Controller integrated with gradient sensor, calibration method and automobile

Abstract

The invention relates to the technical field of automobile sensors, in particular to an integrated gradient sensor controller, a calibration method, equipment and a medium. Hardware of the slope sensor is integrated in the controller, so that the situation that slope value collection is inaccurate due to self collection of the slope sensor or whole vehicle wiring harness, power supply, interference and other reasons, and the whole vehicle function is abnormal due to the reason that calibration cannot be conducted is avoided. According to the invention, when the target vehicle enters the zero position calibration station of the gradient sensor, only the equipment needs to be connected with the target vehicle, other operations are not needed, no special requirements on personnel exist, the zero position calibration function of the gradient sensor is automatically completed, the time is saved, and the efficiency is improved. Therefore, the zero calibration efficiency of the gradient sensor is improved, and the production takt of the whole vehicle is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of automotive sensors, and particularly to an integrated slope sensor controller, calibration method, device and medium. Background Art

[0002] With the continuous development of the intelligence of electric vehicles, more and more new energy electric vehicles are equipped with slope sensors. The slope sensors are used to collect the slope value of the vehicle at the current location, so as to reflect the slope of the road surface where the vehicle is located. The new energy electric vehicle develops function algorithm logic based on the collected slope value to realize some low-speed intelligent driving functions, such as automatic parking, hill descent control and other functions.

[0003] Integrating the slope sensor inside the controller can avoid inaccurate collection of the slope value caused by the slope sensor itself, or the vehicle wiring harness, power supply, interference, etc., and abnormal vehicle functions caused by the inability to calibrate.

[0004] Before the vehicle is assembled in the assembly workshop and leaves the factory, the zero position angle of the slope sensor needs to be calibrated to eliminate the inaccurate slope value caused by human factors such as assembly during the assembly process. The calibrated slope sensor can better reflect the slope of the road surface where the vehicle is currently located.

[0005] When a new energy electric vehicle realizes low-level assisted driving functions, it needs to collect the slope value of the whole vehicle. An independent slope sensor is required to collect slope signals for realizing functions such as automatic parking and hill descent control. However, there will be inaccurate collection of the slope value caused by the slope sensor itself, or the vehicle wiring harness, power supply, interference, etc., and abnormal vehicle functions caused by the inability to calibrate.

[0006] In the prior art, the zero calibration of the slope sensor is triggered by operating through a diagnostic instrument when the vehicle leaves the production line, that is, the zero calibration operation is completed by connecting the diagnostic instrument to the vehicle's transmission control unit, which has certain requirements for equipment and personnel, and cannot realize automatic calibration, affecting the production rhythm of the whole vehicle.

[0007] When the vehicle leaves the production line, the calibration of the slope sensor needs to be triggered by an electrical inspection device in the workshop, and the calibration of the slope sensor is carried out by a diagnostic instrument in the after-sales market. Both of these operation methods have certain requirements for equipment and personnel, cannot meet the needs of automated production and manufacturing, and affect the production rhythm of the vehicle assembly line. Summary of the Invention

[0008] In view of the above problems, the present disclosure provides an integrated slope sensor controller, a calibration method, a device and a medium, which realize the software and hardware integration of the slope sensor and the controller, replace the stand-alone slope sensor, realize the switch of the slope sensor acquisition function through software, realize the automatic calibration of the zero angle of the slope sensor, store the calibration value of the slope sensor in the non-volatile storage unit of the MCU control module, and there is no need to calibrate the slope sensor again when the software of the controller is updated later.

[0009] In a first aspect, an integrated slope sensor controller includes:

[0010] A power supply module, a slope sensor, an MCU control module and a CAN communication module; the slope sensor is connected to the MCU control module, and the MCU control module is connected to the CAN communication module through a CAN bus;

[0011] The power supply module is used to supply power to the slope sensor, the MCU control module and the CAN communication module;

[0012] The slope sensor, which integrates an accelerometer and a gyroscope inside, is used to collect the actual slope value of the current position of the vehicle, and convert the actual slope value into a digital slope value and send it to the MCU control module;

[0013] The MCU control module is used to receive the digital slope value sent by the slope sensor, and perform function logic algorithms according to the digital slope value to realize the function control of the whole vehicle including automatic parking and hill descent control; send the control result to the IHU display module through the CAN communication module;

[0014] The CAN communication module is connected to the IHU display module through a CAN bus, and is used to transmit the whole vehicle control information to the IHU display module.

[0015] Further, a slope sensor acquisition interface flag bit is set in the MCU control module, and whether the controller integrates the slope sensor is identified through the flag bit;

[0016] When the flag bit is 1, it means that the controller integrates the slope sensor; when the flag bit is 0, it means that the controller does not integrate the slope sensor.

[0017] In a second aspect, a calibration method for an integrated slope sensor controller includes: based on the above-mentioned integrated slope sensor controller,

[0018] The target vehicle is in the powered-on state and enters the slope sensor zero-position calibration station;

[0019] The MCU control module determines whether it has received a zero-position calibration instruction;

[0020] When the whole vehicle is in a stationary state, the MCU control module collects the gear position, vehicle speed, and ready state of the whole vehicle, and determines whether the zero-position calibration conditions of the slope sensor are met;

[0021] If the zero-position calibration conditions are met and a zero-position calibration instruction is received, the MCU control module performs angle zero-position calibration and records the current initial slope calibration value;

[0022] It is determined that the angle zero-position calibration of the slope sensor is successful, and the calibrated slope value is saved.

[0023] Furthermore, when the target vehicle is in the powered-on state and enters the zero-position calibration station of the slope sensor, it includes:

[0024] Before the whole vehicle leaves the factory, the zero-position angle of the slope sensor is calibrated;

[0025] A separate zero-position calibration station for the slope sensor is set up in the production workshop. When the whole vehicle needs to perform zero-position calibration of the slope sensor, the vehicle needs to be driven to this station.

[0026] Furthermore, the MCU control module determines whether a zero-position calibration instruction is received, including:

[0027] When the target vehicle is connected to the zero-position calibration equipment of the slope sensor at the zero-position calibration station of the slope sensor, it automatically receives the zero-position calibration instruction, and the MCU control module inside the controller determines whether the zero-position calibration instruction is received.

[0028] Furthermore, determining whether the zero-position calibration conditions of the slope sensor are met includes: simultaneously meeting the following conditions:

[0029] The target vehicle is in the powered-on non-ready state;

[0030] The gear position of the target vehicle is in the neutral state;

[0031] The vehicle speed of the target vehicle is zero;

[0032] The slope where the target vehicle is located is within the standard error range of the slope sensor;

[0033] The slope sensor has no fault.

[0034] Furthermore, determining that the zero-position calibration of the slope sensor is successful and saving the calibrated slope value includes:

[0035] After calibration, the calibrated slope value is stored in the non-volatile storage area of the MCU control module, and the slope value will not be changed when the MCU control module is software-refreshed later.

[0036] In a third aspect, a vehicle is integrated with the above-mentioned integrated slope sensor controller.

[0037] Fourth aspect, an electronic device includes a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete communication with each other through the communication bus;

[0038] The memory stores a computer program;

[0039] The processor is configured to implement the above calibration method for an integrated slope sensor controller when executing the computer program stored on the memory.

[0040] Fifth aspect, a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the above calibration method for an integrated slope sensor controller.

[0041] The present disclosure at least includes the following beneficial effects:

[0042] In the present disclosure, the slope sensor is hardware-integrated inside the controller, avoiding inaccurate acquisition of the slope value caused by reasons such as the slope sensor's own acquisition or the vehicle's entire wiring harness, power supply, interference, etc., and abnormal vehicle functions caused by the inability to perform calibration.

[0043] In the present disclosure, the slope sensor is automatically calibrated. When the target vehicle enters the zero-position calibration station of the slope sensor, only the device needs to be connected to the target vehicle, without other operations, and there are no special requirements for personnel. The zero-position calibration function of the slope sensor is automatically completed, saving time, thereby improving the zero-position calibration efficiency of the slope sensor and increasing the vehicle production beat.

[0044] Other features and advantages of the present disclosure will be described in the subsequent specification, and part of them will become obvious from the specification or be understood by implementing the present disclosure. The objectives and other advantages of the present disclosure can be achieved and obtained through the structures pointed out in the specification and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0046] Figure 1 It is a schematic diagram of the controller structure in an embodiment of the present disclosure;

[0047] Figure 2 It is a schematic diagram of the controller calibration process in an embodiment of the present disclosure;

[0048] Figure 3 Schematic diagram of the structure of the electronic device according to an embodiment of the present disclosure. Detailed implementation manners

[0049] To make the objectives, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are only a part rather than all of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.

[0050] As Figure 1 shown, an integrated slope sensor controller includes:

[0051] A power supply module, a slope sensor, an MCU control module, and a CAN communication module; the slope sensor is connected to the MCU control module, and the MCU control module is connected to the CAN communication module through a CAN bus;

[0052] The power supply module is powered by the 12V power supply provided by the vehicle, and outputs 3.3V / 5V voltage through an internal voltage conversion module. The power supply module is used to supply power to the slope sensor, the MCU control module, and the CAN communication module;

[0053] The slope sensor internally integrates an accelerometer and a gyroscope. The slope sensor is used to collect the actual slope value of the current position of the vehicle, and convert the actual slope value into a digital slope value and send it to the MCU control module;

[0054] The MCU control module is used to receive the digital slope value sent by the slope sensor, and perform a functional logic algorithm according to the digital slope value to implement the function control of the vehicle, including automatic parking and hill descent control; the MCU control module sends the vehicle control information to the IHU display module through the CAN communication module according to the control result of the vehicle;

[0055] The CAN communication module is connected to the IHU display module through a CAN bus. The CAN communication module is used to transmit the vehicle control information to the IHU display module.

[0056] During specific implementation, the following is introduced:

[0057] As Figure 1 shown, an integrated slope sensor controller includes: a power supply module, a slope sensor, an MCU control module, and a CAN communication module;

[0058] The power module is powered by the 12V power supply provided by the vehicle, and at the same time outputs 3.3V / 5V voltages through the internal voltage conversion module to supply power to the slope sensor, the MCU control module, and the CAN communication module;

[0059] The slope sensor integrates devices such as an accelerometer and a gyroscope inside, which are used to collect the slope value of the current position of the vehicle, and convert the slope value into a digital quantity and send it to the MCU control module;

[0060] How the slope sensor accurately collects the slope value is not within the scope of discussion in this disclosure. This disclosure only focuses on the actual application of the integrated slope sensor controller;

[0061] The MCU control module receives the slope value sent by the slope sensor and controls the automatic parking and hill descent control of the whole vehicle according to the slope value;

[0062] The MCU control module compares the slope value calibrated according to the zero position calibration with the actual slope value of the current whole vehicle, judges whether the current whole vehicle is in the uphill or downhill state through the positive and negative differences, and at the same time realizes functions such as automatic parking and hill descent control of the whole vehicle through the control algorithm;

[0063] The MCU control module sends the control result of the whole vehicle to the IHU display module through the CAN communication module;

[0064] The CAN communication module realizes the communication between the controller and the IHU display module, and transmits the whole vehicle control information and the IHU display information;

[0065] The controller is connected to the whole vehicle IHU display module through CAN;

[0066] The IHU display module realizes the control of whether functions such as automatic parking and hill descent are turned on. When the function is turned on, it also prompts that this function has been turned on;

[0067] The slope sensor acquisition interface flag bit is developed in the MCU control module. When the controller integrates the slope sensor, this flag bit is 1, and when the controller does not integrate the slope sensor, this flag bit is 0; whether the controller integrates the slope sensor is identified through this flag bit.

[0068] This disclosure integrates the slope sensor inside the controller, which can avoid inaccurate acquisition of the slope value caused by reasons such as the slope sensor's own acquisition or the vehicle harness, power supply, and interference, and the abnormal functions of the whole vehicle caused by the inability to calibrate. When the whole vehicle leaves the production line and enters the slope sensor zero position calibration station, connect the equipment, and automatically perform the slope sensor zero position calibration function. The calibrated slope value is stored in the non-volatile storage area of the MCU control module. When the software of the MCU control module is updated later, there is no need to perform the slope sensor zero position calibration again.

[0069] As Figure 2 shown, a calibration method for an integrated slope sensor controller includes: based on the above-mentioned integrated slope sensor controller,

[0070] S201, when the target vehicle is powered on, enter the zero position calibration station of the slope sensor;

[0071] S202, the MCU control module determines whether it receives a zero position calibration instruction;

[0072] S203, when the whole vehicle is in a stationary state, the MCU control module collects the gear position, vehicle speed, and ready state of the whole vehicle, and determines whether it meets the zero position calibration conditions of the slope sensor;

[0073] S204, if the zero position calibration conditions are met and the zero position calibration instruction is received, the MCU control module performs angle zero position calibration and records the current initial slope calibration value;

[0074] S205, determine that the zero position calibration of the slope sensor is successful and save the calibrated slope value.

[0075] Specifically, the implementation is as follows:

[0076] Information collection: when the whole vehicle is in a stationary state, the MCU control module collects the gear position, vehicle speed, ready state, etc. of the whole vehicle to determine whether it meets the zero position calibration conditions of the slope sensor;

[0077] Instruction judgment: determine whether the MCU control module receives a zero position calibration instruction;

[0078] Condition judgment: based on the information collected, the MCU control module comprehensively determines whether it meets the zero position calibration conditions of the slope sensor;

[0079] Automatic calibration: if the zero position calibration requirements are met and the zero position calibration instruction is received, the MCU control module performs angle zero position calibration.

[0080] The zero position calibration conditions of the slope sensor need to meet the following conditions simultaneously:

[0081] The target vehicle is in the powered-on non-ready state;

[0082] The gear position of the target vehicle is in the neutral state;

[0083] The vehicle speed of the target vehicle is zero;

[0084] The slope where the target vehicle is located is within the standard error range of the slope sensor;

[0085] The slope sensor has no fault.

[0086] The zero calibration instruction of the slope sensor comes from an external device. When the target vehicle is connected to the external device at the slope sensor zero calibration station, it automatically receives the zero calibration instruction.

[0087] After the slope sensor is automatically calibrated, the calibrated slope value is stored in the non-volatile storage area of the MCU control module, and this slope value will not be changed when the software of the MCU control module is refreshed later.

[0088] The zero calibration method of the slope sensor specifically includes the following steps:

[0089] The target vehicle is in the powered-on state and enters the slope sensor zero calibration station.

[0090] Specifically, before the vehicle leaves the factory, it is necessary to calibrate the zero angle of the slope sensor. A separate slope sensor zero calibration station needs to be set up in the production workshop. When the vehicle needs to be calibrated for the zero position of the slope sensor, the vehicle needs to be driven to this station;

[0091] Connect the device, and the controller determines whether it has received the zero calibration instruction.

[0092] Connect the device developed according to the slope sensor zero calibration process to the vehicle. The internal MCU control module of the controller determines whether it has received the zero calibration instruction; if it has received the zero calibration instruction, the device prompts "The zero calibration instruction of the slope sensor is received normally", otherwise it prompts "The zero calibration instruction of the slope sensor is received abnormally";

[0093] If the device prompts "The zero calibration instruction of the slope sensor is received abnormally", it is necessary to check whether the device interface is connected properly and whether the interface power supply is normal, etc.;

[0094] After receiving the zero calibration instruction, determine whether the vehicle meets the calibration conditions.

[0095] If the MCU control module receives the zero calibration instruction of the slope sensor, the target vehicle needs to meet the following conditions at the same time: the target vehicle is in the powered-on non-ready state; the target vehicle gear is in the neutral state; the target vehicle speed is zero; the slope where the target vehicle is located is within the standard error range of the slope sensor; the slope sensor has no fault;

[0096] When the above conditions are met, the MCU control module determines that the target vehicle meets the slope sensor zero calibration conditions, and the MCU control module enters the slope sensor automatic zero calibration process;

[0097] Automatically enter the zero calibration process.

[0098] The MCU control module automatically performs the zero calibration process of the slope sensor to calibrate the zero position of the slope sensor and record the current initial slope calibration value;

[0099] Determine that the zero calibration of the slope sensor is successful and save the calibrated slope value.

[0100] The MCU control module saves the initial slope calibration value obtained from the zero calibration of the slope sensor into the non-volatile data storage area of the MCU control module and prompts "The zero calibration of the slope sensor is successful" on the device.

[0101] A vehicle integrated with the above integrated slope sensor controller.

[0102] As Figure 3 shown, the present disclosure provides an electronic device, including a processor 301, a communication interface 302, a memory 303, and a communication bus 304. Among them, the processor 301, the communication interface 302, and the memory 303 complete mutual communication through the communication bus 304;

[0103] The memory 303 stores a computer program;

[0104] The processor 301, when executing the computer program stored on the memory 303, implements the above method.

[0105] The present disclosure provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above method is implemented.

[0106] The computer-readable storage medium may be included in the device / apparatus described in the above embodiments; or it may exist alone without being assembled into the device / apparatus. The above computer-readable storage medium carries one or more programs, and when the one or more programs are executed, the method according to the embodiments of the present disclosure is implemented.

[0107] According to the embodiments of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, it may include but is not limited to: portable computer disks, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), portable compact disk read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the above. In the present disclosure, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, device, or apparatus.

[0108] Those skilled in the art should understand that the various modules or steps of the present invention described above can be implemented by a general-purpose computer device. Optionally, they can be implemented by program codes executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0109] Although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present disclosure.

Claims

1. An integrated slope sensor controller, characterized in that, Including: A power supply module, a slope sensor, an MCU control module, and a CAN communication module; the slope sensor is connected to the MCU control module, and the MCU control module is connected to the CAN communication module through a CAN bus; The power supply module is used to supply power to the slope sensor, the MCU control module, and the CAN communication module; The slope sensor, which integrates an accelerometer and a gyroscope inside, is used to collect the actual slope value of the current position of the vehicle, and convert the actual slope value into a digital slope value and send it to the MCU control module; The MCU control module is used to receive the digital slope value sent by the slope sensor, and perform functional logic algorithms according to the digital slope value to realize the function control of the whole vehicle including automatic parking and hill descent control; send the control result to the IHU display module through the CAN communication module; The CAN communication module is connected to the IHU display module through a CAN bus, and is used to transmit the whole vehicle control information to the IHU display module.

2. The integrated slope sensor controller according to claim 1, wherein A slope sensor acquisition interface flag bit is set in the MCU control module, and whether the controller integrates a slope sensor is identified through the flag bit; The flag bit being 1 indicates that the controller integrates a slope sensor; the flag bit being 0 indicates that the controller does not integrate a slope sensor.

3. A calibration method for an integrated slope sensor controller, characterized in that, Including: An integrated slope sensor controller based on claim 1 or 2, When the target vehicle is in the powered-on state, enter the slope sensor zero position calibration station; The MCU control module determines whether it has received a zero position calibration instruction; When the whole vehicle is in a stationary state, the MCU control module collects the whole vehicle gear, vehicle speed, and ready state, and determines whether it meets the slope sensor zero position calibration conditions; If the zero position calibration conditions are met and a zero position calibration instruction is received, the MCU control module performs angle zero position calibration and records the current initial slope calibration value; Determine that the angle zero position calibration of the slope sensor is successful, and save the calibrated slope value.

4. The calibration method of the integrated slope sensor controller according to claim 3, wherein When the target vehicle is in the powered-on state and enters the slope sensor zero position calibration station, it includes: Before the whole vehicle leaves the factory, calibrate the zero position angle of the slope sensor; Set a separate slope sensor zero position calibration station in the production workshop. When the whole vehicle needs to perform slope sensor zero position calibration, the vehicle needs to be driven to this station.

5. The calibration method of the integrated slope sensor controller according to claim 3, wherein The MCU control module determines whether it has received a zero position calibration instruction, including: When the target vehicle is connected to the slope sensor zero position calibration device at the slope sensor zero position calibration station, it automatically receives the zero position calibration instruction, and the MCU control module inside the controller determines whether it has received the zero position calibration instruction.

6. The calibration method of the integrated slope sensor controller according to claim 3, wherein Determine whether it meets the slope sensor zero position calibration conditions, including: simultaneously meeting the following conditions: The target vehicle is in the powered-on non-ready state; The target vehicle gear is in the neutral state; The speed of the target vehicle is zero; The slope at the target vehicle is within the standard error range of the slope sensor; The slope sensor is free of faults.

7. A calibration method for an integrated slope sensor controller according to claim 3, wherein Determine that the zero position calibration of the slope sensor is successful and save the calibrated slope value, including: After calibration is completed, store the calibrated slope value in the non-volatile storage area of the MCU control module, and the slope value will not be changed when the software of the MCU control module is refreshed later.

8. A vehicle, characterized in that, Integrated with an integrated slope sensor controller according to claim 1 or 2.

9. An electronic device, characterized in that, Comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus; The memory stores a computer program; The processor is configured to implement a calibration method for an integrated slope sensor controller according to any one of claims 3-7 when executing the computer program stored on the memory.

10. A computer-readable storage medium storing a computer program, characterized in that, The computer program, when executed by the processor, implements a calibration method for an integrated slope sensor controller according to any one of claims 3-7.

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