Method and device for detecting the standstill of a vehicle
The disclosure relates to a method for detecting a standstill of a vehicle, said method comprising a step of filtering, a step of normalizing and a step of observing. In the filtering step, an acceleration value in a first axis of the vehicle and a rotational speed value about a second axis of the vehicle, oriented orthogonally to the axis, are filtered using a filter specification in order to obtain a filtered acceleration value and a filtered rotational speed value. In the normalizing step, the filtered acceleration value and the filtered rotational speed value are normalized using a normalization specification in order to obtain a normalized acceleration value and a normalized rotational speed value. In the observation step, the normalized acceleration value and the normalized rotational speed value are observed using an observation specification in order to detect the standstill.
1. A method for detecting whether a vehicle is in standstill, the method comprising:
filtering, (i) an acceleration value in a first axis of the vehicle to obtain a filtered acceleration value in the first axis and (ii) a rotational speed value about a second axis of the vehicle that is oriented orthogonally to the first axis to obtain a filtered rotational speed value in the second axis;
normalizing (i) the filtered acceleration value in the first axis by transforming the filtered acceleration value in the first axis using a respective normalization factor to obtain a normalized acceleration value in the first axis and (ii) the filtered rotational speed value in the second axis by transforming the filtered rotational speed value in the second axis using a respective normalization factor to obtain a normalized rotational speed value in the second axis;
determining a first sum of the normalized acceleration value in the first axis and the normalized rotational speed value in the second axis; and
detecting whether the vehicle is in standstill depending on the first sum.
2. The method as claimed in claim 1 further comprising:
averaging, over a drift time period, when the standstill is detected, at least one of (i) the acceleration value in the first axis to obtain an acceleration range and (ii) the rotational speed value in the second axis to obtain a rotational speed range,
wherein the detecting further comprises detecting a movement of the vehicle in response to at least one of the acceleration range and the rotational speed range exceeding a limit value.
3. The method as claimed in claim 1 , the filtering further comprising:
averaging, over a dynamic time period, at least one of (i) the acceleration value in the first axis to obtain the filtered acceleration value in the first axis and (ii) the rotational speed value in the second axis to obtain the filtered rotational speed value in the second axis, in response to a movement of the vehicle being detected.
4. The method as claimed in claim 1 , the detecting further comprising:
detecting that the vehicle is not in standstill in response to a movement of the vehicle having been detected within a minimum time period.
5. The method as claimed in claim 1 , the detecting further comprising:
detecting the standstill in response to the first sum being less than a threshold value.
6. The method as claimed in claim 1 , wherein:
the filtering further comprises filtering (i) a further acceleration value in the second axis to obtain a further filtered acceleration value in the second axis and (ii) a further rotational speed value about a third axis of the vehicle that is oriented orthogonally to the first axis and the second axis to obtain a further filtered rotational speed in the third axis;
the normalizing further comprises normalizing (i) the further filtered acceleration value by transforming the further filtered acceleration value in the second axis using a respective normalization factor to obtain a further normalized acceleration value in the second axis and (ii) the further filtered rotational speed value by transforming the further filtered rotational speed value in the third axis using a respective normalization factor to obtain a further normalized rotational speed value in the third axis; and
the detecting further comprises detecting whether the vehicle is in standstill based on the further normalized acceleration value in the second axis and the further normalized rotational speed value in the third axis.
7. The method as claimed in claim 1 , the detecting further comprising:
detecting that the vehicle is in standstill in response to a wheel rotational speed value representing a wheel rotation speed of at least one wheel of the vehicle being less than a threshold value.
8. The method as claimed in claim 1 , the detecting further comprising:
detecting that the vehicle is in standstill in response to no controller of the vehicle being active.
9. A device for detecting whether a vehicle is in standstill, the device comprising:
a sensor interface configured to receive acceleration values from an acceleration sensor and rotational speed values from a rotational speed sensor;
a memory; and
a processor configured to:
filter (i) an acceleration value in a first axis of the vehicle to obtain a filtered acceleration value in the first axis and (ii) a rotational speed value about a second axis of the vehicle that is oriented orthogonally to the axis to obtain a filtered rotational speed value in the second axis;
normalize (i) the filtered acceleration value in the first axis by transforming the filtered acceleration value in the first axis using a respective normalization factor to obtain a normalized acceleration value in the first axis and (ii) the filtered rotational speed value in the second axis by transforming the filtered rotational speed value in the second axis using a respective normalization factor to obtain a normalized rotational speed value in the second axis;
determine a first sum of the normalized acceleration value in the first axis and the normalized rotational speed value in the second axis; and
detect whether the vehicle is in standstill depending on the first sum.
10. A non-transitory machine-readable storage medium configured to store computer program for detecting whether a vehicle is in standstill, the computer program being configured to, when executed by a processor, cause the processor to:
filter, (i) an acceleration value in a first axis of the vehicle to obtain a filtered acceleration value in the first axis and (ii) a rotational speed value about a second axis of the vehicle that is oriented orthogonally to the axis to obtain a filtered rotational speed value in the second axis;
normalize (i) the filtered acceleration value in the first axis by transforming the filtered acceleration value in the first axis using a respective normalization factor to obtain a normalized acceleration value in the first axis and (ii) the filtered rotational speed value in the second axis by transforming the filtered rotational speed value in the second axis using a respective normalization factor to obtain a normalized rotational speed value in the second axis;
determine a first sum of the normalized acceleration value in the first axis and the normalized rotational speed value in the second axis; and
detect whether the vehicle is in standstill depending on the first sum.
11. The method as claimed in claim 6 further comprising:
determining a second sum of the further normalized acceleration value in the second axis and the further normalized rotational speed value in the third axis, wherein the detecting further comprises detecting whether the vehicle is in standstill further depending on the second sum.