0095] The brake pedal is not depressed.

[0096] A brake pedal not being depressed indicates that the vehicle is not braking. If the brake pedal is depressed, it means the vehicle is decelerating. In this case, the error in the vehicle's angle deviation will be larger, and the sensing signals of related sensors will be more distorted, which is not conducive to the verification of the yaw rate sensor signal.

[0097] In one embodiment, the first preset condition includes:

[0098] The steering wheel angle is calculated to be within the fourth threshold range based on the steering wheel status.

[0099] Under steady-state driving conditions, the steering wheel rotation angle will be within a calibrated range. If it exceeds this range, it may mean that the vehicle is making a sharp turn. In this case, the error in the vehicle's angle deviation will be relatively large, and the sensing signals of relevant sensors will be more distorted, which is not conducive to the verification of the yaw rate sensor signal.

[0100] Optionally, this application does not limit the size of the fourth threshold interval. The fourth threshold interval in the yaw rate sensor signal verification method is a calibration value, which can be from 20° to 120°, used to determine whether the vehicle steering wheel angle meets the steady-state driving conditions. Taking into account the actual driving state of the vehicle, a suitable size of the fourth threshold interval is selected.

[0101] In one embodiment, the first preset condition includes:

[0102] The steering wheel angle change rate is calculated based on the steering wheel status and is less than the fifth threshold.

[0103] Under steady-state driving conditions, the rate of change of steering wheel rotation angle will fall within a calibrated range. If it exceeds this range, it may indicate that the vehicle is about to make a sharp turn. In this case, the error in the vehicle's angle deviation will be relatively large, and the sensing signals of relevant sensors will be more distorted, which is not conducive to the verification of the yaw rate sensor signal.

[0104] Optionally, this application does not limit the size of the fifth threshold. The fifth threshold in the yaw rate sensor signal verification method is a calibration value, which can be 40° / s, used to determine whether the rate of change of the vehicle's steering wheel angle meets the steady-state driving conditions. Taking into account the actual driving state of the vehicle, a suitable size of the fifth threshold is selected. In this embodiment, when the above-mentioned first preset condition is met, the yaw rate sensor signal verification method determines that the vehicle is in a steady-state driving state and can perform yaw rate sensor signal verification. If the above-mentioned first preset condition is not met, the yaw rate sensor signal verification is not activated, thereby improving the accuracy of the verification results.

[0105] In one embodiment, the vehicle driving sensing data includes yaw rate sensor signals, vehicle lateral acceleration signals, vehicle speed signals, and wheel speed signals. The yaw rate sensor signal verification method, in executing S20: the step of calculating the angle deviation within a calibration time based on the vehicle driving sensing data, includes:

[0106] S21: Calculate the first yaw rate based on the vehicle's lateral acceleration signal and vehicle speed signal, and calculate the second yaw rate based on the wheel speed signal;

[0107] S22: Read the yaw rate sensor signal and calculate the angle deviation accumulated over the calibration time based on the first yaw rate and the second yaw rate.

[0108] In this embodiment, the yaw rate sensor signal verification method obtains different yaw rates based on the vehicle's lateral acceleration signal and wheel speed signal, and calculates whether the angle has an excessive deviation based on the two yaw rates, thereby verifying whether the yaw rate sensor signal is correct, which improves the accuracy of verification and reduces errors.

[0109] In one embodiment, the yaw rate sensor signal verification method calculates the first yaw rate according to the following expression in step S21: calculating the first yaw rate based on the vehicle's lateral acceleration signal and vehicle speed signal:

[0110] YawRate_Ay=ay*V_Vehicle

[0111] Where YawRate_Ay is the first yaw rate, ay is the lateral acceleration signal, and V_Vehicle is the vehicle speed signal.

[0112] For example, the vehicle's current lateral acceleration signal is acquired by a lateral acceleration sensor, and a first yaw rate based on the lateral acceleration signal is calculated based on the vehicle speed signal.

[0113] In one embodiment, the yaw rate sensor signal verification method includes at least one of the following steps in performing S21: calculating the second yaw rate based on the wheel speed signal:

[0114] S210: When the vehicle is a front-wheel drive vehicle, read the rear wheel track and calculate the second yaw rate based on the left rear wheel speed and the right rear wheel speed. The wheel speed signal includes the left rear wheel speed and the right rear wheel speed.

[0115] S211: When the vehicle is a rear-wheel drive vehicle, read the front wheel track and calculate the second yaw rate based on the left front wheel speed and the right front wheel speed. The wheel speed signal includes the left front wheel speed and the right front wheel speed.

[0116] Under steady-state driving conditions, the wheel speed signal of the vehicle's drive wheels will have a relatively large error, which is not conducive to the verification of the yaw rate sensor signal.

[0117] In this embodiment, the yaw rate sensor signal verification method calculates the second yaw rate based on the wheel speed signal of the non-drive wheel according to the different drive types of vehicles, thereby improving the accuracy of the verification.

[0118] In one embodiment, the yaw rate sensor signal verification method calculates the second yaw rate according to the following expression in step S220: reading the rear wheel track and calculating the second yaw rate based on the left and right rear wheel speeds:

[0119] YawRate_Whl=(V_RR-V_RL)*T_RA

[0120] Where YawRate_Whl is the second yaw rate, V_RR is the right rear wheel speed, V_RL is the left rear wheel speed, and T_RA is the rear wheel track.

[0121] For example, when the vehicle is a front-wheel drive vehicle, the second yaw rate based on the wheel speed signal can be obtained by calculating the product of the wheel speed difference between the right rear wheel speed and the left rear wheel speed of the currently traveling vehicle and the rear wheel track.

[0122] In one embodiment, the yaw rate sensor signal verification method calculates the second yaw rate according to the following expression in step S221: reading the front wheel track and calculating the second yaw rate based on the left front wheel speed and the right front wheel speed:

[0123] YawRate_Whl=(V_FR-V_FL)*T_FA

[0124] Where YawRate_Whl is the second yaw rate, V_FR is the right front wheel speed, V_FL is the left front wheel speed, and T_FA is the front wheel track.

[0125] For example, when the vehicle is a rear-wheel drive vehicle, the second yaw rate based on the wheel speed signal can be obtained by calculating the product of the wheel speed difference between the right front wheel speed and the left front wheel speed and the front wheel track.

[0126] In one embodiment, the angle deviation includes a first angle deviation, a second angle deviation, and a third angle deviation. The yaw rate sensor signal is read, and the yaw rate sensor signal verification method executes step S22: the step of calculating the angle deviation accumulated over calibration time based on the first yaw rate and the second yaw rate includes:

[0127] S220: Calculate the first deviation between the first yaw rate and the yaw rate sensor signal, calculate the second deviation between the second yaw rate and the yaw rate sensor signal, and calculate the third deviation between the second yaw rate and the first yaw rate.

[0128] S221: Integrate the first deviation, the second deviation, and the third deviation within the calibration time to obtain the first angle deviation, the second angle deviation, and the third angle deviation respectively.

[0129] In this embodiment, the yaw rate sensor signal verification method is based on the three angular deviations calculated from the above three deviations. By integrating the three different deviation values ​​between each pair of the three yaw rate values, and continuously integrating within a common time period, the deviation of the lateral acceleration sensor signal is amplified to an identifiable order of magnitude, which can improve the accuracy of verifying whether the yaw rate sensor signal is correct.

[0130] In one embodiment, the yaw rate sensor signal verification method calculates the first deviation between the first yaw rate and the yaw rate sensor signal according to the following expression during step S220: calculating the first deviation between the first yaw rate and the yaw rate sensor signal:

[0131] YawDiff_AY_Sensor=YawRate_Ay-YawRate_Sensor

[0132] Wherein, YawDiff_AY_Sensor is the first deviation, YawRate_Sensor is the yaw rate sensor signal, and YawRate_Ay is the first yaw rate.

[0133] For example, by calculating the first yaw rate based on the current lateral acceleration signal and the first deviation of the yaw rate sensor signal, it is possible to obtain the deviation of the lateral acceleration sensor relative to the yaw rate sensor.

[0134] In one embodiment, the yaw rate sensor signal verification method calculates the second deviation between the second yaw rate and the yaw rate sensor signal according to the following expression during step S220: calculating the second deviation between the second yaw rate and the yaw rate sensor signal:

[0135] YawDiff_WhlSpd_Sensor=YawRate_Whl-YawRate_Sensor

[0136] Wherein, YawDiff_WhlSpd_Sensor is the second deviation, YawRate_Whl is the second yaw rate, and YawRate_Sensor is the yaw rate sensor signal.

[0137] For example, by calculating the second deviation between the current second yaw rate based on the wheel speed signal and the second deviation of the yaw rate sensor signal, it is possible to obtain the deviation of the wheel speed relative to the yaw rate sensor.

[0138] In one embodiment, the yaw rate sensor signal verification method calculates the third deviation between the second yaw rate and the first yaw rate according to the following expression in step S220: calculating the third deviation between the second yaw rate and the first yaw rate:

[0139] YawDiff_WhlSpd_Ay=YawRate_Whl-YawRate_Ay

[0140] Among them, YawDiff_WhlSpd_Ay is the third deviation, YawRate_Whl is the second yaw rate, and YawRate_Ay is the first yaw rate.

[0141] For example, by calculating the third deviation between the second yaw rate based on the wheel speed signal and the first yaw rate based on the lateral acceleration signal, the deviation of the lateral acceleration sensor relative to the wheel speed can be obtained.

[0142] In one embodiment, the yaw rate sensor signal calibration method calculates the following expression in step S221: integrating the first deviation, the second deviation, and the third deviation within a calibration time to obtain the corresponding first angle deviation, second angle deviation, and third angle deviation:

[0143] AngleDiff_AY_Sensor=∫YawDiff_AY_Sensor*dt

[0144] AngleDiff_WhlSpd_Sensor=∫YawDiff_WhlSpd_Sensor*dt

[0145] AngleDiff_WhlSpd_Ay=∫YawDiff_WhlSpd_Ay*dt

[0146] Where AngleDiff_AY_Sensor is the first angular deviation, AngleDiff_WhlSpd_Sensor is the second angular deviation, AngleDiff_WhlSpd_Ay is the third angular deviation, YawDiff_AY_Sensor is the first deviation, YawDiff_WhlSpd_Sensor is the second deviation, YawDiff_WhlSpd_Ay is the third deviation, and dt is the derivative of the calibration time.

[0147] Optionally, this application does not limit the calibration time. The calibration time in the yaw rate sensor signal verification method can be 10 seconds, used to calculate the cumulative angular deviation of the yaw rate over a period of time. A suitable calibration time is selected by comprehensively considering the actual driving conditions of the vehicle.

[0148] In this embodiment, the yaw rate sensor signal verification method is based on the integral of the yaw rate deviation obtained by the above three methods over the calibration time. The integral is continuously accumulated within a common time period, amplifying the deviation of the lateral acceleration sensor signal to an identifiable order of magnitude. The method calculates the three forms of angle deviation, which can more intuitively verify whether the yaw rate sensor signal is correct.

[0149] In one embodiment, the yaw rate sensor signal verification method includes the following steps in S30: verifying the yaw rate sensor signal based on the angle deviation:

[0150] S31: When the first angle deviation, the second angle deviation, and the third angle deviation meet the second preset condition, or when the first angle deviation, the second angle deviation, and the third angle deviation do not meet the second preset condition, and the first angle deviation, the second angle deviation, and the third angle deviation meet the third preset condition, the yaw rate sensor signal is determined to be abnormal.

[0151] In this embodiment, the yaw rate sensor signal verification method determines whether the first angle deviation, the second angle deviation, and the third angle deviation meet the requirements based on calibrable preset conditions. If the above conditions are met, the yaw rate sensor signal is determined to be abnormal; if the above conditions are not met, the yaw rate sensor signal is determined to be normal.

[0152] In one embodiment, the second preset condition in the yaw rate sensor signal verification method may include:

[0153] The first angular deviation is greater than the sixth threshold.

[0154] In one embodiment, the second preset condition in the yaw rate sensor signal verification method may include:

[0155] The second angle deviation is greater than the seventh threshold.

[0156] In one embodiment, the second preset condition in the yaw rate sensor signal verification method may include:

[0157] The third angle deviation is located in the eighth threshold range.

[0158] Optionally, this application does not limit the size of the sixth, seventh, and eighth threshold intervals. The sixth, seventh, and eighth threshold intervals in the yaw rate sensor signal verification method are calibration values ​​used to determine whether the angle deviation meets the conditions for normal operation of the yaw rate sensor signal. Taking into account the actual driving conditions of the vehicle, a suitable size for the sixth, seventh, and eighth threshold intervals is selected. In another embodiment, the sixth threshold can be equal to the seventh threshold.

[0159] In one embodiment, the third preset condition in the yaw rate sensor signal verification method may include:

[0160] The first angular deviation is less than the ninth threshold.

[0161] In one embodiment, the third preset condition in the yaw rate sensor signal verification method may include:

[0162] The second angular deviation is less than the tenth threshold.

[0163] In one embodiment, the third preset condition in the yaw rate sensor signal verification method may include:

[0164] The third angle deviation is located in the eleventh threshold range.

[0165] Optionally, the present application does not limit the sizes of the ninth threshold, tenth threshold, and eleventh threshold intervals. The ninth threshold, tenth threshold, and eleventh threshold intervals in the yaw rate sensor signal verification method are calibration values, which are used to determine whether the angle deviation meets the conditions for the normal operation of the yaw rate sensor signal. Considering the actual driving state of the vehicle comprehensively, the sizes of the appropriate ninth threshold, tenth threshold, and eleventh threshold intervals are selected. In another embodiment, the ninth threshold and the tenth threshold are equal to the opposite of the sixth threshold and equal to the opposite of the seventh threshold, and the eleventh threshold is equal to the eighth threshold.

[0166] In this embodiment, the first angle deviation represents the deviation of the lateral acceleration sensor relative to the yaw rate sensor, the second angle deviation represents the deviation of the wheel speed relative to the yaw rate sensor. The first angle deviation and the second angle deviation can both be in the preset positive direction and greater than the sixth threshold and / or the seventh threshold, or the first angle deviation and the second angle deviation can both be in the preset negative direction and less than the ninth threshold and / or the tenth threshold. The third angle deviation represents the deviation of the wheel speed relative to the lateral acceleration sensor. If the deviation does not meet the set conditions, it indicates that the yaw rate sensor signal verification is abnormal.

[0167] Second Embodiment

[0168] On the other hand, the present application also provides a yaw rate sensor signal verification device.

[0169] In one embodiment, the yaw rate sensor signal verification device includes a processor and a storage medium connected to each other, where: the storage medium is used to store a computer program. The processor is used to execute the computer program to implement the yaw rate sensor signal verification method as described above.

[0170] Figure 2 It is a flowchart of the yaw rate sensor signal verification method according to the second embodiment of the present application.

[0171] Exemplarily, please refer to Figure 2 , the steps for the yaw rate sensor signal verification device to execute the yaw rate sensor signal verification method include:

[0172] S1: Determine whether the vehicle meets the verification working condition of steady-state driving, and the judgment conditions are as follows:

[0173] (a) |Lateral acceleration Ay| < K_a1; (K_a1 is a calibration value, tentatively 4 m / s^2)

[0174] (b) |Longitudinal acceleration Ax| < K_a2; (K_a2 is a calibration value, which can be 4 m / s^2)

[0175] (c) Vehicle speed is within [1 kph, 60 kph]; (The vehicle range is a calibrated value and can be calibrated according to the actual vehicle conditions)

[0176] (d) The accelerator pedal AccPedal is not depressed;

[0177] (e) The brake pedal bls_Signal is not depressed;

[0178] (f) The steering wheel angle Sas_Angle is between [KS_1, KS_2]; (KS_1 and KS_2 are calibrated values, and can be KS_1 = 20°, KS_2 = 120°)

[0179] (g) Calculate the steering wheel angle change rate <K_DS based on the steering wheel angle; (K_DS is a calibrated quantity and can be 40° / s)

[0180] If all the above conditions are met, it is considered that the vehicle is in a steady-state driving condition, and proceed to step S2; otherwise, proceed to S12.

[0181] S2: Calculate the YawRate (yaw angular velocity) signal based on the lateral acceleration:

[0182] YawRate_Ay = ay * V_Vehicle; (ay is the lateral acceleration, V_Vehicle is the vehicle speed)

[0183] Proceed to step S3.

[0184] S3: Calculate the YawRate signal based on the left and right wheel speed differences:

[0185] (a) If it is a front-wheel drive vehicle:

[0186] YawRate_Whl = (V_RR - V_RL) * T_RA; (V_RL is the left rear wheel speed signal, V_RR is the right rear wheel speed signal, T_RA is the wheelbase between the left and right wheels of the vehicle's rear axle)

[0187] (b) If it is a rear-wheel drive vehicle:

[0188] YawRate_Whl = (V_FR - V_FL) * T_FA; (V_FL is the left front wheel speed signal, V_FR is the right front wheel speed signal, T_FA is the wheelbase between the left and right wheels of the vehicle's front axle)

[0189] Proceed to step S4.

[0190] S4: Calculate the deviation between the YawRate calculated based on the lateral acceleration and the YawRate signal:

[0191] YawDiff_AY_Sensor = YawRate_Ay - YawRate_Sensor; (YawRate_Sensor is the value of the current YawRate sensor)

[0192] Proceed to step S5.

[0193] S5: Calculate the deviation between the Yawrate calculated based on wheel speed and the YawRate signal:

[0194] YawDiff_WhlSpd_Sensor = YawRate_Whl - YawRate_Sensor;

[0195] Proceed to step S6.

[0196] S6: Calculate the deviation between the Yawrate calculated based on wheel speed and the YawRate_Ay signal calculated based on lateral acceleration signal:

[0197] YawDiff_WhlSpd_Ay = YawRate_Whl - YawRate_Ay;

[0198] Proceed to step S7.

[0199] S7: Calculate the angular deviation within time T:

[0200] AngleDiff_AY_Sensor = ∫YawDiff_AY_Sensor * dt;

[0201] AngleDiff_WhlSpd_Sensor = ∫YawDiff_WhlSpd_Sensor * dt;

[0202] AngleDiff_WhlSpd_Ay = ∫YawDiff_WhlSpd_Ay * dt; (The time T is a calibrated value, which can be 10s)

[0203] Proceed to step S8.

[0204] S8: Determine whether the conditions are met:

[0205] (AngleDiff_AY_Sensor > K_Angle1

[0206] and AngleDiff_WhlSpd_Sensor > K_Angle1)

[0207] and |AngleDiff_WhlSpd_Ay| < K_Angle2; (K_Angle1 and K_Angle2 are calibrated values)

[0208] If the above conditions are met, proceed to step S11; otherwise, proceed to step S9.

[0209] S9: Determine whether the following conditions are met:

[0210] (AngleDiff_AY_Sensor < -K_Angle1

[0211] and AngleDiff_WhlSpd_Sensor < -K_Angle1)

[0212] and |AngleDiff_WhlSpd_AY| < K_Angle2; (K_Angle1 and K_Angle2 are calibrated values)

[0213] If the above conditions are met, proceed to step S11; otherwise, proceed to step S10.

[0214] S10: The yaw rate signal verification is completed, and no abnormality is detected in the yaw rate sensor signal. It is possible to return to step S1.

[0215] S11: The yaw rate signal verification is completed, and an abnormality is detected in the yaw rate sensor signal.

[0216] S12: The current vehicle driving state does not meet the verification conditions. It is possible to return to step S1.

[0217] Third Embodiment

[0218] On the other hand, the present application provides a storage medium.

[0219] In one embodiment, a computer program is stored on the storage medium, and when the computer program is executed by a processor, the yaw rate sensor signal verification method described above is implemented.

[0220] As described above, the yaw rate sensor signal verification method, device, and storage medium provided by the present application are based on vehicle driving operation data. When the vehicle is in a steady driving state, the angle deviation is obtained according to the vehicle driving induction data, so as to accurately verify the yaw rate sensor, avoid potential safety hazards in vehicle control, and improve the driving operation stability, active safety, and riding comfort of users.

[0221] It should be noted that in the present application, step codes such as S10 and S20 are used. The purpose is to more clearly and briefly express the corresponding content, and do not constitute a substantial limitation in terms of sequence. Those skilled in the art may execute S20 first and then S10 during specific implementation, etc., but these should all be within the protection scope of the present application.

[0222] In the embodiments of the yaw rate sensor signal verification device and storage medium provided in this application, all the technical features of any of the above-described method embodiments may be included. The extended and explanatory content of the specification is basically the same as that of the embodiments of the above methods, and will not be repeated here.

[0223] This application also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to perform the methods described in the various possible implementations above.

[0224] This application also provides a chip, including a memory and a processor. The memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that a device with the chip installed performs the methods described in the various possible implementations above.

[0225] It is understood that the above scenarios are merely examples and do not constitute a limitation on the application scenarios of the technical solutions provided in the embodiments of this application. The technical solutions of this application can also be applied to other scenarios. For example, as those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0226] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0227] The steps in the method of this application embodiment can be adjusted, combined, or deleted according to actual needs.

[0228] The units in the device of this application embodiment can be merged, divided, and deleted according to actual needs.

[0229] In this application, the same or similar terms, concepts, technical solutions and / or application scenario descriptions are generally described in detail only when they appear for the first time. When they appear again, they are generally not repeated for the sake of brevity. When understanding the technical solutions and other contents of this application, the same or similar terms, concepts, technical solutions and / or application scenario descriptions that are not described in detail later can be referred to their previous relevant detailed descriptions.

[0230] In this application, the descriptions of the various embodiments have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0231] The technical features of the present application can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of the present application.

[0232] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for verifying yaw rate sensor signals, characterized in that, include: In response to acquiring vehicle driving operation data, when the vehicle driving operation data meets a first preset condition, it is determined that the vehicle is in a steady-state driving state. The angle deviation within a calibration time is calculated based on vehicle driving sensing data. The vehicle driving sensing data includes yaw rate sensor signals, vehicle lateral acceleration signals, vehicle speed signals, and wheel speed signals. Calculating the angle deviation within the calibration time based on the vehicle driving sensing data includes: calculating a first yaw rate based on the vehicle's lateral acceleration signal and vehicle speed signal, and calculating a second yaw rate based on the wheel speed signals; reading the yaw rate sensor signal, and calculating the angle deviation accumulated over the calibration time based on the first yaw rate and the second yaw rate; the angle deviation includes a first angle deviation, a second angle deviation, and a third angle deviation. The step of reading the yaw rate sensor signal and calculating the angle deviation accumulated over the calibration time based on the first yaw rate and the second yaw rate includes: calculating a first deviation between the first yaw rate and the yaw rate sensor signal, calculating a second deviation between the second yaw rate and the yaw rate sensor signal, and calculating a third deviation between the second yaw rate and the first yaw rate; and adjusting the first deviation, second yaw rate, and third yaw rate within the calibration time. The second deviation and the third deviation are integrated to obtain the first angle deviation, the second angle deviation and the third angle deviation respectively; The method for verifying the yaw rate sensor signal based on the angle deviation includes: determining that the yaw rate sensor signal is abnormal when the first angle deviation, the second angle deviation, and the third angle deviation meet a second preset condition, or when the first angle deviation, the second angle deviation, and the third angle deviation do not meet the second preset condition, and the first angle deviation, the second angle deviation, and the third angle deviation meet a third preset condition.

2. The yaw rate sensor signal verification method according to claim 1, characterized in that, The vehicle driving operation data includes the vehicle's lateral acceleration signal, longitudinal acceleration signal, vehicle speed signal, accelerator pedal status, brake pedal status, and steering wheel status. The first preset condition includes at least one of the following: The lateral acceleration signal of the vehicle is located in the first threshold range; The longitudinal acceleration signal of the vehicle is located in the second threshold range; The vehicle speed signal is located in the third threshold range; The accelerator pedal is not depressed; The brake pedal is in the state of not being pressed; Based on the steering wheel state, the steering wheel angle is calculated to be within the fourth threshold range; The steering wheel angle change rate is calculated to be less than the fifth threshold based on the steering wheel state.

3. The yaw rate sensor signal verification method according to claim 2, characterized in that, In the step of calculating the first yaw rate based on the vehicle's lateral acceleration signal and vehicle speed signal, the calculation is performed according to the following expression: YawRate_Ay=ay*V_Vehicle Where YawRate_Ay is the first yaw rate, ay is the lateral acceleration signal, and V_Vehicle is the vehicle speed signal.

4. The yaw rate sensor signal verification method according to claim 2, characterized in that, The step of calculating the second yaw rate based on the wheel speed signal includes at least one of the following: When the vehicle is a front-wheel drive vehicle, the rear wheel track is read, and the second yaw rate is calculated based on the left rear wheel speed and the right rear wheel speed. The wheel speed signal includes the left rear wheel speed and the right rear wheel speed. When the vehicle is a rear-wheel drive vehicle, the front wheel track is read, and the second yaw rate is calculated based on the left front wheel speed and the right front wheel speed. The wheel speed signal includes the left front wheel speed and the right front wheel speed.

5. The yaw rate sensor signal verification method according to claim 4, characterized in that, In the step of reading the rear wheel track and calculating the second yaw rate based on the left and right rear wheel speeds, the calculation is performed according to the following expression: YawRate_Whl=(V_RR-V_RL)*T_RA Where YawRate_Whl is the second yaw rate, V_RR is the right rear wheel speed, V_RL is the left rear wheel speed, and T_RA is the rear wheel track.

6. The yaw rate sensor signal verification method according to claim 4, characterized in that, In the step of reading the front wheel track and calculating the second yaw rate based on the left and right front wheel speeds, the calculation is performed according to the following expression: YawRate_Whl=(V_FR-V_FL)*T_FA Where YawRate_Whl is the second yaw rate, V_FR is the right front wheel speed, V_FL is the left front wheel speed, and T_FA is the front wheel track.

7. The yaw rate sensor signal verification method according to claim 1, characterized in that, In the step of calculating the first deviation between the first yaw rate and the yaw rate sensor signal, the calculation is performed according to the following expression: YawDiff_AY_Sensor=YawRate_Ay-YawRate_Sensor Wherein, YawDiff_AY_Sensor is the first deviation, YawRate_Sensor is the yaw rate sensor signal, and YawRate_Ay is the first yaw rate.

8. The yaw rate sensor signal verification method according to claim 1, characterized in that, In the step of calculating the second deviation between the second yaw rate and the yaw rate sensor signal, the calculation is performed according to the following expression: YawDiff_WhlSpd_Sensor=YawRate_Whl-YawRate_Sensor Wherein, YawDiff_WhlSpd_Sensor is the second deviation, YawRate_Whl is the second yaw rate, and YawRate_Sensor is the yaw rate sensor signal.

9. The yaw rate sensor signal verification method according to claim 1, characterized in that, In the step of calculating the third deviation between the second yaw rate and the first yaw rate, the calculation is performed according to the following expression: YawDiff_WhlSpd_Ay=YawRate_Whl-YawRate_Ay Among them, YawDiff_WhlSpd_Ay is the third deviation, YawRate_Whl is the second yaw rate, and YawRate_Ay is the first yaw rate.

10. The yaw rate sensor signal verification method according to claim 1, characterized in that, In the step of integrating the first deviation, the second deviation, and the third deviation within the calibration time to obtain the first angle deviation, the second angle deviation, and the third angle deviation respectively, the following expression is used for calculation: AngleDiff_AY_Sensor=∫YawDiff_AY_Sensor*dt AngleDiff_WhlSpd_Sensor=∫YawDiff_WhlSpd_Sensor*dt AngleDiff_WhlSpd_Ay=∫YawDiff_WhlSpd_Ay*dt Wherein, AngleDiff_AY_Sensor is the first angular deviation, AngleDiff_WhlSpd_Sensor is the second angular deviation, AngleDiff_WhlSpd_Ay is the third angular deviation, YawDiff_AY_Sensor is the first deviation, YawDiff_WhlSpd_Sensor is the second deviation, YawDiff_WhlSpd_Ay is the third deviation, and dt is the derivative of the calibration time.

11. The yaw rate sensor signal verification method according to claim 1, characterized in that, The second preset condition includes at least one of the following: The first angular deviation is greater than the sixth threshold; The second angular deviation is greater than the seventh threshold; The third angle deviation is located in the eighth threshold range.

12. The yaw rate sensor signal verification method according to claim 1, characterized in that, The third preset condition includes at least one of the following: The first angular deviation is less than the ninth threshold; The second angular deviation is less than the tenth threshold; The third angle deviation is located in the eleventh threshold range.

13. A yaw rate sensor signal verification device, characterized in that, The yaw rate sensor signal verification device includes a processor and a storage medium connected to each other, wherein: The storage medium is used to store computer programs; The processor is used to execute the computer program to implement the yaw rate sensor signal verification method as described in any one of claims 1-12.

14. A storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the yaw rate sensor signal verification method as described in any one of claims 1-12.

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