CN102353543A - Testing method for monitoring automotive ABS (Antilock Braking System) performance based on hub type intelligent sensing self-adaptive variable-frequency sampling - Google Patents
Testing method for monitoring automotive ABS (Antilock Braking System) performance based on hub type intelligent sensing self-adaptive variable-frequency sampling Download PDFInfo
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Abstract
The invention discloses a testing method for monitoring automotive ABS (Antilock Braking System) performance based on hub type intelligent sensing self-adaptive variable-frequency sampling. According to the method, an MEMS (micro electro mechanical system) gyroscope-free strapdown microinertia measurement technique is applied; intelligent wheel sensing modules are mounted on the equatorial planes of hubs of all wheels of a car; an intelligent inertia measurement unit is mounted on a car body; the sensing data of the intelligent wheel sensing modules are obtained according to the self-adaptive variable-frequency sampling of the longitudinal speed of the car body obtained through calculation; braking performance parameters (wheel slip ratio) are obtained through signal conditioning, digitalization, an attitude algorithm and a braking algorithm by combining with the data of the intelligent inertia measuring unit mounted on the car body; the wheel slip ratio (such as the ABS braking performance) measured by an automotive ABS is monitored; the trend of the braking performance parameters can be predicted by carrying out data fusion and analysis on the parameters; and the movement safety condition of a motor vehicle is actively evaluated.
Description
Technical field
The present invention relates to exciting car safe operation status monitoring field, relate in particular to a kind of based on the wheel load formula intelligent sensing self-adapting frequency conversion sampling monitoring automobile real-time condition of ABS performance in the process of moving.
Background technology
Motor vehicle operation installment state 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, to the motor vehicle safe operation, promote the development of automotive industry and communications and transportation cause to be 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.Braking ability is to estimate the most important technical indicator of motor vehicle, is one of elementary item of automotive safety detection.Wheel slip is the parameter that can weigh the best on-position of wheel anti-lock braking system, and prevention motor vehicle braking ability fault is had material impact.
At present; The automobile ABS braking performance test is through at the non-rotating part sensor installation of wheel the gear ring or the bearing of wheel rotary part being carried out sensing measurement; Utilize fixing gear ring number of teeth equal angles to sample at interval; Fail to obtain the wheel sensing data according to actual conditions adaptively changing frequency, robotization, intelligent level that the automobile ABS braking ability is tested are low.
Patent related to the present invention has " a kind of based on the wheel-loaded intelligent sensing wheel brake performance monitoring methods " (grant number: ZL200910077744.2); The main braking ability parameter of the wheel that the method that this patent is mentioned can be monitored comprises: wheel slip; The wheel coefficient of road adhesion; Wheel braking force; Wheel braking retarded velocity etc.; But do not adopt the method for self-adapting frequency conversion sampling; But sample with fixed frequency; Its weak point is: then cause the parameter measurement precision not enough if sample frequency is crossed to hang down, if adopt the very high computation burden that then causes the waste of radio communication energy consumption in the sampling process and increase the weight of processor of frequency.
Summary of the invention
For solving above-mentioned middle problem and the defective that exists, the invention provides a kind of based on wheel load formula intelligent sensing self-adapting frequency conversion sampling monitoring performance of ABS method of testing.This method is used the MEMS gyro free strap down inertia measurement technology that declines; Through the intelligent sensing module is installed on the wheel hub equatorial plane in each wheel of motor vehicle; The central control module self-adaptation is obtained sensing module and is gathered wheel acceleration sensing data and vehicle body velocity information; Through the main braking ability parameter of attitude algorithm, braking algorithm computation acquisition wheel, the main braking ability parameter of this wheel is a wheel slip.Motor vehicle sports safety situation can be monitored and initiatively estimated to parameter through data fusion and analysis.Said technical scheme is following:
Based on wheel load formula intelligent sensing self-adapting frequency conversion sampling monitoring performance of ABS method of testing, comprising:
Accelerometer through vehicle body intelligence Inertial Measurement Unit is gathered the body-acceleration sensor data, and the body-acceleration sensor data of gathering are carried out filtering, compensation, sends to central control module;
Central control module carries out the attitude algorithm to the body-acceleration sensor data and obtains the vehicle body longitudinal velocity;
Central control module sends order and makes its execution obtain the task of wheel acceleration for the intelligent sensing module; Simultaneously; Central control module is taken turns the number of rapid pulse towards signal according to vehicle body longitudinal velocity reckoning automobile ABS wheel speed sensors measuring unit in the time, its frequency is f1; And self-adaptation takes the sample frequency f2 greater than f1, obtains the tangential acceleration signal from wheel intelligent sensing module;
Wheel intelligent sensing module receives the order of central control module, draws the tangential acceleration data according to the command signal that receives, and the tangential acceleration data that obtain are sent to central control module;
After central control module receives the tangential acceleration of wheel intelligent sensing module, draw the pace of wheel through attitude algorithm, integral and calculating;
Central control module carries out computing through attitude algorithm and braking algorithm to the pace of vehicle body speed and wheel, obtains the performance parameter of automobile ABS: wheel slip;
Wheel braking performance parameter and vehicle body braking ability parameter are carried out data fusion and analyzed the wheel braking changes of properties trend of measuring; Braking ability with to wheel carries out safety evaluation.
The beneficial effect of technical scheme provided by the invention is:
(1) through using the MEMS gyro free strap down inertia measurement commercial measurement wheel braking performance that declines, realized self-adapting frequency conversion sampling testing automobile abs braking performance under the different travelling speed;
(2) test with the mode of self-adapting frequency conversion sampling, the vehicle wheel rotational speed precision of acquisition is higher than the vehicle wheel rotational speed that the ABS wheel speed sensors obtains, and can access high-precision automotive wheel slip rate;
(3) through the analyses and prediction program wheel braking performance can be formed complete, a relatively independent measuring table, and can provide the uniform data interface modes to supply administrative authority of government concerned to be applied.
Description of drawings
Fig. 1 is with wheel side view signal wheel-loaded intelligent sensing wheel abs braking performance test module scheme of installation;
Fig. 2 is a wheel vertical view signal wheel-loaded intelligent sensing wheel abs braking performance test module scheme of installation;
Fig. 3 is a wheel front elevation signal wheel-loaded intelligent sensing wheel abs braking performance test module scheme of installation;
Fig. 4 a is that wheel intelligence sensing node is installed vertical view;
Fig. 4 b is that vehicle body intelligence sensing node is installed front view;
Fig. 4 c is that vehicle body intelligence sensing node is installed vertical view;
Fig. 5 is based on wheel load formula intelligent sensing self-adapting frequency conversion sampling monitoring automobile ABS braking performance test system hardware structure synoptic diagram;
Fig. 6 is based on the principle flow chart of wheel load formula intelligent sensing self-adapting frequency conversion sampling monitoring automobile ABS braking performance test method;
Fig. 7 is based on the self-adapting frequency conversion sampling principle process flow diagram of wheel load formula intelligent sensing self-adapting frequency conversion sampling monitoring automobile ABS braking performance test method;
Fig. 8 is the tangential acceleration curve of one of them regulation point of tire that utilizes the wheel load formula intelligent sensing module monitors of Fig. 1;
Embodiment
For making the object of the invention, technical scheme and advantage clearer, will combine accompanying drawing that embodiment of the present invention is done to describe in detail further below:
Consult Fig. 1, Fig. 2 and Fig. 3 and with wheel side view, wheel vertical view and wheel front elevation signal wheel-loaded intelligent sensing wheel ABS (Anti-Lock Braking System anti-lock braking system) braking performance test module signal is installed respectively; Wheel intelligent sensing module 2 is installed on the surface of the wheel 1 wheel hub equatorial plane, the installation requirement of 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; The left side is that Oxyz is the right-handed coordinate system of quadrature.
Fig. 4 a, 4b and 4c are respectively that wheel intelligence sensing node is installed vertical view, vehicle body intelligence sensing node is installed by front view and vehicle body intelligence sensing node is installed vertical view.Comprise wheel 1, wheel intelligent sensing module 2, central control module 3, vehicle body intelligent sensing module 4; Wherein wheel intelligent sensing module is installed on the surface, wheel hub equator of each wheel; Vehicle body intelligent sensing module is installed on car inside, and central control module is installed in the car; Realize two-way communication through less radio-frequency between the central control module in wheel intelligent sensing module and the car; Vehicle body intelligent sensing module comprises four vehicle body intelligence sensing nodes; Be respectively 4a, 4b, 4c and 4d; Their adopt the mode of inertia strapdown to install, and communicate by letter through the realization of CAN bus between each node and the central control module.
Consult Fig. 5, be based on the system of wheel load formula intelligent sensing self-adapting frequency conversion sampling monitoring automobile ABS braking performance test method, comprise wheel intelligent sensing module 2 that is installed in each wheel and the central control module 3 that is installed in the car; Wherein wheel intelligent sensing module 2 comprises the first no gyroscopic inertia measuring unit 2a, conditioning unit 2b, wireless singlechip 2c and the first power supply 2d; The first no gyroscopic inertia measuring unit is electrically connected with the conditioning unit, and the first no gyroscopic inertia measuring unit comprises an acceleration transducer 21a and temperature sensor 22a; Acceleration transducer and temperature sensor output simulating signal.Above-mentioned conditioning unit and wireless singlechip interconnect, and the conditioning unit be used for to the input acceleration and temperature signal carry out filtering and pressure regulation, its signal is a simulating signal; Integrated wireless transmission circuit and single-chip microcomputer on the wireless singlechip, be used to carry out sensing collection, computing and realize with car in the bi-directional communication function of central control module.First power supply is to be that the first no gyroscopic inertia measuring unit, conditioning unit and wireless singlechip provide direct supply; Wherein, the acceleration transducer of the first no gyroscopic inertia measuring unit adopts acceleration transducer ADX193, and wireless singlechip adopts JN5139.Central control module 3 comprises wireless singlechip 3a, vehicle body intelligence Inertial Measurement Unit (the second no gyroscopic inertia measuring unit) 3b, second source 3c, arm processor 3d and man-machine interaction unit 3e in the car; Wireless singlechip is realized and wheel intelligent sensing module communications functions, interconnects through digital signal and arm processor, and wherein, wireless singlechip adopts JN5139; Vehicle body intelligence Inertial Measurement Unit and arm processor interlink, and this signal is a digital signal; Second source is that wireless singlechip, vehicle body intelligence Inertial Measurement Unit, arm processor and man-machine interaction unit provide direct supply; Man-machine interaction unit is made up of liquid crystal display 31e, touch-screen 32e, hummer 33e; Liquid crystal display is used to export the output display message that shows arm processor, mainly is wheel abs braking performance test parameter, and touch-screen is used to be provided with parameter, data query; Drive by arm processor when hummer is used for system and breaks down and send caution.
Referring to Fig. 6, Fig. 7: the system based on wheel load formula intelligent sensing self-adapting frequency conversion sampling monitoring automobile ABS braking performance test method that present embodiment relates to realizes, adopts each corresponding processing program of C language establishment on the software, and its workflow comprises:
The accelerometer of the vehicle body intelligence Inertial Measurement Unit in step 101 central control module is gathered the body-acceleration sensor data, through after the data processing such as filtering, compensation data being dealt into central control module in the car.
Step 102 central control module carries out the attitude algorithm to the body-acceleration sensor data and calculates.
Step 103 draws vehicle body speed by the attitude algorithm of step 102.
Step 104 central control module sends order automatically and makes its execution obtain the task of wheel acceleration for wheel intelligent sensing module; The order that the wireless singlechip of the wireless singlechip reception central control module of wheel intelligent sensing module sends over; Self-adaptation is carried out data acquisition; Show: utilize the decline tangential acceleration (acceleration of directions X among Fig. 3) of Inertial Measurement Unit output of gyro free strap down; Temperature analog signal is after the conditioning of conditioning cell signal; Convert digital signal to through the ADC of wireless singlechip peripheral hardware, offer the CPU visit of wireless singlechip with the down trigger mode.
Step 105 wireless singlechip carries out digital filtering, compensates the tangential acceleration that calculates wheel signal, characterizes the state of any instantaneous tangential acceleration of wheel, and according to the wireless singlechip that data transmission is outputed to central control module in the car.
The vehicle body longitudinal velocity that step 106 central control module obtains according to step 103 calculates that the ABS system that automobile carries takes turns the number of rapid pulse towards signal in the unit interval, and the central control module self-adaptation is taked sample frequency f2, and (f2＞f1) obtains the tangential acceleration signal sampling wheel intelligent sensing module data from wheel intelligent sensing module.The projectional technique of f1 is: by taking turns fast formula:
Obtain
Wherein ω (t) is an angular speed of wheel, v
BBe the tangential linear velocity of wheel, equal at wheel slip to approximate the vehicle body longitudinal velocity, T under 0 the situation
1For sampling period (promptly obtain the sampling period of sensor information, be fixed value), R is a radius of wheel.Because f1 is along with v
BVariation and change, i.e. impulse sampling quantity in the ABS of the automobile system control sampling period own is along with v
BVariation and change, at v
BImpulse sampling quantity during increase in the sampling period reduces, and influences the monitoring accuracy of ABS performance, so the central control module self-adaptation is taked the sample frequency f2 greater than f1, helps improving the monitoring accuracy of ABS performance.
The wireless singlechip of central control module receives the tangential acceleration of wheel intelligent sensing module in step 107 car, and draws the pace of wheel through attitude algorithm, integral and calculating, characterizes the state of any instantaneous velocity of wheel.
Central control module uses the attitude algorithm and brakes algorithm to carrying out computing by the vehicle body speed of step 103, the wheel pace of step 107 in step 108 car.
Step 109 obtains automobile ABS braking ability parameter by step 108: wheel slip.
The wheel slip that step 110 pair automobile ABS is surveyed is monitored (abs braking performance), and wheel braking performance parameter and vehicle body braking ability parameter are carried out data fusion and analysis.
Step 111 goes out wheel braking changes of properties trend by step 110 is measurable.
Step 112 pair wheel braking performance is carried out the active safety evaluation.
Referring to Fig. 8, be the tangential acceleration curve of one of them regulation point of tire of intelligent sensing module monitors of obtaining of present embodiment.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, not all within spirit of the present invention and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. based on wheel load formula intelligent sensing self-adapting frequency conversion sampling monitoring performance of ABS method of testing, it is characterized in that said method comprises:
Accelerometer through vehicle body intelligence Inertial Measurement Unit is gathered the body-acceleration sensor data, and the body-acceleration sensor data of gathering are carried out filtering, compensation, sends to central control module;
Central control module carries out the attitude algorithm to the body-acceleration sensor data and obtains the vehicle body longitudinal velocity;
Central control module sends order and makes its execution obtain the task of wheel acceleration for the intelligent sensing module; Simultaneously; Central control module is taken turns the number of rapid pulse towards signal according to vehicle body longitudinal velocity reckoning automobile ABS wheel speed sensors measuring unit in the time, its frequency is f1; And self-adaptation takes the sample frequency f2 greater than f1, obtains the tangential acceleration signal from wheel intelligent sensing module;
Wheel intelligent sensing module receives the order of central control module, draws the tangential acceleration data according to the command signal that receives, and the tangential acceleration data that obtain are sent to central control module;
After central control module receives the tangential acceleration of wheel intelligent sensing module, draw the pace of wheel through attitude algorithm, integral and calculating;
Central control module carries out computing through attitude algorithm and braking algorithm to the pace of vehicle body speed and wheel, obtains the braking ability parameter of automobile ABS: wheel slip;
Wheel braking performance parameter and vehicle body braking ability parameter are carried out data fusion and analyzed the wheel braking changes of properties trend of measuring; Braking ability with to wheel carries out safety evaluation.
2. according to claim 1 based on wheel load formula intelligent sensing self-adapting frequency conversion sampling monitoring performance of ABS method of testing; It is characterized in that; The tangential acceleration method of said wheel intelligent sensing module samples wheel comprises: wheel tangential acceleration signal is carried out mould/number conversion; The tangential acceleration value that obtains wheel intelligent sensing module mounting points is handled in temperature compensated again processing, interpolation decoupling zero, and carries out data transmit-receive through communication.
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