Method for minimizing errors in sensors used for a recording apparatus of car accidents

• US 6,360,147 B1
• Filed: 10/20/2000
• Issued: 03/19/2002
• Est. Priority Date: 12/24/1999
• Status: Expired due to Fees

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Lee, Won-Hee
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US09/692,977
• Time in Patent Office: 515 Days
• Field of Search: 701/35, 701/200, 701/38, 701/39, 701/34, 360/5
• US Class Current: 701/35
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01P 1/122 Speed recorders
• CPC Class Codes: G01P 1/127 for acceleration values
• CPC Class Codes: G01P 21/00 Testing or calibrating of apparatus or devices covered by the preceding groups
• CPC Class Codes: G07C 5/085 using electronic data carriers

Abstract

In a method for minimizing errors in sensors used for a recording apparatus of car accidents, data including acceleration, yaw-rate, vehicle speed measured at the transmission, and steering angle are first measured by sensors, then error in forward acceleration is corrected on the basis of vehicle speed measured at the transmission. Next, error in lateral acceleration is corrected on the basis of vehicle speed and steering angle measured by a steering angle sensor, then error in rotational angular velocity is corrected on the basis of steering angle and vehicle speed. Finally, data is recorded as corrected values.

Claims

1. A method for minimizing errors in sensors used for a recording apparatus of car accidents, the method comprising the steps of:

measuring data by sensors, the data including acceleration, yaw-rate, vehicle speed, and steering angle;

correcting errors in forward acceleration on the basis of vehicle speed;

correcting errors in lateral acceleration on the basis of vehicle speed and steering angle;

correcting errors in the yaw-rate on the basis of steering angle and vehicle speed; and

recording data as corrected values.

2. A method of claim 1 wherein the step of correcting errors in forward acceleration further comprises the step of correcting the forward acceleration G_x from an output X_A/D of the acceleration sensor on the basis of the vehicle speed measured at the transmission.

3. A method of claim 2 wherein the forward acceleration G_x is calculated as, G_x=(X_A/D −

offset)·

S,

wherein S is a scale factor predetermined according to a specific accelerometer and

the offset, the zero offset of the forward acceleration is calculated as, $\mathrm{offset}=\mathrm{Mean}\left(\frac{{\int <br><br>}_0^T<br><br>X_{A/D}<br><br>\text{\hspace{1em}<br><br>}<br><br><br><br>t-\left(V_{\mathrm{TM}}<br><br>\left(T\right)-V_{\mathrm{TM}}<br><br>\left(0\right)\right)·<br><br>\frac{1}{S}}{T}\right),$

where V_TM is a vehicle speed measured at the transmission.

4. A method of claim 1 wherein the step of correcting errors in lateral acceleration further comprises the step of correcting the lateral acceleration G_y from an output Y_A/D of the acceleration sensor on the basis of the vehicle speed measured at the transmission and the steering angle measured by a steering angle sensor.

5. A method of claim 4 wherein the lateral acceleration G_y is calculated as, $G_y=\left(Y_{A/D}-\mathrm{offset}\right)·$

S=V21+AV2·

δ

L,wherein,

S is a scale factor predetermined according to a specific accelerometer,

A is a stability factor,

L is a wheelbase of the car,

V is a vehicle speed measured at the transmission,

δ

is a steering angle measured by the steering angle sensor, and the offset, the zero offset of the lateral acceleration, is calculated as, $\mathrm{offset}=\mathrm{Mean}<br><br>\left(Y_{A/D}-\frac{V^2}{1+{\mathrm{AV}}^2}·<br><br>\frac{\mathrm{\delta <br><br>}}{L}·<br><br>\frac{1}{S}\right).$

6. A method of claim 1 wherein the step of correcting errors in the yaw-rate further comprises the step of correcting the yaw-rate r from an output R_A/D of the yaw-rate sensor on the basis of the vehicle speed measured at the transmission and the steering angle measured by a steering angle sensor.

7. A method of claim 6 wherein the yaw-rate is calculated as, $r=\left(R_{A/D}-\mathrm{offset}\right)·$

S=V1+AV2·

δ

L,wherein,

S is a scale factor predetermined according to a specific accelerometer,

A is a stability factor,

L is a wheelbase of the car,

V is a vehicle speed measured at the transmission,

δ

is a steering angle measured by the steering angle sensor, and

the offset, the zero offset of the yaw-rate, is calculated as, $\mathrm{offset}=\mathrm{Mean}<br><br>\left(R_{A/D}-\frac{V}{1+{\mathrm{AV}}^2}·<br><br>\frac{\mathrm{\delta <br><br>}}{L}·<br><br>\frac{1}{S}\right).$