Motorcycle bending detection method based on inertial sensor

Abstract

A motorcycle bending detection method based on an inertial sensor specifically comprises the following steps: step 1, judging whether a current acceleration value exceeds a threshold value within a duration, if so, entering a next step, and otherwise, entering a step 7; step 2, locking the current angle value calculated through the acceleration component; 3, performing integral operation on the gyroscope value to calculate an angle; 4, fusing the calculation result of the gyroscope with the locked acceleration value; 5, the bus obtains the current vehicle speed to carry out gyroscope data compensation; 6, judging whether the current state is a bending-in state or a bending-out state, and performing coefficient compensation; and 7, outputting a calculation result. According to the method, the problem of when to eliminate the accumulated error of the gyroscope in a specific motorcycle bending scene is solved. Compared with an existing data fusion method, the method has the advantages of being small in calculation amount, easy to implement and the like, and the precision of a detection result can be high through data calibration.

Description

Technical Field

[0001] This invention relates to the field of motorcycle control technology, and more specifically to a motorcycle bending detection method based on inertial sensors. Background Technology

[0002] With advancements in technology, motorcycle safety driving techniques are constantly evolving, especially in the crucial maneuver of cornering. Stability and safety are paramount when cornering, and the correct lean angle can significantly reduce the accident rate. Traditional motorcycle cornering techniques rely heavily on the rider's experience and intuition to adjust the lean angle, which is particularly difficult for novice riders requiring advanced skills or when driving under extreme conditions. Accurate measurement of the lean angle is crucial in motorcycle riding. Traditional IMU-based attitude fusion algorithms offer high accuracy in low-dynamic environments, but in high-dynamic environments, such as motorcycle cornering, factors like centripetal force significantly interfere with acceleration data. Simultaneously, MEMS-based gyroscopes are also affected by external acceleration, leading to data deviations. Traditional fusion algorithms exhibit lower attitude measurement accuracy and larger errors in these high-dynamic environments. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by proposing a motorcycle cornering detection method based on inertial sensors. This method detects different states of a vehicle, including straight-line driving and cornering, and corrects the measurement results by compensating and calibrating gyroscope data based on vehicle speed during cornering. The specific technical solution is as follows: Step 1: Determine whether the current acceleration value exceeds the threshold within the specified time. If yes, proceed to the next step. Otherwise, proceed to step seven; Step 2: Lock the current angle value calculated using the acceleration component; Step 3: Integrate the gyroscope values ​​to calculate the angle; Step 4: The gyroscope calculation results are fused with the locked acceleration values; Step 5: Obtain the current vehicle speed via the bus and perform gyroscope data compensation; Step Six: Determine whether the current state is entering or exiting a curve, and perform coefficient compensation accordingly; Step 7: Output the calculation results.

[0004] As an optimization: the acceleration value is acquired by a six-axis inertial sensor, which is horizontally mounted on the motorcycle. The X-axis is parallel to the motorcycle body, the Y-axis is perpendicular to the motorcycle body, and the Z-axis is the direction of gravitational acceleration.

[0005] As an optimization: In step one, determining whether the current acceleration value exceeds the threshold within a given time period is achieved by the following method: When the vehicle is traveling in a straight line normally, the Y-axis acceleration is small, and it is less affected by the vehicle's motion. At this time, it is reliable to calculate the vehicle tilt angle by using the acceleration value components. The sensor values ​​are sampled at a speed of 100 Hz. If the Y-axis acceleration is detected to be below the detection threshold for a period of time, the system determines that the vehicle is currently traveling in a straight line. At this time, the output tilt angle value will only refer to the angle value calculated by acceleration. At the same time, the angle value calculated by the gyroscope needs to be zeroed out. When the acceleration value exceeds the threshold, the current angle value will be locked.

[0006] The beneficial effects of this invention are as follows: This invention solves the problem of when to eliminate the cumulative error of the gyroscope in a specific motorcycle cornering scenario. Compared with existing data fusion methods, it has the advantages of low computational load and simple implementation, and the detection results can be made more accurate through data calibration. Attached Figure Description

[0007] Figure 1 This is a schematic diagram of the process of the present invention. Detailed Implementation

[0008] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0009] like Figure 1 The following is a method for detecting motorcycle bending based on inertial sensors, with the following specific steps: Step 1: Determine whether the current acceleration value exceeds the threshold within the specified time. If yes, proceed to the next step. Otherwise, proceed to step seven; Step 2: Lock the current angle value calculated using the acceleration component; Step 3: Integrate the gyroscope values ​​to calculate the angle; Step 4: The gyroscope calculation results are fused with the locked acceleration values; Step 5: Obtain the current vehicle speed via the bus and perform gyroscope data compensation; Step Six: Determine whether the current state is entering or exiting a curve, and perform coefficient compensation accordingly; Step 7: Output the calculation results.

[0010] The acceleration values ​​are collected by a six-axis inertial sensor, which is horizontally mounted on the motorcycle. The X-axis is parallel to the motorcycle body, the Y-axis is perpendicular to the motorcycle body, and the Z-axis is the direction of gravitational acceleration.

[0011] When a vehicle enters a cornering state, the gravitational component of the Y-axis increases. However, the centrifugal force exerted on the vehicle during cornering significantly affects the measurement results. Therefore, the angle value calculated using the acceleration component is unreliable. In this situation, it's necessary to integrate the angular velocity from a gyroscope to calculate the angle change. In dynamic situations, the angle data will be more closely aligned with the gyroscope's calculations. However, gyroscope data has accumulated errors, which increase over time. Therefore, it's necessary to eliminate the accumulated errors from the gyroscope.

[0012] The system samples sensor values ​​at a rate of 100Hz. If the detected Y-axis acceleration remains below a threshold for a sustained period, the system determines the vehicle is traveling in a straight line, and the output tilt angle will only reference the angle calculated from the acceleration. Simultaneously, the gyroscope-calculated angle value is zeroed out. Once the acceleration exceeds the threshold, the current angle value is locked. The system then begins calculating the gyroscope data and superimposing the result onto the locked angle value. Data changes primarily originate from gyroscope data fluctuations. After the cornering action ends and the acceleration value drops below the threshold, the system reuses the accelerometer result as the angle output and clears the accumulated gyroscope data. It then awaits the next cornering action.

[0013] Furthermore, since the results of gyroscopes based on MEMS technology are also affected by acceleration during actual use, leading to deviations in the output data, it is necessary to compensate and calibrate the gyroscope values ​​according to the actual vehicle speed. The values ​​will also deviate during the vehicle's entry and exit from curves, requiring additional data compensation for these scenarios to make the measurement results more accurate.

Claims

1. A method for detecting motorcycle bending pressure based on inertial sensors, comprising the following steps: Step 1: Determine whether the current acceleration value exceeds the threshold within the specified time. If yes, proceed to the next step. Otherwise, proceed to step seven; Step 2: Lock the current angle value calculated using the acceleration component; Step 3: Integrate the gyroscope values ​​to calculate the angle; Step 4: The gyroscope calculation results are fused with the locked acceleration values; Step 5: Obtain the current vehicle speed via the bus and perform gyroscope data compensation; Step Six: Determine whether the current state is entering or exiting a curve, and perform coefficient compensation accordingly; Step 7: Output the calculation results.

2. The motorcycle bending detection method based on inertial sensors according to claim 1, characterized in that... It lies in: The acceleration values ​​are collected by a six-axis inertial sensor, which is horizontally mounted on the motorcycle. The X-axis is parallel to the motorcycle body, the Y-axis is perpendicular to the motorcycle body, and the Z-axis is the direction of gravitational acceleration.

3. The motorcycle bending detection method based on inertial sensors according to claim 2, characterized in that... It lies in: In step one, determining whether the current acceleration value exceeds the threshold within a given time period involves the following method: When the vehicle is traveling in a straight line normally, the Y-axis acceleration is small, and it is less affected by the vehicle's motion. At this time, calculating the vehicle's tilt angle using the acceleration value components is reliable. The sensor values ​​are sampled at a speed of 100 Hz. If the Y-axis acceleration is detected to be below the detection threshold for a period of time, the system determines that the vehicle is currently traveling in a straight line. At this time, the output tilt angle value will only refer to the angle value calculated by acceleration. At the same time, the angle value calculated by the gyroscope needs to be zeroed out. When the acceleration value exceeds the threshold, the current angle value will be locked.

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