CN101498621B - Wheel-loaded intelligent sensing wheel movement attitude monitoring method - Google Patents
Wheel-loaded intelligent sensing wheel movement attitude monitoring method Download PDFInfo
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- CN101498621B CN101498621B CN2009100784766A CN200910078476A CN101498621B CN 101498621 B CN101498621 B CN 101498621B CN 2009100784766 A CN2009100784766 A CN 2009100784766A CN 200910078476 A CN200910078476 A CN 200910078476A CN 101498621 B CN101498621 B CN 101498621B
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Abstract
The invention discloses a movement posture monitoring method based on a wheeled intelligent sensing wheel, which comprises the following steps: an equatorial plane of a hub of each wheel of a vehicle is provided with a top-free microinertia measuring unit, sensing signals are conditioned, digitized and calculated by a posture algorithm way, and main movement posture parameters of the wheels are obtained; the main movement posture parameters of the monitored wheels comprise tangential acceleration, sideward acceleration, acceleration centripetal, advance speed, side velocity, angular acceleration, camber angles, slip angles, heading angles, and the like; after the parameters are inosculated and analyzed through a plurality of sending data, the movement safety condition of the wheels such as the unbalanced degree, looseness, fly off, slippage, and the like of wheels can be monitored and actively estimated, thereby being favorable for preventing and reducing the occurrence of traffic accidents.
Description
Technical field
The present invention relates to motor vehicle safe operation state monitoring method and device, relate in particular to a kind of monitoring method that is used for the instantaneous state of monitoring motor vehicle wheel movement attitude in the process of moving.
Background technology
Motor vehicle security of operation Condition Monitoring Technology is the main means that guarantee motor vehicle safe drive, also is the inexorable trend of motor vehicle security of operation detection technique development.Adopt motor vehicle security of operation condition monitoring technology that motor vehicle security of operation state and operating index are carried out dynamic monitoring, in time find and the prevention vehicle trouble, development is monitored, controls, manages and made a strategic decision in the safety supervisory network system of one, and is significant to the motor vehicle safe operation; It is the important social public good technical work that is related to the country and people's security of the lives and property, is to ensure that motor vehicles security of operation important techniques supports, and be the very important technical guarantee of government administration section to the motor vehicle safe operation; It can not only improve the technical guarantee ability of motor vehicle safe operation and reduce traffic hazard, and the development that promotes automotive industry and communications and transportation cause is of great importance.
Motor vehicle security of operation status monitoring mainly comprises monitoring motor vehicle (vehicle body, wheel) athletic posture parameter, dynamic loading parameter, braking ability parameter.Motor vehicle is in operational process, can produce operating modes such as braking, quicken, turn to straight-line travelling, wheel is a unique and ground engaging element in the motor-driven vehicle going process, in the motor-driven vehicle going process, all carry out a kind of motion with steady state (SS) and any point of rolling with various instantaneous states on the tire, to each athletic posture constantly of wheel, above-mentioned motion can be with wheel speed on three direction in spaces: pace, side velocity, entad speed and wheel attitude angle: camber angle, side drift angle, yaw angle are represented.Comprise abundant motor vehicle operation information (athletic posture, driving force, damping force, dynamic loading, rotation, impact), the athletic posture by monitoring wheel can obtain direct, the truest, the abundantest motor vehicle safe operation information.The wheel movement attitude parameter all has decisive influence to body movement attitude parameter, dynamic loading parameter, braking ability parameter, is to weigh tire unbanlence degree, the state that becomes flexible, flies off and trend.
At present, the monitoring of wheel movement is just related to the acquisition of the local accelerating curve of tire, the wheel movement attitude is not analysed in depth, thus can't analysing vehicle wheels athletic posture parameter to the influence of body movement attitude parameter, dynamic loading parameter, braking ability parameter.So need monitor and predict reflection motor vehicle security of operation state comprehensively to the automobile tyre athletic posture; And be that degree of will speed up sensor is installed in the tire the inside in the prior art, because tire can impacted with the sensor that contacts hour wheel tyre cavity face on ground, thereby changed in the accelerating curve generation cycle, and make institute's measuring acceleration curve distortion, two can't represent the acceleration condition of wheel reality; Simultaneously, because acceleration analysis is untrue, do not have can't do further to analyze and calculate to three-dimensional acceleration, the attitude angle of wheel yet.So the monitoring of the athletic posture of wheel is not comprehensive, there is not, can't sets up yet the relation of wheel movement attitude and body movement attitude.
Summary of the invention
For solving problem and the defective that exists in above-mentioned, the invention provides a kind of monitoring accuracy, real-time is good, the motor vehicle wheel load formula wheel movement attitude monitoring method that data-handling capacity is strong.
The present invention is achieved by the following technical solutions:
Involved in the present invention is a kind of based on wheel-loaded intelligent sensing wheel movement attitude monitoring method, comprising:
By the decline three-dimensional acceleration of Inertial Measurement Unit perception wheel of gyro free strap down, this acceleration comprises: tangential acceleration, side acceleration and centripetal acceleration;
Utilize three-dimensional acceleration parameter tangential acceleration, side acceleration and centripetal acceleration parameter, and speed parameter and wheel movement attitude angle in attitude algorithm computation acquisition wheel movement attitude, the speed in the described attitude comprises pace and side velocity; Described wheel movement attitude angle comprises camber angle, side drift angle and yaw angle;
Obtain the angular acceleration of wheel by three-dimensional acceleration parameter tangential acceleration, side acceleration and centripetal acceleration parameter;
With the wheel movement attitude: the data of tangential acceleration, side acceleration, centripetal acceleration, pace, side velocity, angular acceleration, camber angle, side drift angle, yaw angle merge and it are analyzed the variation tendency that obtains the wheel attitude.
Described gyro free strap down decline Inertial Measurement Unit whether operate as normal be to check and judge by the fusion of wheel movement attitude parameter.Gyro free strap down tangential acceleration, side acceleration and three parameters of centripetal acceleration that the temperature survey of Inertial Measurement Unit is used for the wheel movement attitude parameter that decline are carried out temperature compensation in the described tire.The described gyro free strap down Inertial Measurement Unit that declines is arranged on the surface of the hub for vehicle wheel equatorial plane.
The beneficial effect of technical scheme provided by the invention is:
1, by using the gyro free strap down inertia measurement commercial measurement wheel movement attitude that declines, reality the vehicle wheels athletic posture is monitored;
2, analyze its influence by the wheel movement attitude parameter to body movement attitude parameter, dynamic loading parameter, braking ability parameter;
3, by the analyses and prediction program wheel movement attitude data and its historical data analysis are compared, obtain the trend of wheel movement attitude, increase is to the forecast function of wheel movement attitude, form complete, a relatively independent measuring table, and can provide the uniform data interface modes to be applied for administrative authority of government concerned.
4, under high, normal, basic each travelling speed, the motor vehicle actual operating mode is carried out dynamic monitoring;
5, the wheel movement attitude parameter can be weighed the degree of unbalancedness of tire, attitude state and the trend of becoming flexible, flying off.
Description of drawings
Fig. 1 is of the present invention based on wheel-loaded intelligent sensing wheel movement attitude monitoring method process flow diagram;
Fig. 2 wheel-loaded intelligent sensing wheel movement attitude involved in the present invention monitoring system complete layout;
Fig. 3 wheel-loaded intelligent sensing wheel movement attitude measurement involved in the present invention module scheme of installation;
Fig. 4 is that machine of the present invention is described based on wheel-loaded intelligent sensing wheel movement attitude monitoring system hardware configuration synoptic diagram;
Fig. 5 illustrate respectively the intelligent sensing module monitors of utilizing Fig. 4 one of them regulation point of tire entad, the curve of tangential and side acceleration.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing:
It is a kind of based on wheel-loaded intelligent sensing wheel movement attitude monitoring method that present embodiment provides, wherein,
Referring to Fig. 1, this method may further comprise the steps:
Three-dimensional acceleration comprises: tangential acceleration, side acceleration and centripetal acceleration.
Speed in the described attitude comprises pace and side velocity; Described wheel movement attitude angle comprises camber angle, side drift angle and yaw angle.
The wheel movement attitude comprises tangential acceleration, side acceleration, centripetal acceleration, pace, side velocity, angular acceleration, camber angle, side drift angle, yaw angle.
Referring to Fig. 2, be the entire system layout that is adopted based on wheel-loaded intelligent sensing wheel movement attitude monitoring method, comprise motor vehicle 1, wheel 2 and wheel attitude measurement module 3, wherein wheel attitude measurement module includes a plurality of, and each wheel attitude measurement module 3 is installed on respectively on the surface, wheel hub equator of each wheel, and wheel attitude measurement module 3 also realizes both-way communication with the central control module of installing in the car by less radio-frequency.
Referring to Fig. 3, wheel braking performance intelligent sensing module is installed on the surface of the hub for vehicle wheel equatorial plane, the installation requirement of wheel intelligent sensing module: three sensitive axes X-axis of acceleration transducer, Y-axis, Z axle point to the direction in axle center of side direction, the wheel hub of wheel hub tangential direction, wheel hub respectively; Coordinate system Oxyz is the right-handed coordinate system of quadrature.
Referring to Fig. 4, the hardware system based on wheel load formula wheel braking performance monitoring method that the present invention relates to comprises the wheel attitude measurement module 2 that is installed in each wheel and is installed on central control module 3 in the interior car of car; (1) wheel attitude measurement module 2 comprises the first no gyroscopic inertia measuring unit 2a, conditioning unit 2b, wireless singlechip 2c and the first power supply 2d; This first no gyroscopic inertia measuring unit 2a comprises a 3-axis acceleration sensor 21a and temperature sensor 21b; 3-axis acceleration sensor 21a and temperature sensor 21b output simulating signal, this first no gyroscopic inertia measuring unit 2a and conditioning unit 2b are electrically connected; Conditioning unit 2b is used for the acceleration and the temperature signal of input are carried out filtering and pressure regulation, and this conditioning unit 2b and wireless singlechip 2c interconnect, and this signal is a simulating signal; The self-test signal of wireless singlechip 2c is connected with 3-axis acceleration sensor, is used to check whether 3-axis acceleration sensor 21a work is normal; Integrated wireless transmission circuit and single-chip microcomputer on the wireless singlechip 2c sheet, be used to carry out sensing collection, computing and realize with car in the bi-directional communication function of central control module 3; The first power supply 4d provides direct supply for the first no gyroscopic inertia measuring unit 2a, conditioning unit 2b and wireless singlechip 2c; Wherein, the 3-axis acceleration sensor 21a of the first no gyroscopic inertia measuring unit 2a adopts one two axle acceleration sensor ADXL323 and a single-axis acceleration sensors ADXL193 to combine, and wireless singlechip 2c adopts CC2510F32; (2) central control module 3 comprises wireless singlechip 3a, the second no gyroscopic inertia measuring unit 3b, second source 3c, arm processor 3d and man-machine interaction unit 3e in the car; This wireless singlechip 3a realizes and wheel intelligent sensing module communications functions, interconnects by digital signal and arm processor 3d; The second no gyroscopic inertia measuring unit 3b and arm processor 3d interconnect, and this signal is a digital signal; Second source 3c provides direct supply for wireless singlechip 3a, the second no gyroscopic inertia measuring unit 3b, arm processor 3d and man-machine interaction unit 3e; Man-machine interaction unit 3e is made up of liquid crystal display 31e, touch-screen 32e, hummer 33e, CAN interface 34e; Liquid crystal display 31e is used to export the output display message that shows arm processor 3d, comprises parameters such as dynamic wheel load parameter, state; Touch-screen 32e is used to be provided with parameter, data query; When being used to break down, hummer 33e sends caution by arm processor 3d driving; CAN interface 34e is used to provide the interface of central control module 3 in other CAN device access cars; Wherein, wireless singlechip 3a (2c) adopts CC2510F32.
Its course of work is: gyro free strap down declines the tangential acceleration, side acceleration, centripetal acceleration, temperature analog signal of Inertial Measurement Unit 2a output behind conditioning unit 2b signal condition, convert digital signal to through the ADC of wireless singlechip 2c peripheral hardware, offer the CPU visit of wireless singlechip 2c in the down trigger mode; Wireless singlechip 2c can carry out self check to acceleration transducer by driving self-test signal when being necessary; Microprocessor in the wireless singlechip carries out digital filtering, compensates the three-dimensional acceleration that calculates in the wheel movement attitude signal, comprise: tangential acceleration, side acceleration, centripetal acceleration, characterize the state of any instantaneous three-dimensional acceleration of wheel, by one of them regulation point of a tire of intelligent sensing module monitors entad, the curve (referring to Fig. 5) of tangential and side acceleration; Wireless transceiver circuit by wireless singlechip 2c inside outputs to the wireless singlechip 3a of central processing module 3 in the car with data transmission, the order that central processing module 3 sended over by wireless singlechip in the wireless transceiver circuit by this wireless singlechip 2c inside also can receive and send a car simultaneously; The task of central processing module 3 in the car: 1. receive body gesture information from vehicle body intelligence Inertial Measurement Unit 3b; 2. by the data of wireless singlechip 3a reception, send order by wireless singlechip to wheel intelligent sensing module in the time of necessary from interior central control module 2; Microprocessor among the wireless singlechip 3a is to the three-dimensional acceleration in the wheel movement attitude that receives, comprise: tangential acceleration, side acceleration, centripetal acceleration are carried out pace, the side velocity that signal speed calculates wheel, characterize the state of any instantaneous velocity of wheel; 3. the acceleration, the speed data that send over from wireless singlechip 3a and no gyroscopic inertia measuring unit 3b to receiving, calculate the braking ability parameter of wheel through Attitude Calculation, braking, this parameter comprises: wheel slip, wheel coefficient of road adhesion, wheel braking force, wheel braking retarded velocity; 4. above-mentioned wheel braking performance data is carried out active safety evaluation and trend prediction; 5. wheel braking performance data and vehicle body braking figures are carried out data fusion and analysis so that whether operate as normal judges to wheel intelligent sensing module, and prediction wheel braking changes of properties trend; 6. show wheel braking performance information, opinion rating, tendency prediction information etc. by control liquid crystal display 31e output; 7. handle interruption that touch-screen 32e the triggers operations such as line parameter setting and historical query of going forward side by side; 8. when appearance is unusual, drive hummer 33e and make the buzzing caution with digital signal; 9. set up be used to store relevant braking figures and historical data electronic data sheet for other CAN bus external devices by CAN interface 34e visit.
The above; only for the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (4)
1. based on wheel-loaded intelligent sensing wheel movement attitude monitoring method, it is characterized in that this method comprises:
By the decline three-dimensional acceleration of Inertial Measurement Unit perception wheel of gyro free strap down, this acceleration comprises: tangential acceleration, side acceleration and centripetal acceleration;
Utilize three-dimensional acceleration parameter tangential acceleration, side acceleration and centripetal acceleration parameter, and speed parameter and wheel movement attitude angle in attitude algorithm computation acquisition wheel movement attitude, the speed in the described attitude comprises pace and side velocity; Described wheel movement attitude angle comprises camber angle, side drift angle and yaw angle;
Obtain the angular acceleration of wheel by three-dimensional acceleration parameter tangential acceleration, side acceleration and centripetal acceleration parameter;
With the wheel movement attitude: the data of tangential acceleration, side acceleration, centripetal acceleration, pace, side velocity, angular acceleration, camber angle, side drift angle, yaw angle merge and it are analyzed the variation tendency that obtains the wheel attitude.
2. according to claim 1ly it is characterized in that based on wheel-loaded intelligent sensing wheel movement attitude monitoring method, described gyro free strap down decline Inertial Measurement Unit whether operate as normal be to check and judge by the fusion of wheel movement attitude parameter.
3. according to claim 1 based on wheel-loaded intelligent sensing wheel movement attitude monitoring method, it is characterized in that gyro free strap down tangential acceleration, side acceleration and three parameters of centripetal acceleration that the temperature survey of Inertial Measurement Unit is used for the wheel movement attitude parameter that decline are carried out temperature compensation in the tire.
4. according to claim 1ly it is characterized in that the described gyro free strap down Inertial Measurement Unit that declines is arranged on the surface of the hub for vehicle wheel equatorial plane based on wheel-loaded intelligent sensing wheel movement attitude monitoring method.
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| CN2009100784766A CN101498621B (en) | 2009-02-24 | 2009-02-24 | Wheel-loaded intelligent sensing wheel movement attitude monitoring method |
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| CN2009100784766A CN101498621B (en) | 2009-02-24 | 2009-02-24 | Wheel-loaded intelligent sensing wheel movement attitude monitoring method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102435206A (en) * | 2011-09-01 | 2012-05-02 | 中国航空工业第六一八研究所 | Automatic calibrating and compensating method of onboard mounting deflection angle of strapdown inertial navigation system |
| CN107727416A (en) * | 2017-09-30 | 2018-02-23 | 广东工贸职业技术学院 | Based on combination sensor automobile tire load-bearing capacity monitoring method |
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| CN102295002A (en) * | 2011-06-09 | 2011-12-28 | 华南理工大学 | Method for obtaining wheel rotation signal characteristic quantity based on tangential acceleration curve of wheel |
| CN102896984A (en) * | 2011-07-29 | 2013-01-30 | 上海保隆汽车科技股份有限公司 | Method and device for positioning tire pressure transmitter |
| JP5880927B2 (en) * | 2011-10-06 | 2016-03-09 | 株式会社ジェイテクト | Attitude control device for vehicle |
| CN103042887B (en) * | 2011-10-11 | 2015-03-18 | 昆达电脑科技(昆山)有限公司 | Monitoring device for number of revolutions of wheel |
| CN103042999B (en) * | 2011-10-11 | 2015-04-15 | 昆达电脑科技(昆山)有限公司 | Wheel static monitoring device |
| CN103057592B (en) * | 2011-10-21 | 2015-08-05 | 昆达电脑科技(昆山)有限公司 | Wheel is along reversing to monitoring device |
| CN102589807B (en) * | 2012-01-16 | 2015-08-12 | 华南理工大学 | A kind of based on wheel-loaded intelligent sensing wheel balancing measuring method |
| CN102628694B (en) * | 2012-04-27 | 2015-02-04 | 哈尔滨工业大学 | Control system and control method of single- axis turntable based on inertia device gyroscope and accelerometers |
| CN103884518A (en) * | 2014-03-03 | 2014-06-25 | 合肥市强科达科技开发有限公司 | Method and device for achieving four-wheel positioning and detection of automobile by adoption of attitude sensor |
| US9944134B2 (en) * | 2015-06-24 | 2018-04-17 | GM Global Technology Operations LLC | Integrated sensing unit and method for determining vehicle wheel speed and tire pressure |
| US10406866B2 (en) | 2016-02-26 | 2019-09-10 | The Goodyear Tire & Rubber Company | Tire sensor for a tire monitoring system |
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| CN107702713B (en) * | 2017-09-30 | 2019-12-31 | 广东工贸职业技术学院 | Wheel motion attitude monitoring method based on nine-axis sensor |
| CN108871809B (en) * | 2018-07-09 | 2019-10-08 | 广东工贸职业技术学院 | A kind of automotive wheel security performance dynamic monitoring method and system |
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