A compensation method and device for a vehicle inertial sensor, a vehicle and a medium

Abstract

The application relates to a compensation method and device of a vehicle inertia sensor, a vehicle and a medium, and belongs to the technical field of vehicle sensors. The compensation method of the vehicle inertia sensor comprises the following steps: acquiring first position information of a vehicle-mounted inertia sensor and second position information of a vehicle center of mass; acquiring measurement acceleration information and measurement angular velocity information collected by the inertia sensor when the vehicle is running; determining acceleration offset information generated by the inertia sensor performing circular motion around the vehicle center of mass according to the measurement angular velocity information, the first position information and the second position information; and generating target acceleration information of the vehicle center of mass based on the measurement acceleration information and the acceleration offset information. According to the embodiment of the application, the acceleration and angular velocity measured by the inertia sensor are converted into the acceleration at the vehicle center of mass, so that the deviation caused by the position of the inertia sensor is compensated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle sensors, and in particular to a compensation method and device for a vehicle inertial sensor, a vehicle and a medium. BACKGROUND

[0002] Inertial sensors have different precision and performance, and due to various reasons such as temperature drift, flicker white noise, installation position, etc., the sensor output value deviates from the required value and precision when applied to different application scenarios.

[0003] In some application scenarios, such as in a body stability control system and a suspension control system, a controller needs to obtain the acceleration value at the vehicle center of mass as an algorithm input, and the actual installation position of the inertial sensor on the vehicle deviates from the actual vehicle center of mass position due to the need to bind with certain controller hardware or space arrangement reasons, which also causes the sensor signal value to deviate from the required vehicle center of mass position sensor signal value of the controller. SUMMARY

[0004] In view of the above problems, a compensation method and device for a vehicle inertial sensor, a vehicle and a medium are provided to overcome the above problems or at least partially solve the above problems, specifically:

[0005] The present application provides a compensation method for a vehicle inertial sensor, the method comprising:

[0006] obtaining first position information of an inertial sensor installed on a vehicle and second position information of a center of mass of the vehicle;

[0007] obtaining measurement acceleration information and measurement angular velocity information collected by the inertial sensor during driving of the vehicle;

[0008] determining acceleration offset information generated by the inertial sensor performing circular motion around the center of mass of the vehicle according to the measurement angular velocity information, the first position information and the second position information;

[0009] generating target acceleration information of the center of mass of the vehicle based on the measurement acceleration information and the acceleration offset information.

[0010] Optionally, the determining of the acceleration offset information generated by the inertial sensor performing circular motion around the center of mass of the vehicle according to the measurement angular velocity information, the first position information and the second position information comprises:

[0011] In a coordinate system with the vehicle center of mass as the origin, according to the first position information and the second position information, a radius component is determined by projecting a radius of the circular motion of the inertial sensor around the vehicle center of mass on each coordinate axis.

[0012] According to the radius component and the measured angular velocity information, acceleration offset information of the circular motion on the coordinate axis corresponding to the radius component is determined.

[0013] Optionally, the determining of the acceleration offset information of the circular motion on the coordinate axis corresponding to the radius component according to the radius component and the measured angular velocity information comprises:

[0014] According to the radius component and the measured angular velocity information, tangential acceleration projection information of tangential acceleration information generated by the circular motion on the coordinate axis corresponding to the radius component is determined.

[0015] According to the radius component and the measured angular velocity information, centrifugal acceleration projection information of centrifugal acceleration information generated by the circular motion on the coordinate axis corresponding to the radius component is determined.

[0016] Based on the tangential acceleration projection information and the centrifugal acceleration projection information, acceleration offset information of the inertial sensor is determined.

[0017] Optionally, when the vehicle performs yaw motion, the radius component is a projection of the radius of the circular motion on the X axis and the Y axis.

[0018] Optionally, when the vehicle performs pitch motion, the radius component is a projection of the radius of the circular motion on the X axis and the Z axis.

[0019] Optionally, when the vehicle performs roll motion, the radius component is a projection of the radius of the circular motion on the Y axis and the Z axis.

[0020] Optionally, the measured acceleration information comprises any one or more of longitudinal acceleration information, lateral acceleration information, and vertical acceleration information, and the measured angular velocity information comprises any one or more of yaw angular acceleration information, roll angular acceleration information, and pitch angular acceleration information.

[0021] The application further provides a compensation device for a vehicle inertial sensor, which comprises:

[0022] a position information acquisition module, configured to acquire first position information of an inertial sensor installed on a vehicle and second position information of a center of mass of the vehicle;

[0023] A sensor data acquisition module is configured to acquire measured acceleration information and measured angular velocity information collected by the inertial sensor when the vehicle is running.

[0024] An acceleration offset information determination module is configured to determine acceleration offset information generated by the inertial sensor in a circular motion around the vehicle's center of mass according to the measured angular velocity information, the first position information and the second position information.

[0025] A center of mass acceleration determination module is configured to generate target acceleration information of the vehicle's center of mass based on the measured acceleration information and the acceleration offset information.

[0026] The application also provides a vehicle comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program is executed by the processor to implement the above-mentioned compensation method for the vehicle's inertial sensor.

[0027] The application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the above-mentioned compensation method for the vehicle's inertial sensor.

[0028] The application has the following advantages:

[0029] In the application, the first position information of the inertial sensor installed on the vehicle and the second position information of the vehicle's center of mass can be acquired, and the measured acceleration information and the measured angular velocity information collected by the inertial sensor can be acquired when the vehicle is running. Then, the acceleration offset information generated by the inertial sensor in a circular motion around the vehicle's center of mass can be determined according to the measured angular velocity information, the first position information and the second position information. Thus, the target acceleration information of the vehicle's center of mass can be generated based on the measured acceleration information and the acceleration offset information, so as to convert the acceleration and angular velocity measured by the inertial sensor into the acceleration at the vehicle's center of mass, thereby compensating for the deviation caused by the position of the inertial sensor. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1a It is a step flow chart of a compensation method for a vehicle's inertial sensor according to an embodiment of the application.

[0031] Figure 1b It is a schematic diagram of a vehicle's sensor and the vehicle's center of mass according to an embodiment of the application.

[0032] Figure 2a It is a step flow chart of another compensation method for a vehicle's inertial sensor according to an embodiment of the application.

[0033] Figure 2bis a tangential acceleration and centrifugal acceleration schematic diagram in a yaw motion of an embodiment of the present application;

[0034] Figure 3 is a structure schematic diagram of a compensation device of a vehicle inertia sensor of an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the above objectives, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0036] Referring to Figure 1a , a step flow chart of a compensation method of a vehicle inertia sensor of an embodiment of the present application is shown, which can include the following steps:

[0037] Step 101, obtaining first position information of an inertia sensor installed on a vehicle and second position information of a vehicle mass center;

[0038] The inertia sensor is a sensor installed in the vehicle for detecting vehicle acceleration and angular velocity, which can measure longitudinal, lateral and vertical acceleration values and angular acceleration values of yaw (rotation around the vertical axis), roll (rotation around the longitudinal axis) and pitch (rotation around the lateral axis) in the vehicle, i.e. 6 degrees of freedom sensor data.

[0039] The vehicle mass center is the mass center of the vehicle mass distribution, which can change with different states of the vehicle in actual application.

[0040] In actual application, there is a certain offset between the position of the inertia sensor and the position of the vehicle mass center, as shown in Figure 1b , which is a distribution schematic diagram of the vehicle mass center and the inertia sensor, wherein, 1 is the vehicle coordinate system x axis, i.e. the longitudinal acceleration direction; 2 is the vehicle coordinate system y axis, i.e. the lateral acceleration direction; 3 is the vehicle coordinate system z axis, i.e. the vertical acceleration direction; 4 is the roll angular velocity direction, i.e. the roll direction; 5 is the yaw angular velocity direction, i.e. the yaw direction; 6 is the pitch angular velocity direction, i.e. the pitch direction; 7 is the inertia sensor; 8 is the vehicle mass center position, i.e. the origin of the vehicle coordinate system.

[0041] The whole vehicle is considered as a rigid body, so the values of yaw angular velocity, pitch angular velocity and roll angular velocity are consistent at each point of the whole vehicle, that is, the values of yaw angular velocity at the vehicle mass center and the inertial sensor installation position are consistent, and the values of pitch angular velocity and roll angular velocity are consistent. The values of vehicle longitudinal, lateral and vertical acceleration signals are affected by vehicle yaw motion, pitch motion and roll motion, thereby causing the acceleration measured by the vehicle inertial sensor to be different from the acceleration at the vehicle mass center.

[0042] In step 102, during vehicle driving, measured acceleration information and measured angular velocity information collected by the inertial sensor are acquired.

[0043] During vehicle driving, the inertial sensor can collect measured acceleration information and measured angular velocity information. The measured acceleration information is acceleration information at the first position of the inertial sensor. Due to the influence of centrifugal acceleration and centripetal acceleration during vehicle yaw motion, pitch motion and roll motion, the measured acceleration information is different from the actual acceleration information at the vehicle mass center position, while the measured angular velocity information of the sensor is the same as the angular velocity information at the vehicle mass center.

[0044] In an embodiment of the present application, the measured acceleration information includes any one or more of longitudinal acceleration information, lateral acceleration information and vertical acceleration information, and the measured angular velocity information includes any one or more of yaw angular acceleration information, roll angular acceleration information and pitch angular acceleration information.

[0045] In step 103, acceleration offset information generated by the inertial sensor in circumferential motion around the vehicle mass center is determined according to the measured angular velocity information, the first position information and the second position information.

[0046] During vehicle driving, vehicle yaw motion, pitch motion and roll motion, the inertial sensor is different from the vehicle mass center position, so the inertial sensor can perform circumferential motion with the vehicle mass center as the center. During the circumferential motion, there is centrifugal acceleration at the position of the inertial sensor and tangential acceleration on the circumferential tangent line. The centrifugal acceleration and the tangential acceleration will cause deviation in the measurement at the inertial sensor. The deviation is the acceleration offset information generated by the inertial sensor in circumferential motion around the vehicle mass center. The measured angular information can be used as the angular velocity information of the circumferential motion around the mass center, and the first position information and the second position information can be used to determine the circumferential motion radius. Therefore, based on the first position information, the second position information and the measured angular velocity information, the acceleration offset information introduced by the circumferential motion can be calculated.

[0047] In step 104, target acceleration information of the vehicle mass center is generated based on the measured acceleration information and the acceleration offset information.

[0048] After the sensor information and the acceleration offset information are determined, the measured acceleration can be compensated by the acceleration offset information, and then the target acceleration information at the vehicle center of mass can be obtained. Specifically, the target acceleration information is the sum of the acceleration offset information and the measured acceleration information.

[0049] In the embodiment of the present application, the first position information of the inertial sensor installed on the vehicle and the second position information of the vehicle center of mass can be obtained. During the driving of the vehicle, the measured acceleration information and the measured angular velocity information collected by the inertial sensor can be obtained. Then, the acceleration offset information generated by the circular motion of the inertial sensor around the vehicle center of mass can be determined according to the measured angular velocity information, the first position information and the second position information. Thus, the target acceleration information of the vehicle center of mass can be generated based on the measured acceleration information and the acceleration offset information, so as to convert the acceleration and angular velocity measured by the inertial sensor into the acceleration at the vehicle center of mass to compensate for the deviation introduced by the position of the inertial sensor.

[0050] Referring to Figure 2a , a step flow chart of another compensation method of a vehicle inertial sensor according to an embodiment of the present application is shown, which can include the following steps:

[0051] In step 201, the first position information of the inertial sensor installed on the vehicle and the second position information of the vehicle center of mass are obtained.

[0052] In step 202, during the driving of the vehicle, the measured acceleration information and the measured angular velocity information collected by the inertial sensor are obtained.

[0053] In step 203, in the coordinate system with the vehicle center of mass as the origin, the radius components of the radius of the circular motion of the inertial sensor around the vehicle center of mass are determined according to the first position information and the second position information.

[0054] In actual application, as shown in Figure 1b , in the coordinate system with the vehicle center of mass as the origin, the longitudinal acceleration direction of the vehicle center of mass is along the X-axis, the lateral acceleration direction of the vehicle center of mass is along the Y-axis, and the vertical acceleration direction of the vehicle center of mass is along the Z-axis.

[0055] When the vehicle inertial sensor performs circular motion around the vehicle center of mass, the components of the off-line acceleration and the tangent acceleration on each axis form the acceleration offset of the acceleration of different vehicle centers of mass. Thus, the radius components on each axis can be obtained by projecting the radius of the circular motion on each coordinate axis according to the first position information and the second position information, so as to calculate the acceleration offset on each axis.

[0056] Step 204, according to the radius component and the measured angular velocity information, determining the acceleration offset information of the circular motion on the coordinate axis corresponding to the radius component.

[0057] After determining the radius component, the acceleration offset information of the circular motion on the coordinate axis corresponding to the radius component can be determined in combination with the radius component and the measured angular velocity information.

[0058] In an embodiment of the present application, step 204 can include the following sub-steps:

[0059] Sub-step S11, according to the radius component and the measured angular velocity information, determining the tangent acceleration projection information of the tangent acceleration information of the circular motion on the coordinate axis corresponding to the radius component;

[0060] In actual application, the circular motion process will form tangent acceleration, and the projection components of the tangent acceleration on the coordinate axes form offsets to the centroid accelerations on the coordinate axes, wherein, in the circular motion process, the radius of the circular motion and the measured angular velocity can be used to calculate the tangent acceleration, specifically: the tangent acceleration information is the product of the differential of the measured angular velocity and the radius, and further, the acceleration information obtained by projecting the tangent acceleration information on the coordinate axis is the product of the differential of the measured angular velocity and the radius component of the corresponding coordinate axis.

[0061] In an example, for the measured acceleration information collected by the inertial sensor, filtering processing can be performed to calculate the tangent acceleration, wherein the filtering processing can adopt first-order filtering, the filtering coefficients of the yaw angular velocity can be selected to be larger, the filtering coefficients of the roll and pitch angular velocities can be selected to be smaller, and the specific size of the filtering coefficients can be matched and calibrated according to the actual performance of the vehicle.

[0062] Sub-step S12, according to the radius component and the measured angular velocity information, determining the centrifugal acceleration projection information of the centrifugal acceleration information of the circular motion on the coordinate axis corresponding to the radius component;

[0063] In actual application, the circular motion process will form centrifugal acceleration, and the projection components of the centrifugal acceleration on the coordinate axes form offsets to the centroid accelerations on the coordinate axes, wherein, in the circular motion process, the radius of the circular motion and the measured angular velocity can be used to calculate the centrifugal acceleration, specifically: the centrifugal acceleration information is the product of the square of the measured angular velocity and the radius, and further, the acceleration information obtained by projecting the centrifugal acceleration information on the coordinate axis is the product of the square of the measured angular velocity and the radius component of the corresponding coordinate axis.

[0064] Sub-step S13, determining the acceleration offset information of the inertial sensor based on the tangent acceleration projection information and the centrifugal acceleration projection information.

[0065] The tangential acceleration projection information on the coordinate axis is added to the centrifugal acceleration projection information to calculate the acceleration offset information of the inertial sensor in the direction of the coordinate axis.

[0066] In an embodiment of the present application, when the vehicle performs yaw motion, the radius component is the projection of the radius of the circular motion on the X axis and the Y axis.

[0067] In practical applications, when the vehicle performs yaw motion, the circular motion of the sensor around the vehicle center of mass can generate acceleration offsets on the X axis and the Y axis. Therefore, based on the projection of the radius of the circular motion on the X axis and the Y axis, the radius component can be used to calculate the acceleration offset of the tangential acceleration and the centrifugal acceleration on the X axis and the Y axis during yaw motion.

[0068] As shown in Figure 2b , a schematic diagram of the tangential acceleration and the centrifugal acceleration during yaw motion is shown, wherein 1 is the vehicle coordinate system x axis, i.e. the longitudinal acceleration direction; 2 is the vehicle coordinate system y axis, i.e. the lateral acceleration direction; 7 is the inertial sensor mounting point; 8 is the vehicle center of mass position, i.e. the origin of the vehicle coordinate system; 9 is the direction of the centrifugal acceleration experienced by the sensor mounting point during the equivalent circular motion around the vehicle center of mass; 10 is the direction of the tangential acceleration of the sensor during the equivalent circular motion around the vehicle center of mass; 11 is the equivalent decomposition of the tangential acceleration of the sensor mounting point in the vehicle y axis direction during the circular motion; 12 is the equivalent decomposition of the tangential acceleration of the sensor mounting point in the vehicle x axis direction during the circular motion; 13 is the equivalent decomposition of the centrifugal acceleration experienced by the sensor mounting point in the vehicle x axis direction during the equivalent circular motion around the vehicle center of mass; 14 is the equivalent decomposition of the centrifugal acceleration experienced by the sensor mounting point in the vehicle y axis direction during the equivalent circular motion around the vehicle center of mass.

[0069] When the vehicle generates yaw motion, the sensor 7 will generate circular motion around the center of mass 8. At this time, the lateral and longitudinal acceleration signals sensed by the sensor 7 will contain the lateral and longitudinal acceleration offsets caused by the yaw motion accompanying the circular motion.

[0070] The circular motion brings centrifugal acceleration 9, and the acceleration value is a=Y 2 *l, wherein l is the distance from the vehicle center of mass to the sensor position, and Y is the yaw angular velocity. The centrifugal acceleration is decomposed into the x axis and the y axis of the vehicle coordinate system according to the principle of trigonometric function, and the component of the centrifugal acceleration in the x axis direction is: Y 2 *l x (13 in the figure), wherein l x =l*cosα, α is the included angle between the centrifugal acceleration direction and the x axis direction; the component of the centrifugal acceleration in the Y axis direction is: Y 2 *l y(figure 14), wherein, l y = l*sinα.

[0071] The circular motion brings about a tangential acceleration 10 in the circumferential direction, whose value is a=Y'*l, where l is the distance from the vehicle mass center to the sensor position, and Y' is the differential of the yaw rate. The tangential acceleration is decomposed into the x-axis and y-axis of the vehicle coordinate system according to the trigonometric function, and the component of the tangential acceleration in the x-axis direction is Y'*l*cosα. y (figure 12), and the component of the tangential acceleration in the y-axis direction is Y'*l*sinα. x (figure 11), wherein, l x and l y are defined as above.

[0072] Therefore, the calculation formula of the acceleration deviation information formed by the yaw motion in the X-axis and Y-axis is as follows:

[0073] a' x =a x -Y 2 *l x -Y'*l y

[0074] a' y =a y -Y 2 *l y +Y'*l x

[0075] wherein a x is the longitudinal acceleration value at the vehicle mass center; a y is the lateral acceleration value at the vehicle mass center; Y is the yaw rate value at the vehicle mass center; a' x is the longitudinal acceleration value indicated by the sensor; a' y is the lateral acceleration value indicated by the sensor; Y' is the differential value of the yaw rate at the vehicle mass center after proper filtering; l x is the projection value of the distance from the sensor installation point to the vehicle mass center on the x-axis of the vehicle coordinate system; and l y is the projection value of the distance from the sensor installation point to the vehicle mass center on the y-axis of the vehicle coordinate system.

[0076] In an embodiment of the present application, when the vehicle performs the pitching motion, the radius component is the projection of the radius of the circular motion on the X-axis and Z-axis.

[0077] In practical application, when the vehicle is in pitch motion, the circumferential motion of the sensor around the vehicle's center of mass can produce acceleration deviation in X axis and Z axis, and the acceleration deviation in X axis and Z axis based on the radius component of the radius of the circumferential motion can calculate the acceleration deviation in X axis and Z axis of the tangential acceleration and the centrifugal acceleration in pitch motion.

[0078] Similarly, the pitch motion of the vehicle can cause the relative circumferential motion of the sensor mounting point in the plane composed of x axis and z axis, and the center of the relative circumferential motion is the projection of the vehicle's center of mass on the plane composed of x axis and z axis where the sensor is located. The roll motion of the vehicle can cause the relative circumferential motion of the sensor mounting point in the plane composed of y axis and z axis, and the center of the relative circumferential motion is the projection of the vehicle's center of mass on the plane composed of y axis and z axis where the sensor is located. Similarly, the above two kinds of circumferential motion can produce centrifugal force at the sensor mounting point along the direction of the line connecting the center of the relative circumferential motion and the sensor mounting point, and thus bring centrifugal acceleration. In addition, the angular acceleration of the two relative circumferential motions, i.e. the change rate of pitch angular velocity and roll angular velocity, can produce tangential acceleration at the sensor mounting point in the tangential direction of the circumferential motion. The centrifugal acceleration and the tangential acceleration can both cause the deviation of the acceleration at the sensor mounting point and the acceleration at the vehicle's center of mass, and further cause the sensor indication value to not actually represent the acceleration value at the vehicle's center of mass.

[0079] Therefore, the calculation formula of the acceleration deviation information formed by the pitch motion in X axis and Z axis is as follows:

[0080] a' x = a x - P 2 * l x - P' * l z

[0081] a' z = a z - P 2 * l z - P' * l x

[0082] Wherein, a x is the longitudinal acceleration value at the center of mass of the vehicle body; a z is the vertical acceleration value at the center of mass of the vehicle body; P is the pitch angular velocity value at the center of mass of the vehicle body; a' x is the longitudinal acceleration value indicated by the sensor; a' z is the vertical acceleration value indicated by the sensor; P' is the differential value of the roll angular velocity at the center of mass of the vehicle body after proper filtering; l x is the projection value of the distance between the sensor mounting point and the center of mass of the vehicle body on the x axis of the vehicle coordinate system; l zThe projection of the distance from the sensor installation point to the vehicle body mass center on the z-axis of the vehicle coordinate system.

[0083] In an embodiment of the present application, when the vehicle performs a roll motion, the radius component is the projection of the radius of the circular motion on the Y-axis and the Z-axis.

[0084] In practical applications, when the vehicle performs a roll motion, the circular motion of the sensor around the vehicle mass center can generate acceleration deviation on the Y-axis and the Z-axis. Therefore, based on the projection of the radius of the circular motion on the Y-axis and the Z-axis, the radius component can calculate the acceleration deviation of the tangent acceleration and the centrifugal acceleration on the Y-axis and the acceleration deviation information on the Z-axis under the roll motion.

[0085] The acceleration deviation information of the roll motion is the same as that of the yaw motion and the pitch motion. The tangent acceleration is projected on the Y-axis and the Z-axis in turn, and the projections on the same axis are added to determine the acceleration deviation generated by the roll motion on the coordinate axis.

[0086] Therefore, the calculation formula of the acceleration deviation information of the roll motion on the Y-axis and the Z-axis is as follows:

[0087] a' y = a y -R 2 *l y -R'*l z

[0088] a' z = a z -R 2 *l z -R'*l y

[0089] wherein a z is the vertical acceleration value at the vehicle body mass center; a y is the lateral acceleration value at the vehicle body mass center; R is the roll angular velocity value at the vehicle body mass center; a' z is the vertical acceleration value indicated by the sensor; a' y is the lateral acceleration value indicated by the sensor; R' is the differential value of the roll angular velocity at the vehicle body mass center after proper filtering; l z is the projection of the distance from the sensor installation point to the vehicle body mass center on the z-axis of the vehicle coordinate system; and l y is the projection of the distance from the sensor installation point to the vehicle body mass center on the y-axis of the vehicle coordinate system.

[0090] In actual application, during the vehicle movement, the yaw movement, the pitching movement and the roll movement can exist simultaneously, so that the acceleration offset formed by the three movements can be combined to compensate the measured acceleration of the inertial sensor, and the actual target acceleration information at the vehicle mass center is generated.

[0091] For example, the compensation algorithm formula of the vehicle mass center acceleration is as follows:

[0092]

[0093] In step 205, the target acceleration information of the vehicle mass center is generated based on the measured acceleration information and the acceleration offset information.

[0094] In the embodiment of the present application, the first position information of the inertial sensor installed on the vehicle and the second position information of the vehicle mass center are acquired; during the movement of the vehicle, the measured acceleration information and the measured angular velocity information collected by the inertial sensor are acquired; the radius information of the circular movement of the inertial sensor around the vehicle mass center is determined according to the first position information and the second position information; the radius component is determined by projecting the radius information on each coordinate axis in the coordinate system with the vehicle mass center as the origin; the acceleration offset information of the circular movement on the coordinate axis corresponding to the radius component is determined according to the radius component and the measured angular velocity information; and the target acceleration information of the vehicle mass center is generated based on the measured acceleration information and the acceleration offset information.

[0095] It should be noted that, for the method embodiments, in order to simply describe, they are all described as a series of action combinations, but those skilled in the art should know that the embodiment of the present application is not limited to the action sequence described, because according to the embodiment of the present application, some steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiment of the present application.

[0096] Referring to Figure 3 , a structure schematic diagram of a compensation device of a vehicle inertial sensor according to the embodiment of the present application is shown, which can include the following modules:

[0097] The position information acquisition module 301 acquires the first position information of the inertial sensor installed on the vehicle and the second position information of the vehicle mass center;

[0098] The sensor data acquisition module 302 is used to acquire the measured acceleration information and the measured angular velocity information collected by the inertial sensor during the movement of the vehicle;

[0099] The acceleration offset information determination module 303 is configured to determine acceleration offset information generated by the inertial sensor in the circular motion around the vehicle center of mass according to the measured angular velocity information, the first position information and the second position information.

[0100] The center of mass acceleration determination module 304 is configured to generate target acceleration information of the vehicle center of mass based on the measured acceleration information and the acceleration offset information.

[0101] In an embodiment of the present application, the acceleration offset information determination module 303 can include:

[0102] The radius component determination sub-module is configured to determine, in a coordinate system with the vehicle center of mass as the origin, radius components of a radius of the circular motion of the inertial sensor around the vehicle center of mass in each coordinate axis according to the first position information and the second position information.

[0103] The acceleration offset information determination sub-module is configured to determine the acceleration offset information of the circular motion in the coordinate axis corresponding to the radius component according to the radius component and the measured angular velocity information.

[0104] In an embodiment of the present application, the acceleration offset information determination sub-module can include:

[0105] The tangent acceleration projection information determination unit is configured to determine tangent acceleration projection information of tangent acceleration information generated by the circular motion in the coordinate axis corresponding to the radius component according to the radius component and the measured angular velocity information.

[0106] The centrifugal acceleration projection information determination unit is configured to determine centrifugal acceleration projection information of centrifugal acceleration information generated by the circular motion in the coordinate axis corresponding to the radius component according to the radius component and the measured angular velocity information.

[0107] The acceleration offset information determination unit is configured to determine the acceleration offset information of the inertial sensor based on the tangent acceleration projection information and the centrifugal acceleration projection information.

[0108] In an embodiment of the present application, when the vehicle performs yaw motion, the radius component is a projection of the radius of the circular motion in the X axis and the Y axis.

[0109] In an embodiment of the present application, when the vehicle performs pitch motion, the radius component is a projection of the radius of the circular motion in the X axis and the Z axis.

[0110] In an embodiment of the present application, when the vehicle performs roll motion, the radius component is a projection of the radius of the circular motion in the Y axis and the Z axis.

[0111] In an embodiment of the present application, the measured acceleration information includes any one or more of longitudinal acceleration information, lateral acceleration information, and vertical acceleration information, and the measured angular velocity information includes any one or more of yaw angular acceleration information, roll angular acceleration information, and pitch angular acceleration information.

[0112] In an embodiment of the present application, the first position information of the inertial sensor and the second position information of the vehicle center of mass are acquired, and the measured acceleration information and the measured angular velocity information collected by the inertial sensor are acquired during the driving of the vehicle. Then, the acceleration offset information generated by the circular motion of the inertial sensor around the vehicle center of mass is determined according to the measured angular velocity information, the first position information, and the second position information. Thus, the target acceleration information of the vehicle center of mass is generated based on the measured acceleration information and the acceleration offset information, so as to convert the acceleration and angular velocity measured by the inertial sensor into the acceleration at the vehicle center of mass, thereby compensating for the deviation caused by the position of the inertial sensor.

[0113] An embodiment of the present application further provides a vehicle, which can include a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, the compensation method of the vehicle inertial sensor is realized.

[0114] An embodiment of the present application further provides a computer readable storage medium, which stores a computer program. When the computer program is executed by a processor, the compensation method of the vehicle inertial sensor is realized.

[0115] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the related parts are referred to the part of the method embodiment.

[0116] Each embodiment in the specification is described in a progressive manner, and each embodiment mainly describes the difference from other embodiments. The same and similar parts of each embodiment are referred to each other.

[0117] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a device, or a computer program product. Therefore, the embodiments of the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present application can adopt the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0118] The embodiments of the present application are described with reference to the flowchart illustrations and / or block diagrams of the methods, terminal devices (systems) and computer program products according to the embodiments of the present application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing unit or other programmable data processing terminal devices to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal devices, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0119] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal devices to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means that implement the function specified in the flowchart illustrations and / or block diagrams block or blocks.

[0120] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal devices, such that a series of operational steps are performed on the computer or other programmable terminal devices to create a computer implemented process so that the instructions executed on the computer or other programmable terminal devices provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0121] Although the preferred embodiments of the present application have been described, those skilled in the art will be able to make additional modifications and variations to these embodiments without departing from the inventive concepts disclosed in the present application. Accordingly, the appended claims are intended to cover all such modifications and variations as falling within the scope of the embodiments of the present application.

[0122] Finally, it should be noted that, in the description above, relational terms such as first and second, and the like, can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0123] The above describes in detail the compensation method, device, vehicle and medium of the provided vehicle inertia sensor. The principles and implementation manners of the present application are described by using specific examples in the present application. The above description of the examples is only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed. In summary, the content of the present application should not be understood as a limitation of the present application.

Claims

1. A compensation method for a vehicle inertial sensor, characterized in that, The method includes: Acquire the first position information of the inertial sensors installed on the vehicle and the second position information of the vehicle's center of gravity; During the vehicle's operation, acceleration and angular velocity information are acquired from inertial sensors. Based on the measured angular velocity information, the first position information, and the second position information, the acceleration offset information generated by the inertial sensor's circular motion around the vehicle's center of mass is determined; wherein, during the process of the inertial sensor's circular motion around the vehicle's center of mass while the vehicle is performing yaw, pitch, or roll motion, the acceleration offset information is obtained based on the centrifugal acceleration at the inertial sensor and the components of the tangential acceleration on the circumferential tangent on each axis; Based on the measured acceleration information and the acceleration offset information, the target acceleration information of the vehicle's center of mass is generated.

2. The method according to claim 1, characterized in that, The step of determining the acceleration offset information generated by the inertial sensor's circular motion around the vehicle's center of mass based on the measured angular velocity information, the first position information, and the second position information includes: In a coordinate system with the vehicle's center of mass as the origin, the radius of the inertial sensor's circular motion around the vehicle's center of mass is determined by projecting it onto each coordinate axis based on the first position information and the second position information; Based on the radius component and the measured angular velocity information, the acceleration offset information of the circular motion on the coordinate axis corresponding to the radius component is determined.

3. The method according to claim 2, characterized in that, The step of determining the acceleration offset information of the circular motion on the coordinate axis corresponding to the radius component based on the radius component and the measured angular velocity information includes: Based on the radius component and the measured angular velocity information, determine the tangential acceleration information generated by the circular motion and the tangential acceleration projection information on the coordinate axis corresponding to the radius component; Based on the radius component and the measured angular velocity information, determine the centrifugal acceleration projection information generated by the circular motion on the coordinate axis corresponding to the radius component; Based on the tangential acceleration projection information and the centrifugal acceleration projection information, the acceleration offset information of the inertial sensor is determined.

4. The method according to claim 2 or 3, characterized in that, When the vehicle is yawing, the radius component is the projection of the radius of the circular motion onto the X and Y axes.

5. The method according to claim 2 or 3, characterized in that, When the vehicle is in pitch motion, the radius component is the projection of the radius of the circular motion onto the X and Z axes.

6. The method according to claim 2 or 3, characterized in that, When the vehicle is tilting, the radius component is the projection of the radius of the circular motion onto the Y-axis and Z-axis.

7. The method according to claim 1, characterized in that, The measured acceleration information includes any one or more of longitudinal acceleration information, lateral acceleration information, and vertical acceleration information, and the measured angular velocity information includes any one or more of yaw acceleration information, roll acceleration information, and pitch acceleration information.

8. A compensation device for a vehicle inertial sensor, characterized in that, The device includes: The position information acquisition module acquires the first position information of the inertial sensor installed on the vehicle and the second position information of the vehicle's center of mass; The sensor data acquisition module is used to acquire the measured acceleration information and measured angular velocity information collected by the inertial sensor during the vehicle's operation. An acceleration offset information determination module is used to determine the acceleration offset information generated by the inertial sensor's circular motion around the vehicle's center of mass based on the measured angular velocity information, the first position information, and the second position information; wherein, during the circular motion of the inertial sensor around the vehicle's center of mass while the vehicle is performing yaw, pitch, or roll motion, the acceleration offset information is obtained based on the centrifugal acceleration at the inertial sensor and the components of the tangential acceleration on the circumferential tangent on each axis; The center of mass acceleration determination module is used to generate target acceleration information of the vehicle's center of mass based on the measured acceleration information and the acceleration offset information.

9. A vehicle, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the compensation method for the vehicle inertial sensor as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the compensation method for the vehicle inertial sensor as described in any one of claims 1 to 7.

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