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CN-121994215-A - Vehicle attitude estimation system and method for calculating offset error of three-axis acceleration sensor

CN121994215ACN 121994215 ACN121994215 ACN 121994215ACN-121994215-A

Abstract

The present invention provides an "automobile posture estimating system and a method for calculating offset error of a triaxial acceleration sensor 1" for correcting errors caused by how the acceleration sensor is mounted on an automobile. In a parking space, the vehicle is parked in the forward direction, and a three-axis acceleration sensor (1) is used to measure the Roll angle roll_a and the Pitch angle pitch_a (b 1). In the parking space, parking is performed in the reverse direction, and a Roll angle roll_b and a pitch_b (B2) as a Pitch angle are measured. The average of roll_a and roll_b is set as the offset error in the Roll direction, and the average of pitch_a and pitch_b is set as the offset error in the Pitch direction.

Inventors

  • KOHARA MASANORI

Assignees

  • 阿尔卑斯阿尔派株式会社

Dates

Publication Date
20260508
Application Date
20251030
Priority Date
20241108

Claims (5)

  1. 1. An automobile posture estimation system is characterized by comprising: the three-axis acceleration sensor is fixed on the automobile; a posture calculation unit that calculates a roll angle of the automobile using the three-axis acceleration sensor; An offset error setting means for setting an offset error of the roll angle measurement of the vehicle using the triaxial acceleration sensor, and A posture correction unit that corrects the roll angle of the automobile calculated by the posture calculation unit to eliminate the offset error, The offset error setting means sets, as the offset error, an average of a first roll angle measured using the three-axis acceleration sensor in a state where the vehicle is parked in a first place in a first direction and a second roll angle measured using the three-axis acceleration sensor in a state where the vehicle is parked in the first place in a second direction opposite to the first direction.
  2. 2. An automobile posture estimation system is characterized by comprising: the three-axis acceleration sensor is fixed on the automobile; A posture calculation unit that calculates a pitch angle of the automobile using the three-axis acceleration sensor; An offset error setting means for setting an offset error of a pitch angle measurement of the vehicle using the triaxial acceleration sensor, and A posture correction unit that corrects the pitch angle of the automobile calculated by the posture calculation unit to eliminate the offset error, The offset error setting means sets, as the offset error, an average of a first pitch angle measured by the three-axis acceleration sensor in a state where the vehicle is parked at a first location in a first direction, and a second pitch angle measured by the three-axis acceleration sensor in a state where the vehicle is parked at the first location in a second direction opposite to the first direction.
  3. 3. An automobile posture estimation system is characterized by comprising: the three-axis acceleration sensor is fixed on the automobile; A posture calculation unit that calculates a roll angle and a pitch angle of the automobile using the three-axis acceleration sensor; an offset error setting means for setting an offset error of a roll angle measurement and an offset error of a pitch angle of the vehicle using the triaxial acceleration sensor, and A posture correction unit configured to correct the roll angle of the vehicle calculated by the posture calculation unit to eliminate an offset error of the roll angle measurement, to correct the pitch angle of the vehicle calculated by the posture calculation unit to eliminate an offset error of the pitch angle measurement, The offset error setting means sets an average of a first roll angle, which is a roll angle measured using the three-axis acceleration sensor in a state where the vehicle is parked in a first place in a first orientation, and a second roll angle, which is a roll angle measured using the three-axis acceleration sensor in a state where the vehicle is parked in the first place in a second orientation, which is an opposite orientation to the first orientation, as an offset error of the roll angle measurement, and sets an average of a first pitch angle, which is a pitch angle measured using the three-axis acceleration sensor in a state where the vehicle is parked in the first place in the first orientation, and a second pitch angle, which is a pitch angle measured using the three-axis acceleration sensor in a state where the vehicle is parked in the first place in the second orientation.
  4. 4. The posture estimation system of any one of claims 1 to 3, wherein, The vehicle parking guidance system is provided with a guidance means for guiding a driver of the vehicle to the first place as a parking partition divided by a division line, the guidance means guiding the driver to the first place to park in the first direction and guiding the driver to the first place to park in the second direction.
  5. 5. The offset error calculation method of the triaxial acceleration sensor is characterized by comprising the following steps of: Measuring an inclination angle with respect to a horizontal using a triaxial acceleration sensor fixed to the automobile as a first inclination angle in a state where the automobile is parked at a first location in a first orientation; Measuring an inclination angle as a second inclination angle using the three-axis acceleration sensor in a state where the vehicle is parked at the first location in a second direction opposite to the first direction, and The average of the first inclination angle and the second inclination angle is calculated as an offset error of the inclination angle measured by the three-axis acceleration sensor with respect to the horizontal of the automobile.

Description

Vehicle attitude estimation system and method for calculating offset error of three-axis acceleration sensor Technical Field The present invention relates to an automobile posture estimation system. Background As a technique related to a posture estimating system for estimating a posture of an automobile, there is known a technique of calculating a pitch angle of an automobile using an acceleration sensor, calculating an installation posture of the acceleration sensor with respect to the automobile (a posture relative to the automobile) so that an azimuth change amount measured using a GPS receiver matches an azimuth change amount measured using a gyro sensor fixed to the same base as the acceleration sensor, and correcting the pitch angle calculated using the acceleration sensor based on the calculated installation posture (for example, patent document 1). Prior art literature Patent literature Patent document 1 Japanese patent application laid-open No. 2004-20207 Disclosure of Invention According to the above-described technique for calculating the mounting posture of the acceleration sensor with respect to the vehicle and correcting the pitch angle calculated using the acceleration sensor, the correction requires a gyro sensor and a GPS receiver, and the calculation of the mounting posture requires a relatively large amount of time and processing. Accordingly, the present invention has an object to correct errors caused by the mounting posture of an acceleration sensor with respect to an automobile with a simple configuration in calculating the posture of the automobile using the acceleration sensor. In order to achieve the above object, the present invention provides a posture estimating system for an automobile, comprising a three-axis acceleration sensor fixed to an automobile, a posture calculating means for calculating a roll angle of the automobile using the three-axis acceleration sensor, a deviation error setting means for setting a deviation error of a roll angle measurement of the automobile using the three-axis acceleration sensor, and a posture correcting means for correcting the roll angle of the automobile calculated by the posture calculating means so as to eliminate the deviation error. The offset error setting means sets, as the offset error, an average of a first roll angle measured using the three-axis acceleration sensor in a state where the vehicle is parked in a first place in a first direction, and a second roll angle measured using the three-axis acceleration sensor in a state where the vehicle is parked in the first place in a second direction opposite to the first direction. In order to achieve the above object, the present invention provides a posture estimation system for an automobile, comprising a three-axis acceleration sensor fixed to an automobile, a posture calculation means for calculating a pitch angle of the automobile using the three-axis acceleration sensor, a deviation error setting means for setting a deviation error of a pitch angle measurement of the automobile using the three-axis acceleration sensor, and a posture correction means for correcting the pitch angle of the automobile calculated by the posture calculation means so as to eliminate the deviation error. The offset error setting means sets, as the offset error, an average of a first pitch angle measured by the three-axis acceleration sensor in a state where the vehicle is parked at a first location in a first direction, and a second pitch angle measured by the three-axis acceleration sensor in a state where the vehicle is parked at the first location in a second direction opposite to the first direction. In order to achieve the above object, the present invention provides a posture estimating system for an automobile, comprising a three-axis acceleration sensor fixed to the automobile, a posture calculating means for calculating a roll angle and a pitch angle of the automobile using the three-axis acceleration sensor, a deviation error setting means for setting a deviation error of the roll angle and a deviation error of the pitch angle of the automobile measured using the three-axis acceleration sensor, and a posture correcting means for correcting the roll angle of the automobile calculated by the posture calculating means so as to cancel the deviation error of the roll angle measurement, and correcting the pitch angle of the automobile calculated by the posture calculating means so as to cancel the deviation error of the pitch angle measurement. Here, the offset error setting means sets an average of a first roll angle measured by the three-axis acceleration sensor in a state where the vehicle is parked in a first place in a first orientation and a second roll angle measured by the three-axis acceleration sensor in a state where the vehicle is parked in the first place in a second orientation opposite to the first orientation, as an offset error measured by the roll angle, and sets an average of a fi