Automotive magnetic field interference shielding method, system and device, storage medium and product

Abstract

The invention provides a vehicle magnetic field interference shielding method, system and device, a storage medium and a product, and the method comprises the steps: measuring an interference magnetic field in a preset range of a magnetic field sensitive part through a three-axis magnetic sensor, and obtaining interference magnetic field data; wherein the interference magnetic field data comprises the intensity and the direction of the interference magnetic field; if the intensity of the interference magnetic field is greater than a preset safety intensity threshold value, controlling the magnetic field interference shielding device to generate an anti-interference magnetic field according to the interference magnetic field data so as to offset the interference magnetic field in a preset range of the magnetic field sensitive component; the direction of the anti-interference magnetic field is opposite to that of the interference magnetic field, and the intensity of the anti-interference magnetic field is consistent with that of the interference magnetic field. According to the scheme, the low-frequency strong magnetic field interference can be effectively eliminated while the magnetic field interference shielding cost is reduced, and the safety and reliability of the vehicle are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle magnetic field interference shielding method, system, device, storage medium and product. BACKGROUND

[0002] With the rapid upgrading of vehicle electronic control systems, the development of controllers has higher integration, and traditional mechanical components are gradually transformed into electronic control components. Some relays and solenoid valves that rely on magnetism are more easily affected by interference in a strong magnetic field environment. This problem often occurs under electrolytic aluminum plants, steel plants or extra-high voltage lines.

[0003] Unlike electromagnetic compatibility (EMC) electromagnetic interference, strong magnetic fields are mainly strong magnetic effects at low frequencies, and high-frequency EMC shielding generally does not work. The existing solution is to shield the magnetic field sensitive components from strong magnetic fields by using soft magnetic materials to isolate the magnetic field. However, since the soft magnetic material shielding cannot have gaps, the sensitive components are more comprehensively wrapped, and the soft magnetic material is generally more expensive. This increases the cost of protection, and the cost of disassembly and restoration is also high if the wrapped components are damaged and need to be repaired.

[0004] Therefore, the prior art cannot effectively eliminate low-frequency strong magnetic field interference, and the cost of magnetic field interference shielding is high. SUMMARY

[0005] The present application provides a vehicle magnetic field interference shielding method, system, device, storage medium and product to solve the problem that the prior art cannot effectively eliminate low-frequency strong magnetic field interference and the cost of magnetic field interference shielding is high.

[0006] The present application provides a vehicle magnetic field interference shielding method, which includes the following steps: The interference magnetic field within the predetermined range of the magnetic field sensitive component is measured by a three-axis magnetic force sensor to obtain interference magnetic field data. The interference magnetic field data includes the strength of the interference magnetic field and the direction of the interference magnetic field. If the strength of the interference magnetic field is greater than a preset safety strength threshold, an anti-interference magnetic field is generated by a magnetic field interference shielding device according to the interference magnetic field data to offset the interference magnetic field within the predetermined range of the magnetic field sensitive component. The direction of the anti-interference magnetic field is opposite to the direction of the interference magnetic field, and the strength of the anti-interference magnetic field is consistent with the strength of the interference magnetic field.

[0007] According to the vehicle magnetic field interference shielding method provided by the present application, before the interference magnetic field within the predetermined range of the magnetic field sensitive component is measured by the three-axis magnetic force sensor to obtain the interference magnetic field data, the method further includes: performing direction angle offset calibration of the tri-axis magnetic force sensor to calibrate the magnetic field direction measured by the tri-axis magnetic force sensor so that the magnetic field direction measured by the tri-axis magnetic force sensor is consistent with the magnetic field direction of the interference magnetic field; and / or, performing magnetic field intensity deviation calibration of the tri-axis magnetic force sensor to calibrate the magnetic field intensity measured by the tri-axis magnetic force sensor so that the magnetic field intensity measured by the tri-axis magnetic force sensor is consistent with the magnetic field intensity of the interference magnetic field.

[0008] According to the vehicle magnetic field interference shielding method provided by the application, the direction angle offset calibration of the tri-axis magnetic force sensor comprises: applying a first calibration magnetic field in the predetermined range of the magnetic field sensitive component, the direction of the first calibration magnetic field being consistent with the easily interfered direction of the magnetic field sensitive component; measuring the first calibration magnetic field in the predetermined range of the magnetic field sensitive component by the tri-axis magnetic force sensor to obtain a first actual magnetic field direction measured by the tri-axis magnetic force sensor; calculating the angle difference between the direction of the first calibration magnetic field and the first actual magnetic field direction measured by the tri-axis magnetic force sensor to obtain a first magnetic field direction offset angle; judging whether the first magnetic field direction offset angle is greater than a preset first direction offset threshold value; if the first magnetic field direction offset angle is greater than the preset first direction offset threshold value, reinstalling the tri-axis magnetic force sensor and returning to perform the step of applying the first calibration magnetic field in the predetermined range of the magnetic field sensitive component; if the first magnetic field direction offset angle is not greater than the preset first direction offset threshold value, applying a second calibration magnetic field in the predetermined range of the magnetic field sensitive component, the magnetic field direction of the second calibration magnetic field being consistent with the more easily interfered direction of the magnetic field sensitive component; measuring the second calibration magnetic field in the predetermined range of the magnetic field sensitive component by the tri-axis magnetic force sensor to obtain a second actual magnetic field direction measured by the tri-axis magnetic force sensor; calculating the angle difference between the magnetic field direction of the second calibration magnetic field and the second actual magnetic field direction measured by the tri-axis magnetic force sensor to obtain a second magnetic field direction offset angle; judging whether the second magnetic field direction offset angle is greater than a preset second direction offset threshold value; if the second magnetic field direction offset angle is greater than the preset second direction offset threshold value, reinstalling the tri-axis magnetic force sensor and returning to perform the step of applying the first calibration magnetic field in the predetermined range of the magnetic field sensitive component; If the second magnetic field direction offset angle is not greater than a preset second direction offset threshold, a magnetic field intensity deviation calibration of the three-axis magnetic force sensor is performed.

[0009] According to the vehicle magnetic field interference shielding method provided by the application, the magnetic field intensity deviation calibration of the three-axis magnetic force sensor comprises: A plurality of point magnetic fields are applied to the easily interfered direction and the relatively easily interfered direction of the magnetic field sensitive component, and the plurality of point magnetic fields are magnetic fields with a plurality of magnetic field intensities between a minimum magnetic field intensity and a maximum magnetic field intensity; The three-axis magnetic force sensor measures the plurality of point magnetic fields within a predetermined range of the magnetic field sensitive component to obtain actual magnetic field data measured by the three-axis magnetic force sensor, and the actual magnetic field data comprises a third actual magnetic field direction and an actual magnetic field intensity measured by the three-axis magnetic force sensor; According to the actual magnetic field data measured by the three-axis magnetic force sensor, a magnetic field intensity current ratio offset is calculated, and the magnetic field intensity current ratio offset represents a deviation between the actual magnetic field intensity and the magnetic field intensities of the plurality of point magnetic fields; It is judged whether the magnetic field intensity current ratio offset is greater than a preset intensity offset threshold; If the magnetic field intensity current ratio offset is greater than the preset intensity offset threshold, the active magnetic field interference shielding device is replaced, and the step of applying the first calibration magnetic field to the magnetic field sensitive component within the predetermined range is performed again; If the magnetic field intensity current ratio offset is not greater than the preset intensity offset threshold, the magnetic field intensity deviation calibration is ended.

[0010] According to the vehicle magnetic field interference shielding method provided by the application, the direction of the interference magnetic field comprises an easily interfered direction, a relatively easily interfered direction and a not easily interfered direction. The direction of the anti-interference magnetic field comprises a first offset direction, a second offset direction and a third offset direction, the first offset direction, the second offset direction and the third offset direction are opposite to the easily interfered direction, the relatively easily interfered direction and the not easily interfered direction respectively, the intensity of the anti-interference magnetic field comprises a magnetic field intensity in the first offset direction, a magnetic field intensity in the second offset direction and a magnetic field intensity in the third offset direction, and the magnetic field intensity in the first offset direction, the magnetic field intensity in the second offset direction and the magnetic field intensity in the third offset direction are consistent with the magnetic field intensity in the easily interfered direction, the magnetic field intensity in the relatively easily interfered direction and the magnetic field intensity in the not easily interfered direction respectively. The method comprises the following steps: According to the intensity and direction of the interference magnetic field, a first current value, a second current value and a third current value flowing through the coils in the control magnetic field interference shielding device are calculated respectively; wherein the first current value, the second current value and the third current value are respectively the current values corresponding to the magnetic field intensity of the anti-interference magnetic field in the first offset direction, the second offset direction and the third offset direction; The current values of the coils in the magnetic field interference shielding device in three directions are controlled by the proportional-integral controller to be the first current value, the second current value and the third current value, so that the magnetic field interference shielding device generates the anti-interference magnetic field; Whether the current values of the coils in the magnetic field interference shielding device in three directions reach the preset current threshold value is judged respectively; If the current values of the coils in the magnetic field interference shielding device in three directions do not reach the preset current threshold value, the proportional-integral controller continues to control the current values of the coils in the magnetic field interference shielding device in three directions to be the first current value, the second current value and the third current value; If the current value of the coil in the magnetic field interference shielding device in any direction reaches the preset current threshold value, an overrun fault is output, and the magnetic field interference shielding device is controlled to stop generating the anti-interference magnetic field.

[0011] According to the vehicle magnetic field interference shielding method provided by the application, before the interference magnetic field in the predetermined range of the magnetic field sensitive component is measured by the three-axis magnetic force sensor to obtain the interference magnetic field data, the method further comprises: The magnetic field interference characteristics of the magnetic field sensitive component in different directions are determined by the three-dimensional Helmholtz coil; The easily interfered direction, the more easily interfered direction and the not easily interfered direction are determined according to the magnetic field interference characteristics of the magnetic field sensitive component in different directions.

[0012] The application further provides a vehicle magnetic field interference shielding system, which comprises a three-axis magnetic force sensor, a magnetic field sensitive component, a magnetic field interference shielding device and a control device; the control device comprises: The acquisition module is used for measuring the interference magnetic field in the predetermined range of the magnetic field sensitive component by the three-axis magnetic force sensor to obtain interference magnetic field data; wherein the interference magnetic field data comprises the intensity of the interference magnetic field and the direction of the interference magnetic field; The control module is used for controlling the magnetic field interference shielding device to generate an anti-interference magnetic field to offset the interference magnetic field in the predetermined range of the magnetic field sensitive component according to the interference magnetic field data if the intensity of the interference magnetic field is greater than a preset safety intensity threshold value; the direction of the anti-interference magnetic field is opposite to the direction of the interference magnetic field, and the intensity of the anti-interference magnetic field is consistent with the intensity of the interference magnetic field.

[0013] The application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the vehicle magnetic field interference shielding method according to any one of the above when executing the computer program.

[0014] The application further provides a non-transitory computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the vehicle magnetic field interference shielding method according to any one of the above.

[0015] The application further provides a computer program product, which comprises a computer program, wherein the computer program is executed by a processor to implement the vehicle magnetic field interference shielding method according to any one of the above.

[0016] The vehicle magnetic field interference shielding method, system, device, storage medium and product provided by the application measure the interference magnetic field in the predetermined range of the magnetic field sensitive component through a three-axis magnetic force sensor to obtain interference magnetic field data, wherein the interference magnetic field data comprises the strength of the interference magnetic field and the direction of the interference magnetic field; if the strength of the interference magnetic field is greater than a preset safety strength threshold, the anti-interference magnetic field is generated by the magnetic field interference shielding device according to the interference magnetic field data to offset the interference magnetic field in the predetermined range of the magnetic field sensitive component; the direction of the anti-interference magnetic field is opposite to the direction of the interference magnetic field, and the strength of the anti-interference magnetic field is consistent with the strength of the interference magnetic field. The scheme of the application measures the interference magnetic field in the predetermined range of the magnetic field sensitive component through a three-axis magnetic force sensor, and when the strength of the interference magnetic field exceeds the preset safety strength threshold, the anti-interference magnetic field is generated by the magnetic field interference shielding device according to the measured interference magnetic field data to offset the interference magnetic field in the predetermined range of the magnetic field sensitive component, which can effectively eliminate the low-frequency strong magnetic field interference while reducing the cost of the magnetic field interference shielding, and improves the safety and reliability of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0018] Figure 1 is a flowchart of the vehicle magnetic field interference shielding method provided by the application.

[0019] Figure 2 is a flowchart of the secondary calibration processing provided by the application.

[0020] Figure 3It is a structural schematic view of the vehicle magnetic field interference shielding system provided by the present application.

[0021] Figure 4 It is a structural schematic view of the electronic device provided by the present application. DETAILED DESCRIPTION

[0022] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] It should be noted that the brief description of the terms in the present application is only for the convenience of understanding the subsequently described embodiments, and is not intended to limit the embodiments of the present application. Unless otherwise specified, these terms should be understood according to their ordinary and general meanings.

[0024] The terms "first", "second", and the like in the specification and claims of the present application and the above drawings are used to distinguish similar or similar objects or entities, and do not necessarily mean a specific order or sequence, unless otherwise indicated. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, for example, those other than the order given in the embodiment illustration or description of the present application can be implemented.

[0025] In addition, the terms "include" and "have" and any variations thereof are intended to cover but not exclusive inclusion, for example, a product or device including a series of components does not have to be limited to those components clearly listed, but can include other components not clearly listed or inherent to these products or devices. The term "module" used in the present application refers to any known or later developed hardware, software, firmware, artificial intelligence, fuzzy logic or combination of hardware or / and software code capable of performing functions related to the element.

[0026] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The following will be combined Figures 1-2 The vehicle magnetic field interference shielding method of the present application is described.

[0027] Figure 1 It is a flowchart of the vehicle magnetic field interference shielding method provided by the present application, as shown in the figure, the method comprises the following steps: Figure 1 ​ Step 101, measuring the interference magnetic field within the predetermined range of the magnetic field sensitive component by the triaxial magnetic force sensor to obtain interference magnetic field data; wherein the interference magnetic field data includes the strength of the interference magnetic field and the direction of the interference magnetic field; Step 102, if the strength of the interference magnetic field is greater than the preset safety strength threshold, then according to the interference magnetic field data, controlling the magnetic field interference shielding device to generate an anti-interference magnetic field to offset the interference magnetic field within the predetermined range of the magnetic field sensitive component; the direction of the anti-interference magnetic field is opposite to the direction of the interference magnetic field, and the strength of the anti-interference magnetic field is consistent with the strength of the interference magnetic field.

[0028] In practical applications, the vehicle magnetic field interference shielding method is applied to a vehicle magnetic field interference shielding system, which includes a triaxial magnetic force sensor, a magnetic field sensitive component, a magnetic field interference shielding device, and a control device. Specifically, the execution subject of the vehicle magnetic field interference shielding method can be the control device, and the implementation of the control device has various ways, such as being realized by a computer program, for example, application software, etc.; or, for example, a chip, etc. It can also be realized as a medium with a related computer program stored, such as a U disk, a cloud disk, etc.; or, it can also be realized through an entity device integrated or installed with a related computer program, such as a server, a smart device, etc.

[0029] Hereinafter, the control device in the vehicle magnetic field interference shielding system is taken as the execution subject of the vehicle magnetic field interference shielding method for specific description.

[0030] Specifically, step 101 includes: measuring the interference magnetic field within the predetermined range of the magnetic field sensitive component by the triaxial magnetic force sensor to obtain interference magnetic field data; wherein the interference magnetic field data includes the strength of the interference magnetic field and the direction of the interference magnetic field, and the direction of the interference magnetic field includes an easy interference direction, a relatively easy interference direction, and a not easy interference direction.

[0031] The magnetic field sensitive component refers to a vehicle component that is easily disturbed by a magnetic field in a strong magnetic field environment, thereby affecting its normal function. The magnetic field sensitive component usually works on the principle of electromagnetism or is sensitive to magnetic field changes. For example, the magnetic field sensitive component can be an electromagnetic valve, a relay, a sensor, an electronic control unit (ECU), etc.

[0032] It should be noted that the interference magnetic field around the magnetic field sensitive component includes three interference directions, namely, the easy interference direction, the relatively easy interference direction, and the not easy interference direction. In practical applications, for the magnetic field sensitive component, the easy interference magnetic flux of the three interference directions needs to be measured in advance by a three-dimensional Helmholtz coil or other equipment, and the three interference directions are confirmed.

[0033] Optionally, in a possible implementation, before the step 101, the vehicle magnetic field interference shielding method further includes: determining the magnetic field interference characteristics of the magnetic field sensitive component in different directions through a three-dimensional Helmholtz coil; determining the easily interfered direction, the more easily interfered direction and the not easily interfered direction according to the magnetic field interference characteristics of the magnetic field sensitive component in different directions.

[0034] The three-axis magnetic force sensor is a sensor capable of measuring the magnetic field intensity in three orthogonal directions in space, and can simultaneously detect the intensity and direction of the interference magnetic field. It should be noted that the installation of the magnetic field sensitive component and the three-axis magnetic force sensor needs to keep the relative direction consistent and cannot have a large directional deviation.

[0035] In practice, the measurement direction of the three-axis magnetic force sensor is consistent with the direction of the interference magnetic field. The measurement direction of the three-axis magnetic force sensor includes a first measurement direction, a second measurement direction and a third measurement direction, which are consistent with the easily interfered direction, the more easily interfered direction and the not easily interfered direction, respectively. For example, the first measurement direction, the second measurement direction and the third measurement direction are the X-axis direction, the Y-axis direction and the Z-axis measurement direction, respectively.

[0036] In this embodiment, the type of the three-axis magnetic force sensor is not specifically limited, and for example, the three-axis magnetic force sensor can be a Hall effect sensor, a magnetoresistance sensor, etc. The three-axis magnetic force sensor is usually composed of three mutually perpendicular sensor units, which measure the magnetic field components in the easily interfered direction, the more easily interfered direction and the not easily interfered direction, respectively. Each sensor unit can work independently or can be integrated together through a circuit to output the magnetic field intensity in three directions.

[0037] The step 102 includes: if the intensity of the interference magnetic field is greater than a preset safety intensity threshold, generating an anti-interference magnetic field according to the interference magnetic field data to offset the interference magnetic field within a predetermined range of the magnetic field sensitive component, wherein the direction of the anti-interference magnetic field is opposite to that of the interference magnetic field, and the intensity of the anti-interference magnetic field is consistent with that of the interference magnetic field.

[0038] The safety intensity threshold refers to the maximum magnetic field intensity under which the magnetic field sensitive component can work normally without being affected. The determination of the safety intensity threshold needs to consider the characteristics of the magnetic field sensitive component, the vehicle operating environment and the reliability requirements of the system.

[0039] It can be understood that the safety strength threshold is used to determine whether the interference magnetic field will affect the magnetic field sensitive component. Specifically, when the strength of the interference magnetic field is greater than the preset safety strength threshold, the magnetic field sensitive component can have performance degradation or misoperation, for example, the electromagnetic valve can not be normally opened or closed, the sensor can output an error signal, and the ECU can not correctly process the control instruction. When the strength of the interference magnetic field continuously exceeds the safety strength threshold, the magnetic field sensitive component can be damaged, affecting the normal operation of the vehicle.

[0040] In the embodiment, the triaxial magnetic force sensor measures the interference magnetic field within the predetermined range of the magnetic field sensitive component to obtain interference magnetic field data; the interference magnetic field data includes the strength of the interference magnetic field and the direction of the interference magnetic field, the direction of the interference magnetic field includes an easy interference direction, a relatively easy interference direction, and a not easy interference direction, and the strength of the interference magnetic field includes the magnetic field strength in the easy interference direction, the magnetic field strength in the relatively easy interference direction, and the magnetic field strength in the not easy interference direction. The control device obtains the interference magnetic field data measured by the triaxial magnetic force sensor.

[0041] Further, the control device determines whether the interference magnetic field affects the magnetic field sensitive component by determining whether the strength of the interference magnetic field is greater than the safety strength threshold, and automatically starts the shielding mechanism when the strength of the interference magnetic field is greater than the safety strength threshold.

[0042] Specifically, when the strength of the interference magnetic field is greater than the preset safety strength threshold, the control device controls the magnetic field interference shielding device to generate an anti-interference magnetic field according to the interference magnetic field data to offset the interference magnetic field within the predetermined range of the magnetic field sensitive component; the direction of the anti-interference magnetic field is opposite to the direction of the interference magnetic field, and the strength of the anti-interference magnetic field is consistent with the strength of the interference magnetic field.

[0043] Optionally, in a possible implementation, the direction of the interference magnetic field includes an easy interference direction, a relatively easy interference direction, and a not easy interference direction; the direction of the anti-interference magnetic field includes a first offset direction, a second offset direction, and a third offset direction, the first offset direction, the second offset direction, and the third offset direction are opposite to the easy interference direction, the relatively easy interference direction, and the not easy interference direction, respectively; the strength of the anti-interference magnetic field includes the magnetic field strength in the first offset direction, the magnetic field strength in the second offset direction, and the magnetic field strength in the third offset direction; the magnetic field strength in the first offset direction, the magnetic field strength in the second offset direction, and the magnetic field strength in the third offset direction are consistent with the magnetic field strength in the easy interference direction, the magnetic field strength in the relatively easy interference direction, and the magnetic field strength in the not easy interference direction, respectively.

[0044] Specifically, the step 102 of controlling the magnetic field interference shielding device to generate an anti-interference magnetic field according to the interference magnetic field data includes: The first current value, the second current value and the third current value are respectively calculated according to the strength and direction of the interference magnetic field; wherein the first current value, the second current value and the third current value are respectively the current values corresponding to the magnetic field strength of the anti-interference magnetic field in the first offset direction, the second offset direction and the third offset direction; The current values of the coils in the magnetic field interference shielding device in three directions are controlled by the proportional-integral controller to be the first current value, the second current value and the third current value, so that the magnetic field interference shielding device generates the anti-interference magnetic field; It is respectively judged whether the current values of the coils in the magnetic field interference shielding device in three directions reach the preset current threshold value; If the current values of the coils in the magnetic field interference shielding device in three directions do not reach the preset current threshold value, the proportional-integral controller continues to control the current values of the coils in the magnetic field interference shielding device in three directions to be the first current value, the second current value and the third current value; If the current value of the coil in the magnetic field interference shielding device in any direction reaches the preset current threshold value, an overrun fault is output, and the magnetic field interference shielding device is controlled to stop generating the anti-interference magnetic field.

[0045] In combination with the above description, the direction of the interference magnetic field includes an easy interference direction, a relatively easy interference direction and a not easy interference direction. The anti-interference magnetic field is used to offset the interference magnetic field, and therefore, the direction of the anti-interference magnetic field is also three, including a first offset direction, a second offset direction and a third offset direction. For example, the first offset direction, the second offset direction and the third offset direction can be the X-axis direction, the Y-axis direction and the Z-axis direction respectively.

[0046] Specifically, the first offset direction, the second offset direction and the third offset direction are opposite to the easy interference direction, the relatively easy interference direction and the not easy interference direction respectively. The magnetic field strength of the anti-interference magnetic field in the first offset direction, the second offset direction and the third offset direction is consistent with the magnetic field strength of the interference magnetic field in the easy interference direction, the relatively easy interference direction and the not easy interference direction.

[0047] In actual application, after the control device determines the strength and direction of the interference magnetic field, the magnetic field strength in the first offset direction, the second offset direction and the third offset direction is determined according to the magnetic field strength of the interference magnetic field in the easy interference direction, the relatively easy interference direction and the not easy interference direction. The magnetic field strength of the anti-interference magnetic field in the first offset direction, the second offset direction and the third offset direction is consistent with the magnetic field strength of the interference magnetic field in the easy interference direction, the relatively easy interference direction and the not easy interference direction.

[0048] Further, the control device calculates the current values corresponding to the magnetic field strengths in the first, second, and third cancellation directions according to the relationship between the magnetic field strength and the current. For example, the relationship between the magnetic field strength B and the current I can be represented by the following formula: is a proportional coefficient related to the number of turns, size, and material properties of the coils in the magnetic interference shielding device.

[0049] For example, the magnetic field strength in the first cancellation direction, the magnetic field strength in the second cancellation direction, and the magnetic field strength in the third cancellation direction are respectively. The first current value , the second current value , and the third current value can be calculated.

[0050] The proportional-integral (PI) controller is a commonly used feedback controller that adjusts the system output to reach the desired value. It adjusts the control signal through proportional and integral terms to ensure fast response and stability of the system.

[0051] Further, the control device adjusts the current size of the coils in the magnetic interference shielding device in three directions to the first current value , the second current value , and the third current value through the proportional-integral controller, so that the magnetic interference shielding device generates an anti-interference magnetic field. In practice, the PI controller continuously monitors the actual current of the coils and compares it with the target current value (the first current value , the second current value , and the third current value ) to adjust the current to ensure that the strength and direction of the anti-interference magnetic field can cancel the interference magnetic field.

[0052] Further, the control device respectively judges whether the current size of the coils in three directions reaches the preset current threshold value. If the current in all directions does not reach the threshold value, the PI controller continues to control the coil current to ensure the generation of the anti-interference magnetic field. If the current in any direction reaches or exceeds the threshold value, a limit fault protection mechanism is triggered, i.e., an output limit fault is output, and the magnetic interference shielding device is controlled to stop generating the anti-interference magnetic field.

[0053] ​​​In this embodiment, the control device realizes effective cancellation of the interference magnetic field by accurately calculating the current value, real-time control of the coil current, and the fault protection mechanism. This process not only ensures the normal operation of the magnetic field sensitive components in a strong magnetic field environment, but also protects the safety and reliability of the system through current threshold judgment and the fault protection mechanism. This dynamic shielding technology is suitable for various complex application scenarios, providing a strong guarantee for the safe operation of vehicles in a strong magnetic field environment.

[0054] It can be understood that the control device measures the interference magnetic field within the predetermined range of the magnetic field sensitive component through the three-axis magnetic force sensor. When the intensity of the interference magnetic field exceeds the preset safety intensity threshold, according to the measured interference magnetic field data, a anti-interference magnetic field is generated by the magnetic field interference shielding device to cancel the interference magnetic field within the predetermined range of the magnetic field sensitive component. This not only reduces the cost of the magnetic field interference shielding, but also effectively eliminates the low-frequency strong magnetic field interference, improving the safety and reliability of the vehicle.

[0055] In combination with the above description, the installation of the magnetic field sensitive component and the three-axis magnetic force sensor needs to maintain a consistent relative direction without a large directional deviation, that is, the measurement direction of the three-axis magnetic force sensor is consistent with the direction of the interference magnetic field. Therefore, the measurement direction of the three-axis magnetic force sensor needs to be calibrated in advance.

[0056] Optionally, in one possible implementation, before the step 101, the vehicle magnetic field interference shielding method further includes: performing directional angle offset calibration of the three-axis magnetic force sensor to calibrate the magnetic field direction measured by the three-axis magnetic force sensor, so that the magnetic field direction measured by the three-axis magnetic force sensor is consistent with the magnetic field direction of the interference magnetic field; and / or, performing magnetic field intensity deviation calibration of the three-axis magnetic force sensor to calibrate the magnetic field intensity measured by the three-axis magnetic force sensor, so that the magnetic field intensity measured by the three-axis magnetic force sensor is consistent with the magnetic field intensity of the interference magnetic field.

[0057] In actual application, a secondary calibration process is performed to calibrate the magnetic field intensity deviation and the directional angle offset of the three-axis magnetic force sensor, so that the magnetic field direction and the magnetic field intensity measured by the three-axis magnetic force sensor are consistent with the magnetic field direction and the magnetic field intensity of the interference magnetic field; wherein the secondary calibration process includes: performing directional angle offset calibration to calibrate the magnetic field direction measured by the three-axis magnetic force sensor; and performing magnetic field intensity deviation calibration to calibrate the magnetic field intensity measured by the three-axis magnetic force sensor.

[0058] In this embodiment, the purpose of the secondary calibration process is to ensure that the direction and strength of the magnetic field measured by the three-axis magnetic force sensor are consistent with the actual interference magnetic field, that is, to ensure that the direction of the magnetic field measured by the three-axis magnetic force sensor is consistent with the direction of the actual interference magnetic field, and to ensure that the strength of the magnetic field measured by the three-axis magnetic force sensor is consistent with the strength of the actual interference magnetic field.

[0059] In practical applications, the installation direction of the three-axis magnetic force sensor may be affected by mechanical errors, vehicle structure and other factors, resulting in inconsistency between the measured direction and the actual interference magnetic field direction. Direction deviation will affect the generation effect of the subsequent anti-interference magnetic field. The measurement accuracy of the three-axis magnetic force sensor may be affected by various factors such as temperature change, sensor aging, etc. Through magnetic field strength deviation calibration, the measurement accuracy of the sensor can be calibrated to ensure that the output magnetic field strength is consistent with the actual value.

[0060] Optionally, in one example, Figure 2 is a flowchart of the secondary calibration process provided by the present application, as Figure 2 shown, the above direction angle deviation calibration of the three-axis magnetic force sensor includes: Step 201, a first calibration magnetic field is applied in the predetermined range of the magnetic field sensitive component, and the direction of the first calibration magnetic field is consistent with the easily disturbed direction of the magnetic field sensitive component; Step 202, the first calibration magnetic field in the predetermined range of the magnetic field sensitive component is measured by the three-axis magnetic force sensor to obtain the first actual magnetic field direction measured by the three-axis magnetic force sensor; Step 203, the angle difference between the direction of the first calibration magnetic field and the first actual magnetic field direction measured by the three-axis magnetic force sensor is calculated to obtain the first magnetic field direction deviation angle; Step 204, determine whether the first magnetic field direction deviation angle is greater than the preset first direction deviation threshold; Step 205, if the first magnetic field direction deviation angle is greater than the preset first direction deviation threshold, reinstall the three-axis magnetic force sensor and return to execute step 201; Step 206, if the first magnetic field direction deviation angle is not greater than the preset first direction deviation threshold, a second calibration magnetic field is applied in the predetermined range of the magnetic field sensitive component, and the magnetic field direction of the second calibration magnetic field is consistent with the more easily disturbed direction of the magnetic field sensitive component; Step 207, the second calibration magnetic field in the predetermined range of the magnetic field sensitive component is measured by the three-axis magnetic force sensor to obtain the second actual magnetic field direction measured by the three-axis magnetic force sensor; Step 208, the angle difference between the magnetic field direction of the second calibration magnetic field and the second actual magnetic field direction measured by the three-axis magnetic force sensor is calculated to obtain the second magnetic field direction deviation angle; Step 209, judge whether the second magnetic field direction offset angle is greater than the preset second direction offset threshold value; Step 210, if the second magnetic field direction offset angle is greater than the preset second direction offset threshold value, reinstall the three-axis magnetic force sensor, and return to execute step 201; Step 211, if the second magnetic field direction offset angle is not greater than the preset second direction offset threshold value, proceed with the magnetic field intensity deviation calibration of the three-axis magnetic force sensor; The above-mentioned magnetic field intensity deviation calibration of the three-axis magnetic force sensor comprises: Step 212, respectively apply multi-point magnetic fields to the easily disturbed direction and the relatively easily disturbed direction of the magnetic field sensitive component, the multi-point magnetic fields being magnetic fields with multiple magnetic field intensities between the minimum magnetic field intensity and the maximum magnetic field intensity; Step 213, measure the multi-point magnetic fields within the predetermined range of the magnetic field sensitive component by the three-axis magnetic force sensor to obtain actual magnetic field data measured by the three-axis magnetic force sensor, the actual magnetic field data including a third actual magnetic field direction and an actual magnetic field intensity measured by the three-axis magnetic force sensor; Step 214, calculate the magnetic field intensity current ratio offset according to the actual magnetic field data measured by the three-axis magnetic force sensor, the magnetic field intensity current ratio offset representing the deviation between the actual magnetic field intensity and the magnetic field intensities of the multi-point magnetic fields; Step 215, judge whether the magnetic field intensity current ratio offset is greater than the preset intensity offset threshold value; Step 216, if the magnetic field intensity current ratio offset is greater than the preset intensity offset threshold value, replace the active magnetic field interference shielding device, and return to execute step 201; Step 217, if the magnetic field intensity current ratio offset is not greater than the preset intensity offset threshold value, end the magnetic field intensity deviation calibration.

[0061] In the embodiment, the control device performs secondary calibration processing to calibrate the magnetic field intensity deviation and the direction angle offset of the three-axis magnetic force sensor, so that the magnetic field direction and the magnetic field intensity measured by the three-axis magnetic force sensor are consistent with the magnetic field direction and the magnetic field intensity of the interference magnetic field, the measurement accuracy of the three-axis magnetic force sensor is improved, accurate interference magnetic field data can be measured, the subsequent magnetic field interference shielding step is facilitated, and the safety and reliability of the vehicle are improved.

[0062] The vehicle magnetic field interference shielding method provided by the embodiment measures the interference magnetic field in the predetermined range of the magnetic field sensitive component through the three-axis magnetic force sensor, and obtains interference magnetic field data; wherein the interference magnetic field data includes the strength of the interference magnetic field and the direction of the interference magnetic field, and the direction of the interference magnetic field includes an easy interference direction, a relatively easy interference direction, and a not easy interference direction; if the strength of the interference magnetic field is greater than a preset safety strength threshold, then according to the interference magnetic field data, the magnetic field interference shielding device is controlled to generate an anti-interference magnetic field to offset the interference magnetic field in the predetermined range of the magnetic field sensitive component; the direction of the anti-interference magnetic field is opposite to the direction of the interference magnetic field, and the strength of the anti-interference magnetic field is consistent with the strength of the interference magnetic field. The scheme of the embodiment measures the interference magnetic field in the predetermined range of the magnetic field sensitive component through the three-axis magnetic force sensor, and when the strength of the interference magnetic field exceeds the preset safety strength threshold, according to the measured interference magnetic field data, the magnetic field interference shielding device is dynamically controlled to generate an anti-interference magnetic field to offset the interference magnetic field in the predetermined range of the magnetic field sensitive component, which can effectively eliminate the low-frequency strong magnetic field interference while reducing the cost of the magnetic field interference shielding, and improves the safety and reliability of the vehicle.

[0063] The vehicle magnetic field interference shielding system provided by the application is described below, and the vehicle magnetic field interference shielding system described below can be referred to in correspondence with the vehicle magnetic field interference shielding method described above.

[0064] Figure 3 The vehicle magnetic field interference shielding system provided by the application is described below, and the vehicle magnetic field interference shielding system described below can be referred to in correspondence with the vehicle magnetic field interference shielding method described above. Figure 3 As shown in FIG. 1, the vehicle magnetic field interference shielding system includes a three-axis magnetic force sensor 31, a magnetic field sensitive component 32, a magnetic field interference shielding device 33, and a control device 34, and the control device 34 includes: The acquisition module 341 is configured to measure the interference magnetic field in the predetermined range of the magnetic field sensitive component 32 through the three-axis magnetic force sensor 31, and obtain interference magnetic field data; wherein the interference magnetic field data includes the strength of the interference magnetic field and the direction of the interference magnetic field. The control module 342 is configured to, if the strength of the interference magnetic field is greater than a preset safety strength threshold, control the magnetic field interference shielding device 33 to generate an anti-interference magnetic field according to the interference magnetic field data, so as to offset the interference magnetic field in the predetermined range of the magnetic field sensitive component 32; the direction of the anti-interference magnetic field is opposite to the direction of the interference magnetic field, and the strength of the anti-interference magnetic field is consistent with the strength of the interference magnetic field.

[0065] In actual application, the control device 34 can be implemented in various ways, such as through a computer program, for example, application software, etc.; or, for example, a chip, etc. It can also be implemented as a medium storing a related computer program, such as a U disk, a cloud disk, etc.; or, it can also be implemented through an entity device integrated or installed with a related computer program, such as a server, a smart device, etc.

[0066] Specifically, the acquisition module 341 is specifically configured to: measure an interference magnetic field in a predetermined range of the magnetic field sensitive component 32 by the triaxial magnetic force sensor 31, and obtain interference magnetic field data; wherein the interference magnetic field data includes the strength of the interference magnetic field and the direction of the interference magnetic field, and the direction of the interference magnetic field includes: an easy interference direction, a relatively easy interference direction, and a not easy interference direction.

[0067] The magnetic field sensitive component 32 refers to a vehicle component that is easily affected by a magnetic field in a strong magnetic field environment, thereby causing its normal function to be affected. The magnetic field sensitive component 32 usually works on the principle of electromagnetism or is relatively sensitive to magnetic field changes. For example, the magnetic field sensitive component 32 can be an electromagnetic valve, a relay, a sensor, an electronic control unit (ECU), etc.

[0068] It should be noted that the interference magnetic field around the magnetic field sensitive component 32 includes three interference directions, namely the easy interference direction, the relatively easy interference direction, and the not easy interference direction. In actual application, for the magnetic field sensitive component 32, the easy interference magnetic flux of the three interference directions needs to be measured in advance by a three-dimensional Helmholtz coil or the like, and the three interference directions are confirmed.

[0069] Optionally, in a possible implementation, the control device 34 further includes a direction determination module, configured to: determine the magnetic field interference characteristics of the magnetic field sensitive component in different directions by a three-dimensional Helmholtz coil; determine the easy interference direction, the relatively easy interference direction, and the not easy interference direction according to the magnetic field interference characteristics of the magnetic field sensitive component in different directions.

[0070] The triaxial magnetic force sensor 31 is a sensor capable of measuring the magnetic field strength in three orthogonal directions in space, and can simultaneously detect the strength of the interference magnetic field and the direction of the interference magnetic field. It should be noted that the installation of the magnetic field sensitive component 32 and the triaxial magnetic force sensor 31 needs to keep the relative direction consistent and cannot have a large directional deviation.

[0071] In practice, the measurement direction of the triaxial magnetic force sensor 31 is consistent with the direction of the interference magnetic field, and the measurement direction of the triaxial magnetic force sensor 31 includes: a first measurement direction, a second measurement direction, and a third measurement direction, which are respectively consistent with the easy interference direction, the relatively easy interference direction, and the not easy interference direction. For example, the first measurement direction, the second measurement direction, and the third measurement direction are respectively the X-axis direction, the Y-axis direction, and the Z-axis measurement direction.

[0072] In this embodiment, the type of the three-axis magnetic force sensor 31 is not specifically limited, and for example, the three-axis magnetic force sensor can be a Hall effect sensor, a magnetoresistance sensor, or the like. The three-axis magnetic force sensor is generally composed of three mutually perpendicular sensor units, which respectively measure the magnetic field components in the three directions of the easily disturbed direction, the relatively easily disturbed direction, and the not easily disturbed direction. Each sensor unit can work independently or can be integrated together through a circuit to output the magnetic field strengths in the three directions.

[0073] The control module 342 is specifically configured to: if the intensity of the interference magnetic field is greater than a preset safety intensity threshold, control the magnetic field interference shielding device 33 to generate an anti-interference magnetic field according to the interference magnetic field data, so as to offset the interference magnetic field in the predetermined range of the magnetic field sensitive component 32; the direction of the anti-interference magnetic field is opposite to the direction of the interference magnetic field, and the intensity of the anti-interference magnetic field is consistent with the intensity of the interference magnetic field.

[0074] The safety intensity threshold refers to the maximum magnetic field intensity at which the magnetic field sensitive component 32 can work normally without being affected in the magnetic field environment. The determination of the safety intensity threshold needs to comprehensively consider the characteristics of the magnetic field sensitive component, the vehicle operating environment, and the reliability requirements of the system.

[0075] It can be understood that the safety intensity threshold is used to judge whether the interference magnetic field will affect the magnetic field sensitive component 32. Specifically, when the intensity of the interference magnetic field is greater than the preset safety intensity threshold, the magnetic field sensitive component 32 can have performance degradation or misoperation, for example, the electromagnetic valve can not be normally opened or closed, the sensor can output an error signal, and the ECU can not correctly process the control instruction. When the intensity of the interference magnetic field continuously exceeds the safety intensity threshold, the magnetic field sensitive component can be damaged, affecting the normal operation of the vehicle.

[0076] In this embodiment, the three-axis magnetic force sensor 31 measures the interference magnetic field in the predetermined range of the magnetic field sensitive component 32 to obtain interference magnetic field data; the interference magnetic field data includes the intensity of the interference magnetic field and the direction of the interference magnetic field, the direction of the interference magnetic field includes the easily disturbed direction, the relatively easily disturbed direction, and the not easily disturbed direction, and the intensity of the interference magnetic field includes the magnetic field strength in the easily disturbed direction, the magnetic field strength in the relatively easily disturbed direction, and the magnetic field strength in the not easily disturbed direction. The acquisition module 341 acquires the interference magnetic field data measured by the three-axis magnetic force sensor.

[0077] Further, the control module 342 judges whether the interference magnetic field affects the magnetic field sensitive component 32 by judging whether the intensity of the interference magnetic field is greater than the safety intensity threshold, and automatically starts the shielding mechanism when the intensity of the interference magnetic field is greater than the safety intensity threshold.

[0078] Specifically, when the intensity of the interference magnetic field is greater than the preset safety intensity threshold, the control module 342 controls the magnetic field interference shielding device 33 to generate an anti-interference magnetic field according to the interference magnetic field data to offset the interference magnetic field within the predetermined range of the magnetic field sensitive component 32; the direction of the anti-interference magnetic field is opposite to that of the interference magnetic field, and the intensity of the anti-interference magnetic field is consistent with that of the interference magnetic field.

[0079] Optionally, in a possible implementation, the direction of the interference magnetic field includes an easy-interference direction, a relatively easy-interference direction, and a non-interference direction; the direction of the anti-interference magnetic field includes a first offset direction, a second offset direction, and a third offset direction, which are opposite to the easy-interference direction, the relatively easy-interference direction, and the non-interference direction, respectively; the intensity of the anti-interference magnetic field includes the magnetic field intensity in the first offset direction, the magnetic field intensity in the second offset direction, and the magnetic field intensity in the third offset direction; the magnetic field intensity in the first offset direction, the magnetic field intensity in the second offset direction, and the magnetic field intensity in the third offset direction are consistent with the magnetic field intensity in the easy-interference direction, the magnetic field intensity in the relatively easy-interference direction, and the magnetic field intensity in the non-interference direction, respectively.

[0080] Specifically, when the control module 342 is used to control the magnetic field interference shielding device to generate the anti-interference magnetic field according to the interference magnetic field data, the control module 342 is specifically used for: calculating the first current value, the second current value, and the third current value flowing through the coils in the control magnetic field interference shielding device 33 according to the intensity and direction of the interference magnetic field; the first current value, the second current value, and the third current value are respectively corresponding to the magnetic field intensity of the anti-interference magnetic field in the first offset direction, the second offset direction, and the third offset direction; controlling the current values of the coils in the magnetic field interference shielding device 33 in the three directions to be the first current value, the second current value, and the third current value through the proportional-integral controller, so that the magnetic field interference shielding device 33 generates the anti-interference magnetic field; respectively judging whether the current values of the coils in the magnetic field interference shielding device 33 in the three directions reach the preset current threshold value; if the current values of the coils in the magnetic field interference shielding device 33 in the three directions do not reach the preset current threshold value, the proportional-integral controller continues to control the current values of the coils in the magnetic field interference shielding device 33 in the three directions to be the first current value, the second current value, and the third current value; if the current value of the coil in the magnetic field interference shielding device 33 in any direction reaches the preset current threshold value, an out-of-limit fault is output, and the magnetic field interference shielding device 33 is controlled to stop generating the anti-interference magnetic field.

[0081] In combination with the above description, the directions of the interference magnetic field include: an easy interference direction, a relatively easy interference direction, and a difficult interference direction. The anti-interference magnetic field is used to offset the interference magnetic field, and therefore, the directions of the anti-interference magnetic field are also three, including: a first offset direction, a second offset direction, and a third offset direction. For example, the first offset direction, the second offset direction, and the third offset direction can be the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively.

[0082] Specifically, the first offset direction, the second offset direction, and the third offset direction are opposite to the easy interference direction, the relatively easy interference direction, and the difficult interference direction, respectively. The magnetic field intensity of the anti-interference magnetic field in the first offset direction, the second offset direction, and the third offset direction is consistent with the magnetic field intensity of the interference magnetic field in the easy interference direction, the relatively easy interference direction, and the difficult interference direction.

[0083] In actual application, after the control module 342 determines the intensity and direction of the interference magnetic field, the magnetic field intensity in the first offset direction, the second offset direction, and the third offset direction is determined according to the magnetic field intensity of the interference magnetic field in the easy interference direction, the relatively easy interference direction, and the difficult interference direction. The magnetic field intensity of the anti-interference magnetic field in the first offset direction, the second offset direction, and the third offset direction is consistent with the magnetic field intensity of the interference magnetic field in the easy interference direction, the relatively easy interference direction, and the difficult interference direction.

[0084] Further, the control module 342 calculates the current value corresponding to the magnetic field intensity in the first offset direction, the second offset direction, and the third offset direction according to the relationship between the magnetic field intensity and the current. For example, the relationship between the magnetic field intensity B and the current I can be represented by the following formula: wherein, is a proportional coefficient, which is related to the number of turns, size, and material properties of the coil in the magnetic field interference shielding device 33.

[0085] For example, the magnetic field intensity in the first offset direction, the magnetic field intensity in the second offset direction, and the magnetic field intensity in the third offset direction are , , respectively. The first current value , the second current value , and the third current value can be calculated.

[0086] The proportional-integral (PI) controller is a commonly used feedback controller, which is used to adjust the system output to reach the desired value. It adjusts the control signal through the proportional term and the integral term to ensure the fast response and stability of the system.

[0087] Further, the control module 342 controls the current of the coils in the magnetic field interference shielding device 33 in three directions to be first current values second current values and third current values so that the magnetic field interference shielding device 33 generates an anti-interference magnetic field. In practice, the PI controller continuously monitors the actual current of the coils and compares it with the target current values (first current values second current values and third current values ) to adjust the current to ensure that the strength and direction of the anti-interference magnetic field can offset the interference magnetic field.

[0088] Further, the control module 342 determines whether the current of the coils in three directions reaches a preset current threshold value. If the current in all directions does not reach the threshold value, the PI controller continues to control the current of the coils to ensure the generation of the anti-interference magnetic field. If the current in any direction reaches or exceeds the threshold value, an over-limit fault protection mechanism is triggered, that is, an over-limit fault is output, and the magnetic field interference shielding device is controlled to stop generating the anti-interference magnetic field.

[0089] In this embodiment, the control module 342 realizes effective offsetting of the interference magnetic field by accurately calculating the current values, real-time controlling the current of the coils and the fault protection mechanism. This process not only ensures the normal operation of the magnetic field sensitive component in a strong magnetic field environment, but also protects the safety and reliability of the system through the current threshold value determination and the fault protection mechanism. This dynamic shielding technology is suitable for various complex application scenarios and provides a strong guarantee for the safe operation of the vehicle in a strong magnetic field environment.

[0090] It can be understood that the acquisition module 341 measures the interference magnetic field within the predetermined range of the magnetic field sensitive component 32 by the three-axis magnetic force sensor 31 to obtain interference magnetic field data. When the strength of the interference magnetic field exceeds a preset safety strength threshold value, the control module 342 dynamically controls the magnetic field interference shielding device 33 to generate an anti-interference magnetic field according to the measured interference magnetic field data to offset the interference magnetic field within the predetermined range of the magnetic field sensitive component 32, which can effectively eliminate low-frequency strong magnetic field interference while reducing the cost of the magnetic field interference shielding, and improve the safety and reliability of the vehicle.

[0091] In combination with the above description, the installation of the magnetic field sensitive component 32 and the three-axis magnetic force sensor 31 needs to keep the relative direction consistent and cannot have a large directional deviation, that is, the measurement direction of the three-axis magnetic force sensor 32 is consistent with the direction of the interference magnetic field. Therefore, the measurement direction of the three-axis magnetic force sensor 32 needs to be calibrated in advance.

[0092] Optionally, in a possible implementation, the control device 34 further includes a calibration module, configured to: performing direction angle offset calibration of the tri-axis magnetic force sensor to calibrate the magnetic field direction measured by the tri-axis magnetic force sensor, so that the magnetic field direction measured by the tri-axis magnetic force sensor is consistent with the magnetic field direction of the interference magnetic field; and / or performing magnetic field intensity deviation calibration of the tri-axis magnetic force sensor to calibrate the magnetic field intensity measured by the tri-axis magnetic force sensor, so that the magnetic field intensity measured by the tri-axis magnetic force sensor is consistent with the magnetic field intensity of the interference magnetic field.

[0093] In actual application, a secondary calibration process is performed to calibrate the magnetic field intensity deviation and the direction angle offset of the tri-axis magnetic force sensor, so that the magnetic field direction and the magnetic field intensity measured by the tri-axis magnetic force sensor are consistent with the magnetic field direction and the magnetic field intensity of the interference magnetic field; wherein the secondary calibration process includes: performing direction angle offset calibration to calibrate the magnetic field direction measured by the tri-axis magnetic force sensor; and performing magnetic field intensity deviation calibration to calibrate the magnetic field intensity measured by the tri-axis magnetic force sensor.

[0094] In this embodiment, the purpose of the secondary calibration process is to ensure that the magnetic field direction and intensity measured by the tri-axis magnetic force sensor 31 are consistent with the actual interference magnetic field, i.e., to ensure that the magnetic field direction measured by the tri-axis magnetic force sensor 31 is consistent with the direction of the actual interference magnetic field, and to ensure that the magnetic field intensity measured by the tri-axis magnetic force sensor 31 is consistent with the intensity of the actual interference magnetic field.

[0095] In actual application, the installation direction of the tri-axis magnetic force sensor 31 may be affected by mechanical errors, vehicle structure, and other factors, resulting in inconsistency between the measured direction and the actual interference magnetic field direction. The direction deviation will affect the generation effect of the subsequent anti-interference magnetic field. The measurement accuracy of the tri-axis magnetic force sensor 31 may be affected by various factors, such as temperature changes, sensor aging, etc. Through magnetic field intensity deviation calibration, the measurement accuracy of the sensor can be calibrated to ensure that the output magnetic field intensity is consistent with the actual value.

[0096] Optionally, in one example, when the calibration module is used to perform direction angle offset calibration of the tri-axis magnetic force sensor, it is specifically used for: applying a first calibration magnetic field within a predetermined range of the magnetic field sensitive component, the direction of the first calibration magnetic field being consistent with the easily disturbed direction of the magnetic field sensitive component; measuring the first calibration magnetic field within the predetermined range of the magnetic field sensitive component by the tri-axis magnetic force sensor to obtain a first actual magnetic field direction measured by the tri-axis magnetic force sensor; calculating the angle difference between the direction of the first calibration magnetic field and the first actual magnetic field direction measured by the tri-axis magnetic force sensor to obtain a first magnetic field direction offset angle; judging whether the first magnetic field direction offset angle is greater than a preset first direction offset threshold; If the first magnetic field direction offset angle is greater than the preset first direction offset threshold, the tri-axis magnetic force sensor is reinstalled, and the step of applying the first calibration magnetic field in the predetermined range of the magnetic field sensitive component is executed again. If the first magnetic field direction offset angle is not greater than the preset first direction offset threshold, a second calibration magnetic field is applied in the predetermined range of the magnetic field sensitive component, and a magnetic field direction of the second calibration magnetic field is consistent with the more easily disturbed direction of the magnetic field sensitive component. The second calibration magnetic field in the predetermined range of the magnetic field sensitive component is measured by the tri-axis magnetic force sensor to obtain a second actual magnetic field direction measured by the tri-axis magnetic force sensor. An angle difference between the magnetic field direction of the second calibration magnetic field and the second actual magnetic field direction measured by the tri-axis magnetic force sensor is calculated to obtain a second magnetic field direction offset angle. It is judged whether the second magnetic field direction offset angle is greater than a preset second direction offset threshold. If the second magnetic field direction offset angle is greater than the preset second direction offset threshold, the tri-axis magnetic force sensor is reinstalled, and the step of applying the first calibration magnetic field in the predetermined range of the magnetic field sensitive component is executed again. If the second magnetic field direction offset angle is not greater than the preset second direction offset threshold, a magnetic field intensity deviation calibration of the tri-axis magnetic force sensor is performed. When the calibration module is used for performing the magnetic field intensity deviation calibration of the tri-axis magnetic force sensor, it is specifically used for: A plurality of point magnetic fields are applied in the easily disturbed direction and the more easily disturbed direction of the magnetic field sensitive component, and the plurality of point magnetic fields are magnetic fields between a minimum magnetic field intensity and a maximum magnetic field intensity. The plurality of point magnetic fields in the predetermined range of the magnetic field sensitive component are measured by the tri-axis magnetic force sensor to obtain actual magnetic field data measured by the tri-axis magnetic force sensor, and the actual magnetic field data includes a third actual magnetic field direction and an actual magnetic field intensity measured by the tri-axis magnetic force sensor. According to the actual magnetic field data measured by the tri-axis magnetic force sensor, a magnetic field intensity current ratio offset is calculated and obtained, and the magnetic field intensity current ratio offset represents a deviation between the actual magnetic field intensity and the magnetic field intensity of the plurality of point magnetic fields. It is judged whether the magnetic field intensity current ratio offset is greater than a preset intensity offset threshold. If the magnetic field intensity current ratio offset is greater than the preset intensity offset threshold, the active magnetic field interference shielding device is replaced, and the step of applying the first calibration magnetic field in the predetermined range of the magnetic field sensitive component is executed again. If the magnetic field intensity current ratio offset is not greater than the preset intensity offset threshold, the magnetic field intensity deviation calibration is ended.

[0097] In the embodiment, the calibration module performs secondary calibration processing to calibrate the magnetic field strength deviation and the direction angle offset of the three-axis magnetic force sensor 31, so that the magnetic field direction and the magnetic field strength measured by the three-axis magnetic force sensor 31 are consistent with the magnetic field direction and the magnetic field strength of the interference magnetic field, the measurement accuracy of the three-axis magnetic force sensor 31 is improved, accurate interference magnetic field data can be measured, the subsequent magnetic field interference shielding step is facilitated, and the safety and reliability of the vehicle are improved.

[0098] The vehicle magnetic field interference shielding system provided in the embodiment comprises a three-axis magnetic force sensor, a magnetic field sensitive component, a magnetic field interference shielding device, and a control device. The control device comprises an acquisition module and a control module. The acquisition module measures the interference magnetic field in a predetermined range of the magnetic field sensitive component by using the three-axis magnetic force sensor, and obtains interference magnetic field data. The interference magnetic field data comprises the strength of the interference magnetic field and the direction of the interference magnetic field. The direction of the interference magnetic field comprises an easily interfered direction, a relatively easily interfered direction, and a not easily interfered direction. If the strength of the interference magnetic field is greater than a preset safety strength threshold, the control module controls the magnetic field interference shielding device to generate an anti-interference magnetic field according to the interference magnetic field data, so as to offset the interference magnetic field in the predetermined range of the magnetic field sensitive component. The direction of the anti-interference magnetic field is opposite to the direction of the interference magnetic field, and the strength of the anti-interference magnetic field is consistent with the strength of the interference magnetic field. In the scheme of the embodiment, the acquisition module measures the interference magnetic field in the predetermined range of the magnetic field sensitive component by using the three-axis magnetic force sensor, and obtains interference magnetic field data. When the strength of the interference magnetic field exceeds the preset safety strength threshold, the control module dynamically controls the magnetic field interference shielding device to generate an anti-interference magnetic field according to the measured interference magnetic field data, so as to offset the interference magnetic field in the predetermined range of the magnetic field sensitive component. While reducing the cost of the magnetic field interference shielding, the low-frequency strong magnetic field interference can be effectively eliminated, and the safety and reliability of the vehicle are improved.

[0099] Figure 4 is a structural schematic diagram of an electronic device provided by the present application, as Figure 4As shown, the electronic device can include a processor 410, a communications interface 420, a memory 430, and a communications bus 440, wherein the processor 410, the communications interface 420, and the memory 430 communicate with each other through the communications bus 440. The processor 410 can invoke the logic instructions in the memory 430 to execute the vehicle magnetic field interference shielding method, which includes measuring the interference magnetic field within the predetermined range of the magnetic field sensitive component by the three-axis magnetic force sensor to obtain interference magnetic field data; wherein the interference magnetic field data includes the strength of the interference magnetic field and the direction of the interference magnetic field; if the strength of the interference magnetic field is greater than a preset safety strength threshold, then according to the interference magnetic field data, the magnetic field interference shielding device is controlled to generate an anti-interference magnetic field to offset the interference magnetic field within the predetermined range of the magnetic field sensitive component; the direction of the anti-interference magnetic field is opposite to the direction of the interference magnetic field, and the strength of the anti-interference magnetic field is consistent with the strength of the interference magnetic field.

[0100] In addition, the logic instructions in the memory 430 described above can be implemented in the form of a software functional unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0101] On the other hand, the present application also provides a computer program product, which includes a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program can be executed by a processor to enable a computer to execute the vehicle magnetic field interference shielding method provided by the above-mentioned methods, which includes: measuring the interference magnetic field within the predetermined range of the magnetic field sensitive component by the three-axis magnetic force sensor to obtain interference magnetic field data; wherein the interference magnetic field data includes the strength of the interference magnetic field and the direction of the interference magnetic field; if the strength of the interference magnetic field is greater than a preset safety strength threshold, then according to the interference magnetic field data, the magnetic field interference shielding device is controlled to generate an anti-interference magnetic field to offset the interference magnetic field within the predetermined range of the magnetic field sensitive component; the direction of the anti-interference magnetic field is opposite to the direction of the interference magnetic field, and the strength of the anti-interference magnetic field is consistent with the strength of the interference magnetic field.

[0102] In another aspect, the application also provides a non-transitory computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements a vehicle magnetic field interference shielding method provided by any of the above methods. The method includes measuring an interference magnetic field within a predetermined range of a magnetic field sensitive component by a three-axis magnetic force sensor to obtain interference magnetic field data, wherein the interference magnetic field data includes the strength of the interference magnetic field and the direction of the interference magnetic field; and if the strength of the interference magnetic field is greater than a preset safety strength threshold, controlling a magnetic field interference shielding device to generate an anti-interference magnetic field according to the interference magnetic field data to offset the interference magnetic field within the predetermined range of the magnetic field sensitive component, wherein the direction of the anti-interference magnetic field is opposite to the direction of the interference magnetic field, and the strength of the anti-interference magnetic field is consistent with the strength of the interference magnetic field.

[0103] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0104] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software plus necessary general hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions, essentially or in terms of the contribution to the prior art, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0105] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for shielding magnetic field interference in vehicles, characterized in that, include: Interference magnetic field data is obtained by measuring the interference magnetic field within a predetermined range of the magnetic field sensitive component using a triaxial magnetic force sensor; wherein, the interference magnetic field data includes the intensity and direction of the interference magnetic field. If the strength of the interfering magnetic field is greater than a preset safety strength threshold, then based on the interfering magnetic field data, the magnetic field interference shielding device is controlled to generate an anti-interference magnetic field to counteract the interfering magnetic field within a predetermined range of the magnetic field sensitive component; wherein, the direction of the anti-interference magnetic field is opposite to the direction of the interfering magnetic field, and the strength of the anti-interference magnetic field is the same as the strength of the interfering magnetic field.

2. The vehicle magnetic field interference shielding method according to claim 1, characterized in that, Before measuring the interfering magnetic field within a predetermined range of the magnetic field-sensitive component using a triaxial magnetic sensor to obtain the interfering magnetic field data, the method further includes: Perform orientation angle offset calibration of the triaxial magnetometer to calibrate the direction of the magnetic field measured by the triaxial magnetometer, so that the direction of the magnetic field measured by the triaxial magnetometer is consistent with the direction of the interfering magnetic field; and / or, The magnetic field strength deviation of the triaxial magnetometer is calibrated to adjust the magnetic field strength measured by the triaxial magnetometer so that the magnetic field strength measured by the triaxial magnetometer is consistent with the magnetic field strength of the interfering magnetic field.

3. The vehicle magnetic field interference shielding method according to claim 2, characterized in that, The calibration of the orientation angle offset of the triaxial magnetometer includes: A first calibration magnetic field is applied within a predetermined range of the magnetic field sensitive component, the direction of the first calibration magnetic field being consistent with the easily interfered direction of the magnetic field sensitive component; The first calibrated magnetic field within a predetermined range of the magnetic field sensitive component is measured by the triaxial magnetic sensor to obtain the first actual magnetic field direction measured by the triaxial magnetic sensor; Calculate the angular difference between the direction of the first calibrated magnetic field and the direction of the first actual magnetic field measured by the triaxial magnetometer to obtain the first magnetic field direction offset angle. Determine whether the first magnetic field direction offset angle is greater than a preset first direction offset threshold; If the first magnetic field direction offset angle is greater than the preset first direction offset threshold, then the triaxial magnetic sensor is reinstalled, and the process returns to the step of applying the first calibration magnetic field within the predetermined range of the magnetic field sensitive component. If the first magnetic field direction offset angle is not greater than the preset first direction offset threshold, then a second calibration magnetic field is applied within the predetermined range of the magnetic field sensitive component, and the magnetic field direction of the second calibration magnetic field is consistent with the more easily interfered direction of the magnetic field sensitive component; The second calibrated magnetic field within a predetermined range of the magnetic field sensitive component is measured by the triaxial magnetic sensor to obtain the direction of the second actual magnetic field measured by the triaxial magnetic sensor. Calculate the angle difference between the magnetic field direction of the second calibrated magnetic field and the direction of the second actual magnetic field measured by the triaxial magnetic sensor to obtain the offset angle of the second magnetic field direction; Determine whether the offset angle of the second magnetic field direction is greater than the preset second direction offset threshold; If the second magnetic field direction offset angle is greater than the preset second direction offset threshold, then the triaxial magnetic sensor is reinstalled, and the process returns to the step of applying the first calibration magnetic field within the predetermined range of the magnetic field sensitive component. If the second magnetic field direction offset angle is not greater than the preset second direction offset threshold, then the magnetic field strength deviation calibration of the triaxial magnetic sensor is performed.

4. The vehicle magnetic field interference shielding method according to claim 2, characterized in that, The calibration of the magnetic field strength deviation of the triaxial magnetometer includes: Multiple magnetic fields are applied to the easily interfered direction and the relatively easily interfered direction of the magnetic field sensitive component, respectively. The multiple magnetic fields are magnetic fields with multiple magnetic field strengths ranging from the minimum magnetic field strength to the maximum magnetic field strength. The triaxial magnetometer measures the magnetic field at multiple points within a predetermined range of the magnetic field sensitive component to obtain the actual magnetic field data measured by the triaxial magnetometer. The actual magnetic field data includes the direction and intensity of the third actual magnetic field measured by the triaxial magnetometer. Based on the actual magnetic field data measured by the triaxial magnetometer, the magnetic field strength-to-current ratio offset is calculated; the magnetic field strength-to-current ratio offset characterizes the deviation between the actual magnetic field strength and the magnetic field strength at multiple points. Determine whether the magnetic field strength-current ratio offset is greater than a preset strength offset threshold; If the magnetic field strength-current ratio deviation is greater than the preset strength deviation threshold, the active magnetic field interference shielding device is replaced again, and the process returns to the step of applying the first calibration magnetic field within the predetermined range of the magnetic field sensitive component. If the magnetic field strength-current ratio deviation is not greater than the preset strength deviation threshold, the magnetic field strength deviation calibration ends.

5. The vehicle magnetic field interference shielding method according to any one of claims 1-4, characterized in that, The directions of the interfering magnetic field include: easily interfered directions, relatively easily interfered directions, and difficult to interfere directions; The directions of the anti-interference magnetic field include: a first cancellation direction, a second cancellation direction, and a third cancellation direction, wherein the first cancellation direction, the second cancellation direction, and the third cancellation direction are opposite to the easily interfered direction, the more easily interfered direction, and the less easily interfered direction, respectively; the strength of the anti-interference magnetic field includes: the magnetic field strength in the first cancellation direction, the magnetic field strength in the second cancellation direction, and the magnetic field strength in the third cancellation direction; the magnetic field strength in the first cancellation direction, the magnetic field strength in the second cancellation direction, and the magnetic field strength in the third cancellation direction are consistent with the magnetic field strength in the easily interfered direction, the more easily interfered direction, and the less easily interfered direction, respectively; The step of controlling the magnetic field interference shielding device to generate an anti-interference magnetic field based on the interference magnetic field data includes: Based on the strength and direction of the interfering magnetic field, the first current value, the second current value, and the third current value flowing through the coil in the control magnetic field interference shielding device are calculated respectively; wherein, the first current value, the second current value, and the third current value are the current values ​​corresponding to the magnetic field strength of the anti-interference magnetic field in the first cancellation direction, the second cancellation direction, and the third cancellation direction, respectively. The proportional-integral controller controls the current magnitude of the coil in the magnetic field interference shielding device in three directions to a first current value, a second current value, and a third current value, so that the magnetic field interference shielding device generates the anti-interference magnetic field. Determine whether the current magnitude of the coil in the magnetic field interference shielding device in three directions reaches the preset current threshold. If the current magnitude of the coil in the magnetic field interference shielding device in all three directions does not reach the preset current threshold, the proportional-integral controller continues to control the current magnitude of the coil in the magnetic field interference shielding device in all three directions to the first current value, the second current value, and the third current value. If the current in the coil of the magnetic field interference shielding device reaches a preset current threshold in any direction, an over-limit fault is output, and the magnetic field interference shielding device is controlled to stop generating an anti-interference magnetic field.

6. The vehicle magnetic field interference shielding method according to any one of claims 1-4, characterized in that, Before measuring the interfering magnetic field within a predetermined range of the magnetic field-sensitive component using a triaxial magnetic sensor to obtain the interfering magnetic field data, the method further includes: The magnetic field interference characteristics of the magnetic field sensitive component in different directions were determined using a three-dimensional Helmholtz coil. The directions that are easily interfered with, the directions that are relatively easily interfered with, and the directions that are not easily interfered with are determined based on the magnetic field interference characteristics of the magnetic field sensitive component in different directions.

7. A vehicle-mounted magnetic field interference shielding system, characterized in that, The system includes: a triaxial magnetometer, a magnetic field sensitive component, a magnetic field interference shielding device, and a control device; the control device includes: The acquisition module is used to measure the interfering magnetic field within a predetermined range of the magnetic field sensitive component using a triaxial magnetic sensor, and obtain the interfering magnetic field data; wherein, the interfering magnetic field data includes the intensity and direction of the interfering magnetic field; The control module is used to control the magnetic field interference shielding device to generate an anti-interference magnetic field based on the interference magnetic field data if the strength of the interference magnetic field is greater than a preset safety strength threshold, so as to cancel the interference magnetic field within a predetermined range of the magnetic field sensitive component; the direction of the anti-interference magnetic field is opposite to the direction of the interference magnetic field, and the strength of the anti-interference magnetic field is the same as the strength of the interference magnetic field.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the vehicle magnetic field interference shielding method as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the vehicle magnetic field interference shielding method as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the vehicle magnetic field interference shielding method as described in any one of claims 1 to 6.

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