Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
  • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
  • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
  • B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
  • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
  • B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
  • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
  • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
  • B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
  • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
  • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
  • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
  • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
  • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
  • G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
  • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B9/00—Safety arrangements
  • G05B9/02—Safety arrangements electric
  • G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems

Definitions

• the invention relates to a method for operating an inertial sensor of a vehicle, in particular a motor vehicle, wherein measurement data of a measured variable of the inertial sensor during operation of the vehicle he asst and are checked for calibration to error values.
• the invention relates to a method for operating a vehicle, in particular a motor vehicle, which has at least one inertial sensor, wherein at least one measured variable of the
• Inertialsensors a function, in particular a safety function / device such as an airbag or a brake system, the vehicle is triggered.
• the invention relates to a vehicle, in particular a motor vehicle, which has at least one inertial sensor and, in particular, a triggerable as a function of measured data of at least one measured variable of the inertial sensor
• Safety device such as an airbag or a brake system, in particular ESP, has.
• the method according to the invention with the features of claim 1 has the advantage that a calibration of the inertial sensor can be carried out with less effort and more precisely than heretofore.
• the invention provides
• Inertial sensors from the measured data of the reference sensor to detect error values.
• measurement data of a redundant system are not used, but measurement data of a reference sensor which detects a measurement variable that differs from the
• the reference sensor is not an inertial sensor which detects accelerations and / or rotation rates by means of an inertial measurement but a sensor which in particular detects a relative movement as a measured variable.
• Measured variable of the inertial sensor correlates, so that from the determined measured variable of the reference sensor, a comparison variable can be calculated or determined, by which the measurement data of the inertial sensor can be made plausible.
• a speed sensor is provided as the reference sensor, which detects the rotational speed of a wheel of the vehicle. Speed sensors are usually already provided in vehicles, in particular motor vehicles, so that this means no extra effort. Only the measured data of the
• Vehicle calculated or calculated. This acceleration can then be compared with the acceleration (measured variable) detected by the inertial sensor. If the calculated acceleration differs from the acceleration determined by the inertial sensor, then the inertial sensor is calibrated accordingly, for example by the measured data of the reference sensor, in particular in the form of an offset value from the measured data of the inertial sensor to the measured data of the reference sensor, be taken into account.
• the acceleration in.
• the vehicle according to the invention with the features of claim 6 is characterized in that a reference sensor for detecting another, but correlated with the measured variable of the inertial sensor and a control device are provided, wherein the control device in response to a deviation of the measurement data of the inertial of the Measured data of the Reference sensor calibrates the inertial sensor.
• the inertial sensor is permanently installed in the vehicle.
• the inertial sensor is thus an integral part of the vehicle, for example the inertial sensor of a safety system of the vehicle.
• the inertial sensor is part of a mobile computer arranged in the vehicle, in particular a tablet computer or mobile telephone.
• a mobile computer arranged in the vehicle, in particular a tablet computer or mobile telephone.
• the mobile computer can be connected to the signal signal to detect the data of the reference sensor, so that by means of the inertial sensor of the mobile computer, the installation position of the mobile computer can be determined in the vehicle. For this is the
• Mobile computer expediently provided with a corresponding program, which performs the inventive method.
• FIG. 1 shows a motor vehicle with an inertial sensor in a simplified
• FIG. 2 shows a simplified calculation model
• FIG. 1 shows, in a simplified illustration, a motor vehicle 1 which has a reference coordinate system (COG) and an inertial sensor 2 which detects accelerations in three spatial directions x, y, z and to this extent introduces
• COG reference coordinate system
• Inertialsensorkoordinatensystem L which, depending on the mounting position of the inertial sensor 2 of a parallel to the
• Reference coordinate system R deviates. Furthermore, at least one of the wheels of the motor vehicle 1 is assigned at least one rotational speed sensor which forms a reference sensor 3. Preferably, a total of two
• the inertial sensor 2 is for example direct or by a control device with a safety device 4, for example, an airbag device, connected to trigger in response to detected by the inertial measurement data, if necessary, the safety device 4.
• a safety device 4 for example, an airbag device
• the inertial sensor 2 detects at least three measured variables, namely the same
• the method is based on a comparison of the measured data of the measured variables of the inertial sensor 2, that is, in the various
• Correlation data from the reference coordinate system R Correlation data from the reference coordinate system R.
• measurement data from the measured variable of the rotational speed sensor are detected in the present case.
• the detected rotational speed does not correspond directly to the acceleration in the x-direction detected by the inertial sensor 2, but the rotational speed correlates with the longitudinal acceleration in the x-direction of the motor vehicle 1.
• Reference sensor 3 to calculate acceleration values and to compare these with the acceleration values or measurements of the inertial sensor 2 to determine deviations of the measurement data from each other, which can then be compensated or compensated for a calibration of the inertial sensor 2.
• the z-axis of the inertial sensor 2 coincides with the vehicle vertical axis.
• an extension of the method to the three-dimensional space is also conceivable.
• the already existing acceleration values measured data of the measured variables in the x and y directions
• Correlation data of the reference sensor 3 determined. It can the
• a R x acceleration in the x direction in the reference coordinate system
• a R y acceleration in the y direction in the reference coordinate system
• IVM inverse vehicle model
• a x c0G acceleration in the vehicle coordinate system in the x and y directions
• a c 0 ° _ G x, a 0 ° c G _ y correlated acceleration in the vehicle coordinate system in the x and y directions
• AWSS acceleration calculation based on the value detected by the speed sensor speed.
• the dashed bordered area can be described as follows:
• offsetx represents the deviation in x-direction and offsety the deviation in y-direction.
• ⁇ contains the searched parameter a, which indicates the installation angle of the
• Inertialsensors 2 represents. This type of calculation can be considered as
• Offline methods can be used to estimate the installation angle based on existing measurements. For an implementation during operation, the calculation is recursive. The method described here uses the recursive least squares method.
• the installation angle is accordingly reevaluated.
• a subsequent plausibility check then provides information on whether the estimated angle can be trusted or whether the estimation method does not yet have sufficient quality.
• the inertial sensor 2 self-learning, in particular without additional hardware, when the usually present in the motor vehicle speed sensor 3 is accessed, or manual input of parameters, the real installation position of the inertial sensor 2 determines in relation to the motor vehicle coordinate system , As a result, a calibration of the inertial sensor 2 in a simple manner possible.
• the inertial sensor 2 is, in particular, an inertial sensor permanently integrated in the vehicle, for example as part of a
• Security system in particular an ESP braking system of the vehicle.
• ESP ESP braking system of the vehicle.
• it may according to another, not shown here
• Installation position of the mobile computer in the motor vehicle is determined in a simple manner.

Landscapes

• Engineering & Computer Science (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• General Physics & Mathematics (AREA)
• Physics & Mathematics (AREA)
• Mechanical Engineering (AREA)
• Manufacturing & Machinery (AREA)
• Automation & Control Theory (AREA)
• Transportation (AREA)
• Gyroscopes (AREA)
• Air Bags (AREA)
• Microelectronics & Electronic Packaging (AREA)
• Chemical & Material Sciences (AREA)
• Combustion & Propulsion (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=55486675

Family Applications (1)

Country Status (10)

Families Citing this family (10)

Family Cites Families (16)

• 2015
  • 2015-05-19 DE DE102015209132.5A patent/DE102015209132A1/de active Pending
• 2016
  • 2016-03-08 CN CN201680028840.6A patent/CN107636421A/zh active Pending
  • 2016-03-08 WO PCT/EP2016/054897 patent/WO2016184585A1/de active Application Filing
  • 2016-03-08 KR KR1020177036426A patent/KR20180008752A/ko unknown
  • 2016-03-08 US US15/574,874 patent/US20180126936A1/en not_active Abandoned
  • 2016-03-08 CA CA2986276A patent/CA2986276A1/en not_active Abandoned
  • 2016-03-08 MX MX2017014833A patent/MX2017014833A/es unknown
  • 2016-03-08 EP EP16708667.7A patent/EP3298415A1/de not_active Withdrawn
  • 2016-03-08 JP JP2017560212A patent/JP2018515778A/ja active Pending
  • 2016-05-17 TW TW105115160A patent/TW201700977A/zh unknown

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