Slope sensor signal error self-adaptive correction method and system

Abstract

The invention relates to a slope sensor signal error self-adaptive correction method and system, and the method comprises the following steps: obtaining vehicle driving parameters which comprise a first parameter and a second parameter; the first parameter comprises a vehicle first gear state and a vehicle driving speed; the second parameters comprise the second gear state of the vehicle and the total torque of the vehicle; judging whether a signal recording condition of the acceleration sensor is met or not according to the first parameter; if yes, recording a plurality of signal values of the acceleration sensor in a time period T, and taking an average value of the recorded signal values as a first measurement value; judging whether the first measurement value can be used as an error value of the acceleration sensor or not according to the second parameter; and if yes, correcting the signal value of the acceleration sensor according to the error value. The correction method and the correction mode are simpler.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a method and system for adaptively correcting a slope sensor signal error. Background Art

[0002] The current slope calculation uses sensors to collect the acceleration of the vehicle's front and rear directions X, longitudinal Z, and lateral Y. The acceleration calculated based on dynamics is compared with the collected acceleration to obtain the current vehicle's slope value. Generally, the deviation between the acceleration calculated based on dynamics and the collected acceleration is caused by the component of gravity acceleration on the ramp (for example: if this deviation is e, the unit is m / s2, then the slope calculation formula is arcsine). The slope sensor is generally integrated into the controller or installed as a sensor at a fixed position on the vehicle body. The installation requires an absolute position, but the absolute fixed position cannot be guaranteed during the actual installation process. The slope calculation has relatively high requirements for the signal accuracy of the XYZ direction of the installed sensor. Regardless of whether the slope sensor is mounted on the controller board or as a separate component, it is completely dependent on the inclination of the installation during installation. It is more likely to have installation errors and cannot guarantee the acceleration signal in the XYZ direction when the vehicle is on a flat surface (such as Figure 2 ) has an error (that is, the calculated slope is not 0). Once the installation causes a signal 0-bit deviation, it will cause a slope value calculation deviation. The slope signal cannot guarantee accuracy, which is not conducive to the control of the entire vehicle. For example, when the vehicle is on an absolutely flat road, a certain slope value is often calculated. This value is caused by the 0-bit deviation of the sensor signal. At present, slope self-learning is achieved by key combination or software control, that is, calculating the error value of the acceleration sensor. Whether it is when the vehicle is offline or in actual use, the learning process is relatively cumbersome. The above problems need to be solved urgently. Summary of the invention

[0003] The invention discloses a slope sensor signal error adaptive correction method and system, aiming to solve the technical problems existing in the prior art.

[0004] The present invention adopts the following technical solutions:

[0005] The present invention provides a method for adaptively correcting a slope sensor signal error, which comprises the following steps:

[0006] Acquire vehicle driving parameters, the vehicle driving parameters including a first parameter and a second parameter; the first parameter includes a first gear state of the vehicle and a vehicle driving speed; the second parameter includes a second gear state of the vehicle and a total torque of the vehicle;

[0007] Determining whether the acceleration sensor signal recording condition is met according to the first parameter;

[0008] If yes, then, record a plurality of the acceleration sensor signal values ​​within the T time period, and take the average value of the recorded plurality of the signal values ​​as the first measurement value;

[0009] determining, according to the second parameter, whether the first measurement value can be used as an error value of the acceleration sensor;

[0010] If yes, then the acceleration sensor signal value is corrected using the error value.

[0011] In the slope sensor signal error adaptive correction method of the present invention, the step of judging whether the acceleration sensor signal recording condition is met according to the first parameter comprises:

[0012] Determining whether the first gear position is the P gear and whether the vehicle speed is 0;

[0013] If yes, then record the acceleration sensor signal value;

[0014] If not, the acceleration sensor signal value is not recorded.

[0015] In the slope sensor signal error adaptive correction method of the present invention, the step of judging whether the first measurement value can be used as the error value of the acceleration sensor according to the second parameter comprises:

[0016] Determining whether the second gear state of the vehicle is the D gear and whether the total torque of the vehicle is within a preset range;

[0017] If yes, then the first measurement value can be used as the error value of the acceleration sensor;

[0018] If not, the first measurement value cannot be used as the error value of the acceleration sensor.

[0019] The method for adaptively correcting the slope sensor signal error of the present invention further includes obtaining a plurality of the error values, and correcting the acceleration sensor signal value with an average value of the plurality of the error values.

[0020] The slope sensor signal error adaptive correction method of the present invention further includes a step of comparing the first measurement value with an average value of the plurality of error values.

[0021] If the difference between the first measurement value and the average value of the plurality of error values ​​is less than or equal to a preset threshold, the first measurement value can be used as the error value of the acceleration sensor;

[0022] If the difference between the first measurement value and the average value of the plurality of error values ​​is greater than a preset threshold, the first measurement value cannot be used as the error value of the acceleration sensor.

[0023] In a second aspect, the present invention further provides a slope sensor signal error adaptive correction system, comprising:

[0024] An acquisition module is used to acquire vehicle driving parameters, wherein the vehicle driving parameters include a first parameter and a second parameter; the first parameter includes a first gear state of the vehicle and a vehicle driving speed; the second parameter includes a second gear state of the vehicle and a total torque of the vehicle;

[0025] A first judgment module, used for judging whether the acceleration sensor signal recording condition is met according to the first parameter;

[0026] A first calculation module, used for recording a plurality of acceleration sensor signal values ​​within a time period T, and calculating an average value of the plurality of signal values ​​as a first measurement value;

[0027] A second judgment module, used for judging whether the first measurement value can be used as an error value of the acceleration sensor according to the second parameter;

[0028] The correction module is used to correct the acceleration sensor signal value with the error value.

[0029] The correction system of the present invention further includes a second calculation module, which is used to obtain a plurality of the error values ​​and correct the acceleration sensor signal value with an average value of the plurality of the error values.

[0030] The correction system of the present invention further includes a third judgment module, which is used to compare the first measurement value with the average value of the plurality of error values.

[0031] If the difference between the first measurement value and the average value of the plurality of error values ​​is less than or equal to a preset threshold, the first measurement value can be used as the error value of the acceleration sensor;

[0032] If the difference between the first measurement value and the average value of the plurality of error values ​​is greater than a preset threshold, the first measurement value cannot be used as the error value of the acceleration sensor.

[0033] In a third aspect, the present invention further provides a computing device, comprising:

[0034] one or more memories storing executable instructions; and

[0035] One or more processors execute the executable instructions to implement the above-mentioned method.

[0036] In a third aspect, the present invention also provides a tractor, comprising the above correction system.

[0037] The technical solution adopted by the present invention can achieve the following beneficial effects:

[0038] The present invention mainly provides a method for adaptively correcting the signal error of a slope sensor, which is based on judging the collected value of the acceleration sensor based on the vehicle driving parameters. Specifically, a first parameter is used to judge whether to collect the signal value of the acceleration sensor, and the average value within a certain time period is used as the first measurement value. In this way, the influence of signal fluctuations on the accuracy of the first measurement value can be avoided, and based on the second parameter, it is judged whether the first measurement value can be used as the error value of the acceleration sensor, so that the error value is more accurate. The correction method of the present invention can obtain the error value after judging and processing the signal value of the acceleration sensor only based on the vehicle driving parameters, and the acceleration sensor signal value is corrected with the error value, and the correction method is simpler. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments, which constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions explain the present invention and do not constitute improper limitations on the present invention. In the drawings:

[0040] Figure 1 A schematic diagram of a flow chart of a slope sensor signal error adaptive correction method of the present invention;

[0041] Figure 2 Schematic diagram of the XYZ axis components of the acceleration sensor. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. In the description of the present invention, it should be noted that the term "or" is usually used in the sense of including "and / or", unless the content clearly indicates otherwise.

[0043] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or a magnetic connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three or more, etc., unless otherwise clearly and specifically limited.

[0044] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] In order to solve the problems existing in the prior art, an embodiment of the present application provides a method for adaptively correcting a slope sensor signal error.

[0046] Example 1

[0047] This embodiment provides a method for adaptively correcting a slope sensor signal error. Figure 1 As shown, it includes the following steps:

[0048] Acquire vehicle driving parameters, the vehicle driving parameters including a first parameter and a second parameter; the first parameter includes a first gear state of the vehicle and a vehicle driving speed; the second parameter includes a second gear state of the vehicle and a total torque of the vehicle;

[0049] Determining whether the acceleration sensor signal recording condition is met according to the first parameter;

[0050] If it meets the requirement, then record multiple acceleration sensor signal values ​​within the T time period, and take the average value of the recorded multiple signal values ​​as the first measurement value. Specifically, the acceleration sensor signal value is the X-axis acceleration signal value a, then the average value Wherein, t is the time of signal acquisition;

[0051] determining, according to the second parameter, whether the first measurement value can be used as an error value of the acceleration sensor;

[0052] If yes, then the acceleration sensor signal value is corrected using the error value.

[0053] A method for adaptively correcting the error of a slope sensor signal of the present invention is based on judging the collected value of the acceleration sensor based on the vehicle driving parameters. Specifically, a first parameter is used to judge whether the acceleration sensor signal value is collected, and the average value within a certain time period is used as the first measurement value. In this way, the influence of signal fluctuations on the accuracy of the first measurement value can be avoided, and based on the second parameter, it is judged whether the first measurement value can be used as the error value of the acceleration sensor, so that the error value is more accurate. The correction method of the present invention can obtain the error value after judging and processing the acceleration sensor signal value only based on the vehicle driving parameters, and the acceleration sensor signal value is corrected with the error value (specifically, when calculating the slope value, the error value is subtracted from the signal value of the acceleration sensor), and the correction method is simpler.

[0054] In some preferred embodiments, the step of judging whether the acceleration sensor signal recording condition is met according to the first parameter comprises:

[0055] Determining whether the first gear position is the P gear and whether the vehicle speed is 0;

[0056] If yes, then record the acceleration sensor signal value;

[0057] If not, the acceleration sensor signal value is not recorded; based on this, it is preliminarily determined that the vehicle is in a substantially flat road state. At this time, recording the acceleration sensor signal value can better reflect the actual acceleration sensor installation error.

[0058] In some preferred embodiments, the step of determining whether the first measurement value can be used as the error value of the acceleration sensor according to the second parameter comprises:

[0059] Determining whether the second gear state of the vehicle is the D gear and whether the total torque of the vehicle is within a preset range;

[0060] If yes, then the first measurement value can be used as the error value of the acceleration sensor;

[0061] If not, the first measurement value cannot be used as the error value of the acceleration sensor; based on the second parameter, the first measurement value calculated is judged again to confirm whether it can be used as the error value of the acceleration sensor, thereby further improving the accuracy of the obtained error value.

[0062] That is, when starting from a stop, i.e., when the gear changes from P to D, and when the rotational speed is greater than a minimum value (generally calibrated at 0.2 rpm - 1 rpm) or the vehicle speed is greater than a minimum value (generally calibrated at 0.1 kph), if the wheel-end output torque is within a certain range at this time (such as 1100 - 1150 Nm, specifically, the torque value is obtained based on actual measurement, with the test condition being that only the frictional internal resistance of the vehicle itself is overcome, and the air resistance and ramp resistance are close to 0); when it is a tractor, if the vehicle starts in D gear at this time, confirm the unhooked state (sent from the BCM to the VCU via CAN), drive and travel without the driver stepping on the brake, collect the motor rotational speed and vehicle speed, confirm the motor rotational speed collected after the gear is in gear, and calculate the current wheel-end output torque, i.e., the total vehicle torque, in real time.

[0063] In some preferred embodiments, the total vehicle torque is the motor output torque. For example, for a tractor driven by two motors, T1 < T motor1 × i motor1 + T motor2 × i motor2 < T2; where

[0064] T motor1 is the torque of motor 1, i motor1 is the gear of motor 1, T motor2 is the torque of motor 2, i motor2 is the gear of motor 2, T1 is the lower limit of the torque range, such as 1100 Nm; T2 is the upper limit of the torque range, such as 1150 Nm; specifically, T1 and T2 can be set to different values according to information such as the ambient temperature of the actual vehicle and the vehicle oil temperature.

[0065] In some preferred embodiments, the correction method further includes obtaining a plurality of the error values and correcting the acceleration sensor signal value with the average value of the plurality of the error values. For example, calculate the error average value based on 10 error values; calculating the average value with the error values obtained multiple times can further reduce the influence of measurement fluctuations on the error value; specifically, the average value of the error values

[0066] In some preferred embodiments, the correction method further includes a step of comparing the first measurement value with the average value of the plurality of the error values.

[0067] If the difference between the first measurement value and the average value of the plurality of the error values is less than or equal to a preset threshold, then the first measurement value can be used as the error value of the acceleration sensor; preferably, the threshold can be selected such that the deviation of the first measurement value from the average value of the plurality of the error values is 30%, that is, if the first measurement value is A and the average value of the plurality of error values is B, ∣A / B - 1∣ ≤ 30%, at this time, the first measurement value can be recorded as the error value.

[0068] If the difference between the first measurement value and the average value of the plurality of error values ​​is greater than a preset threshold, the first measurement value cannot be used as the error value of the acceleration sensor; thereby further improving the accuracy of the obtained error value.

[0069] Example 2

[0070] This embodiment provides a slope sensor signal error adaptive correction system, which includes:

[0071] An acquisition module is used to acquire vehicle driving parameters, wherein the vehicle driving parameters include a first parameter and a second parameter; the first parameter includes a first gear state of the vehicle and a vehicle driving speed; the second parameter includes a second gear state of the vehicle and a total torque of the vehicle;

[0072] A first judgment module, used for judging whether the acceleration sensor signal recording condition is met according to the first parameter;

[0073] A first calculation module, used for recording a plurality of acceleration sensor signal values ​​within a time period T, and calculating an average value of the plurality of signal values ​​as a first measurement value;

[0074] A second judgment module, used for judging whether the first measurement value can be used as an error value of the acceleration sensor according to the second parameter;

[0075] The correction module is used to correct the acceleration sensor signal value with the error value.

[0076] In some preferred embodiments, the correction system further includes a second calculation module, which is used to obtain a plurality of the error values ​​and correct the acceleration sensor signal value with an average value of the plurality of the error values.

[0077] In some preferred embodiments, the correction system further comprises a third judgment module, which is used to compare the first measurement value with the average value of the plurality of error values.

[0078] If the difference between the first measurement value and the average value of the plurality of error values ​​is less than or equal to a preset threshold, the first measurement value can be used as the error value of the acceleration sensor;

[0079] If the difference between the first measurement value and the average value of the plurality of error values ​​is greater than a preset threshold, the first measurement value cannot be used as the error value of the acceleration sensor.

[0080] Example 3

[0081] This embodiment provides a computing device, which includes:

[0082] one or more memories storing executable instructions; and

[0083] One or more processors execute the executable instructions to implement the method in Example 1.

[0084] Example 4

[0085] This embodiment provides a tractor, which includes the correction system in the above-mentioned embodiment 2.

[0086] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A method for adaptively correcting slope sensor signal errors, characterized in that: The steps include: Acquire vehicle driving parameters, the vehicle driving parameters including a first parameter and a second parameter; the first parameter includes a first gear state of the vehicle and a vehicle driving speed; the second parameter includes a second gear state of the vehicle and a total torque of the vehicle; Determining whether the acceleration sensor signal recording condition is met according to the first parameter; If yes, then, record a plurality of the acceleration sensor signal values ​​within the T time period, and take the average value of the recorded plurality of the signal values ​​as the first measurement value; determining, according to the second parameter, whether the first measurement value can be used as an error value of the acceleration sensor; If yes, then the acceleration sensor signal value is corrected using the error value.

2. The slope sensor signal error adaptive correction method according to claim 1, characterized in that: The step of judging whether the acceleration sensor signal recording condition is met according to the first parameter comprises: Determining whether the first gear position is the P gear and whether the vehicle speed is 0; If yes, then record the acceleration sensor signal value; If not, the acceleration sensor signal value is not recorded.

3. The slope sensor signal error adaptive correction method according to claim 1, characterized in that: The step of judging whether the first measurement value can be used as the error value of the acceleration sensor according to the second parameter comprises: Determining whether the second gear state of the vehicle is the D gear and whether the total torque of the vehicle is within a preset range; If yes, then the first measurement value can be used as the error value of the acceleration sensor; If not, the first measurement value cannot be used as the error value of the acceleration sensor.

4. The slope sensor signal error adaptive correction method according to claim 1, characterized in that: The method also includes obtaining a plurality of the error values ​​and correcting the acceleration sensor signal value using an average value of the plurality of the error values.

5. The method for adaptively correcting slope sensor signal errors according to claim 4, characterized in that: The method further comprises comparing the first measurement value with an average value of the plurality of error values. If the difference between the first measurement value and the average value of the plurality of error values ​​is less than or equal to a preset threshold, the first measurement value can be used as the error value of the acceleration sensor; If the difference between the first measurement value and the average value of the plurality of error values ​​is greater than a preset threshold, the first measurement value cannot be used as the error value of the acceleration sensor.

6. A slope sensor signal error adaptive correction system, characterized in that: include: An acquisition module, used for acquiring vehicle driving parameters, wherein the vehicle driving parameters include a first parameter and a second parameter; The first parameters include the first gear state of the vehicle and the vehicle driving speed; The second parameter includes: the second gear state of the vehicle and the total torque of the vehicle; A first judgment module, used for judging whether the acceleration sensor signal recording condition is met according to the first parameter; A first calculation module, used for recording a plurality of acceleration sensor signal values ​​within a time period T, and calculating an average value of the plurality of signal values ​​as a first measurement value; A second judgment module, used for judging whether the first measurement value can be used as an error value of the acceleration sensor according to the second parameter; The correction module is used to correct the acceleration sensor signal value with the error value.

7. The correction system according to claim 6, characterized in that The method further includes a second calculation module, which is used to obtain a plurality of the error values ​​and to correct the acceleration sensor signal value by using an average value of the plurality of the error values.

8. The correction system according to claim 7, characterized in that The method further comprises: a third judgment module, configured to compare the first measurement value with an average value of the plurality of error values; If the difference between the first measurement value and the average value of the plurality of error values ​​is less than or equal to a preset threshold, the first measurement value can be used as the error value of the acceleration sensor; If the difference between the first measurement value and the average value of the plurality of error values ​​is greater than a preset threshold, the first measurement value cannot be used as the error value of the acceleration sensor.

9. A computing device, characterized in that include: One or more memories storing executable instructions; as well as One or more processors execute the executable instructions to implement the method according to any one of claims 1 to 5.

10. A tractor, characterized in that: A correction system comprising any one of claims 6-8 above.

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