CN102529850A - Safe state monitoring method of motor vehicle based on wheel load type intelligent sensing - Google Patents
Safe state monitoring method of motor vehicle based on wheel load type intelligent sensing Download PDFInfo
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- CN102529850A CN102529850A CN2012100117389A CN201210011738A CN102529850A CN 102529850 A CN102529850 A CN 102529850A CN 2012100117389 A CN2012100117389 A CN 2012100117389A CN 201210011738 A CN201210011738 A CN 201210011738A CN 102529850 A CN102529850 A CN 102529850A
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Abstract
The invention discloses a safe state monitoring method of a motor vehicle based on wheel load type intelligent sensing. According to the method, wheel intelligent sensing modules are fast mounted on wheel hubs of the motor vehicle through a circular triangular movable wheel hub grabbing disc, a vehicle body intelligent sensing unit is mounted on the vehicle body and a suspension intelligent sensing unit is mounted on a suspension, so that real-time online monitoring of motion attitude, dynamic load and brake parameters of the motor vehicle, which are directly related to the operation of the motor vehicle, can be performed. The motion attitude, the dynamic load and the brake parameters of the motor vehicle can be obtained by performing signal conditioning, digitization and calculation through a monitoring algorithm of the motion attitude, the dynamic load and brake of the motor vehicle on all sensed signals. The safe state parameters of the motor vehicle can really, dynamically, comprehensively and scientifically monitor and actively evaluate the driving safety condition of the motor vehicle by combining and analyzing multiple sensed data. According to the method, the technical support capability of safe operation of the motor vehicle can be improved and the occurrence of traffic accidents can be reduced.
Description
Technical field
The present invention relates to self-propelled vehicle safe operation condition monitoring field, relate in particular to and be used for the monitoring motor vehicle method of real-time of self-propelled vehicle safe condition in the process of moving.
Background technology
Self-propelled vehicle safe in operation Condition Monitoring Technology is the main means that guarantee motor vehicle safe drive, also is the inexorable trend of self-propelled vehicle safe in operation detection technique development.Adopt self-propelled vehicle safe in operation condition monitoring technology that self-propelled vehicle safe in 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 self-propelled 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 power actuated vehicle safe in operation important techniques supports, and be the very important technical guarantee of government administration section to the self-propelled vehicle safe operation; It can not only improve technical guarantee ability, the minimizing traffic accident of self-propelled vehicle safe operation, and the development that promotes automotive industry and communications and transportation cause is of great importance.
Self-propelled vehicle safe in operation condition monitoring mainly comprises monitoring motor vehicle (vehicle body, wheel) athletic posture parameter, live load parameter, deceleration and stopping performance parameter.Self-propelled vehicle is in operational process; Operating modes such as meeting produces and brakes, quickens, turns to, straight-line travelling; Wheel can obtain the most direct, true, abundant self-propelled vehicle safe operation information as self-propelled vehicle in the driving process and ground engaging element through comprehensive monitoring wheel movement attitude parameter.Wheel is in complicated, abominable working environment such as high speed revolution high temperature, vibration, dust, rainwater in motion process; Have signal shielding, noise jamming, centrifugal forces affect, dynamic equilibrium problems, the installation of sensor, size, power supply, power consumption, high temperature resistance, moisture-resistant degree become the difficult problem of wheel movement attitude monitoring.
At present, body movement attitude monitoring is confined to vehicle body forward speed, two parameters of acceleration/accel more, to the body movement attitude parameter comprehensively, fast, reliable measuring also is in the starting stage, mainly concentrate on and in some special vehiclees, explore application; Conventional wheel ABS anti-skid brake system to the monitoring of wheel movement attitude is taken turns fast method for sensing, is confined to measure angular speed of wheel, two parameters of angular acceleration more, fails further to obtain wheel attitude angle, speed, rotation parameter information; Monitoring tire pressure TPMS method to the dynamic wheel load monitoring is confined to drawings real-time pressure, two parameters of temperature more, can't directly measure the dynamic wheel load parameter; Wheel ABS anti-skid brake system to wheel braking monitoring is taken turns fast method for sensing, is confined to measure the wheel slip parameter more, can't measure the wheel braking parameter comprehensively, fails actual response wheel braking parameter.Existing self-propelled vehicle safety performance method of inspection does not carry out comprehensively monitoring in real time to motor-driven vehicle going process safe state parameter; Fail accurately to analyze vehicle under the different pavement conditions, vehicle body is in the self-propelled vehicle safe condition parameter under the different attitudes with tire; Thereby effectively monitoring motor vehicle safe in operation state is unfavorable for prediction and assessment to self-propelled vehicle safe condition in the operational process.
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-propelled vehicle method for monitoring safety status; This method utilizes the intelligent sensing unit pair self-propelled vehicle athletic posture, live load, the brake parameters directly related with the self-propelled vehicle safe in operation that are installed in vehicle body, wheel and suspension to monitor through self-propelled vehicle athletic posture, live load, brake monitoring model.Above-mentioned self-propelled vehicle safe condition parameter merges and analyzes through many sensing datas, can true, dynamic, comprehensive, scientifical monitoring and initiatively estimate the motor-driven vehicle going safety case.Technical guarantee ability, minimizing traffic accident that this method can improve the self-propelled vehicle safe operation take place.
A kind of based on wheel load formula intelligent sensing self-propelled vehicle method for monitoring safety status, comprising:
A, through self-propelled vehicle athletic posture, live load, brake monitoring model, utilize self-propelled vehicle safety performance parameters such as the intelligent sensing unit monitoring motor vehicle athletic posture that is installed in vehicle body, wheel and suspension, live load, braking.
B, vehicle body, wheel, suspension three-dimensional acceleration signal are carried out filtering, digitalisation conversion and temperature compensating, draw the three-dimensional acceleration value of more accurate vehicle body, wheel, suspension.
C, self-propelled vehicle brake monitoring model are to utilize self-propelled vehicle athletic posture information, dynamic wheel load information calculations to obtain the self-propelled vehicle brake parameters, comprise wheel slip, brake braking force and balance and car load braking force; Self-propelled vehicle safe operation data are merged and analyze the variation tendency of acquisition self-propelled vehicle safe operation parameter.
The beneficial effect of technical scheme provided by the invention is:
1, can replace existing self-propelled vehicle safety performance detection line based on wheel load formula intelligent sensing self-propelled vehicle method for monitoring safety status; In the motor-driven vehicle going process, realize the quick, dynamic, accurate, true of self-propelled vehicle safety performance parameter detected; Need not arrive specific safety check mechanism and on special stand, carry out the safety performance detection; Both can practice thrift the place, and can on-the-spotly detect again, detectability improves greatly;
2,, realized under the different running velocitys real-time monitoring to the self-propelled vehicle safe condition through using the MEMS gyro free strap down inertia measurement commercial measurement self-propelled vehicle safe condition that declines;
3, can obtain the parameter that existing self-propelled vehicle safety performance detection can't be measured based on wheel load formula intelligent sensing self-propelled vehicle method for monitoring safety status through the relevance of setting up between self-propelled vehicle athletic posture, live load, the brake parameters information; Self-propelled vehicle athletic posture, live load, brake parameters information can truly, dynamically reflect self-propelled vehicle safe operation state, and is more comprehensive, scientifical than in the past;
4, through the analyses and prediction program self-propelled vehicle safe condition data and its historical data analysis are compared; Obtain the trend of self-propelled vehicle safe condition; Increase is to the forecast function of self-propelled vehicle safe condition; Form complete, a relatively independent measuring table, and can provide the uniform data interface modes to supply government concerned's supervisory management zone to be applied.
Description of drawings
Fig. 1 is based on the diagram of circuit of wheel load formula intelligent sensing self-propelled vehicle method for monitoring safety status;
Fig. 2 illustrates wheel-loaded intelligent sensing wheel live load monitoring system complete layout involved in the present invention with the vehicle side view;
Fig. 3 is based on the cardinal principle scheme drawing of wheel-loaded intelligent sensing wheel live load monitoring method;
Fig. 4 is based on wheel load formula intelligent sensing self-propelled vehicle monitoring safety status system hardware structure scheme drawing.
The specific 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:
Referring to Fig. 1; Provide a kind of based on this method of wheel load formula intelligent sensing self-propelled vehicle method for monitoring safety status; This method comprises that said method comprises: through self-propelled vehicle athletic posture, live load and brake monitoring model, utilize intelligent sensing unit monitoring motor vehicle athletic posture, live load and deceleration and stopping performance parameter; Concrete steps comprise:
Obtain the three-dimensional acceleration value after step 104 vehicle body, wheel and the suspension intelligent sensing resume module.
The wheel three-dimensional acceleration comprises tangential acceleration, lateral acceleration and centripetal acceleration, and said accekeration sends to the Central Control Module (CCM) that is installed in the car with the mode of unlimited communication.
Vehicle body, suspension three-dimensional acceleration comprise forward acceleration, lateral acceleration and vertical acceleration, and said accekeration sends to the Central Control Module (CCM) that is installed in the car with the mode of CAN bus communication.
The relevant relevant attitude parameter with wheel of attitude parameter of step 106 vehicle body is respectively body movement attitude parameter and wheel movement attitude parameter.
Step 110 is braked calculating according to self-propelled vehicle athletic posture information and self-propelled vehicle live load parameter.
Above-mentioned body movement attitude parameter comprises parameter, vehicle body speed parameter and the vehicle body acceleration parameter at body gesture angle;
The wheel movement attitude parameter comprises wheel attitude angle parameter, wheel velocity parameter, wheel acceleration parameter and wheel parameter;
Self-propelled vehicle live load parameter comprises dynamic wheel load parameter, wheel real-time pressure parameter and vehicle tyre pressure temperature parameter;
The self-propelled vehicle brake parameters comprises wheel slip parameter and self-propelled vehicle braking force and balance parameters.
Above-mentioned body gesture angle comprises: angle of roll, pitch angle and yaw angle;
The wheel parameter comprises: cireular frequency and angular acceleration;
The suspension three-dimensional acceleration comprises: longitudinal acceleration, lateral acceleration and centripetal acceleration.
Referring to Fig. 2 and Fig. 3; Be a kind of entire system layout that is adopted based on wheel-loaded intelligent sensing wheel live load monitoring method according to the invention; Comprise Central Control Module (CCM) 3 in wheel 1, wheel intelligent sensing module 2, the car, suspension intelligent sensing module 4; Wherein wheel intelligent sensing module is installed on the surface, wheel hub equator of each wheel, and Central Control Module (CCM) 3 is installed in the car in the car, and suspension intelligent sensing module 4 is installed on the wheel upper position suspension; Realize two way communication through less radio-frequency between the Central Control Module (CCM) 3 in wheel intelligent sensing module 2 and the car, hang between the interior Central Control Module (CCM) 3 of intelligent sensing module 4 and car through the two way communication of CAN bus.
Referring to Fig. 4, be hardware system based on wheel load formula self-propelled vehicle method for monitoring safety status, comprise the wheel intelligent sensing module 2 that is installed on each wheel, be installed on the suspension intelligent sensing module 4 of vehicle body suspension and be installed on Central Control Module (CCM) 3 in the car in the car; (1) wheel intelligent sensing module 2 comprises wheel inertia measuring unit 2a, conditioning unit 2b, wireless singlechip 2c and the first power supply 2d; This wheel inertia measuring unit 2a comprises a 3-axis acceleration sensor 21a, temperature sensor 22a and pressure sensor 23a; 3-axis acceleration sensor 21a, temperature sensor 22a and pressure sensor 23a output analog signal, this wheel inertia measuring unit 2a and conditioning unit 2b are electrically connected; Conditioning unit 2b is used for the acceleration/accel 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 an analog signal; Wireless singlechip 2c can send self-test signal to 3-axis acceleration sensor 21a, temperature sensor 22a and pressure sensor 23a, is used to check whether 3-axis acceleration sensor 21a, temperature sensor 22a and pressure sensor 23a work is normal; Integrated wireless transmission circuit and micro controller system 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 (CCM) 2; The first power supply 2d provides direct supply for wheel inertia measuring unit 2a, conditioning unit 2b and wireless singlechip 2c; Wherein, the 3-axis acceleration sensor 21a of wheel 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) suspension intelligent sensing module 4 comprises the 3rd Inertial Measurement Unit 4a, modulate circuit 4b, treater 4c, the 3rd power supply 4d and CAN interface 4e; The 3rd Inertial Measurement Unit 4a is made up of single-axis acceleration sensors 41a, temperature sensor 42a; Unit 4b interconnects with conditioning, and this signal is an analog signal; Conditioning unit 4b and treater 4c are electrically connected each other, and this signal is an analog signal; Single-axis acceleration sensors 4a adopts the ADXL103 type; The 3rd power supply 4d is that the 3rd Inertial Measurement Unit 4a, conditioning unit 4b, treater 4c provide direct supply; Wherein, treater 4c selects the C8051F041 type for use; (3) Central Control Module (CCM) 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 through 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 is that wireless singlechip 3a, the second no gyroscopic inertia measuring unit 3b, arm processor 3d and man-machine interaction unit 3e provide direct supply; Man-machine interaction unit 3e is made up of liquid crystal display 31e, touch-screen 32e, buzzer phone 33e, CAN interface 34e; Liquid crystal display 31e is used to export the output that shows arm processor 3d and shows information, comprises parameters such as self-propelled vehicle safe condition parameter; Touch-screen 32e is used to be provided with parameter, data query; When being used to break down, buzzer phone 33e sends caution by arm processor 3d driving; CAN interface 34e is used to provide the interface of Central Control Module (CCM) 3d in other CAN device access cars; Wherein, wireless singlechip 3a (2c) adopts CC2510F32.
The hardware system that present embodiment relates to based on wheel load formula self-propelled vehicle method for monitoring safety status; Adopt each corresponding processing program of C language establishment; Its workflow comprises: the tangential acceleration of (1) wheel inertia measuring unit 2a output, lateral acceleration, centripetal acceleration, temperature analog signal are 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 with the down trigger mode; Wireless singlechip 2c can carry out self check to acceleration pick-up through driving self-test signal when being necessary; (2) microprocessor among the wireless singlechip 2c carries out digital filter, compensation and interpolation arithmetic to signal and draws the three-dimensional acceleration value in the wheel movement attitude; Comprise: tangential acceleration, lateral acceleration and centripetal acceleration characterize any instantaneous three-dimensional state that quickens of wheel; Through wireless singlechip 2c in-to-in wireless transceiver circuit data transmission is outputed to the wireless singlechip 3a of central processing module 3 in the car, simultaneously through this wireless singlechip 2c in-to-in wireless transceiver circuit also can receive send a car in the order that sends over through wireless singlechip 3a of central processing module 3; (3) task of central processing module 3 in the car: 1. receive body gesture information from the second no gyroscopic inertia measuring unit 3b; 2. receive from suspension intelligent sensing module 4 suspension vertical acceleration information; 3. receive data through wireless singlechip 3a, send order through wireless singlechip 3a to wheel intelligent sensing module 2 in the time of necessary from wheel intelligent sensing module 2; 4. the acceleration information that sends over from wheel intelligent sensing module 2 to receiving calculates self-propelled vehicle athletic posture, live load, brake parameters through athletic posture, live load, braking; 5. above-mentioned self-propelled vehicle safe condition data are carried out active safety evaluation and trend prediction; 6. wheel movement attitude data and car load athletic posture data are carried out data fusion and analysis so that whether normal operation is made judgement to wheel intelligent sensing module 2, and the variation tendency of predicting machine motor-car safe condition; 7. through control liquid crystal display 31e output display machines motor-car safety state information, opinion rating, tendency prediction information etc.; 8. handle interruption that touch-screen 32e the triggers operations such as line parameter setting and historical query of going forward side by side; 9. when appearance is unusual, drive buzzer phone 33e and make the buzzing caution with digital signal; 10. set up be used to store relevant self-propelled vehicle safe condition data and historical data electronic data sheet for other external devices through CAN interface 34e visit.
The above is merely 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 (6)
1. one kind based on wheel load formula intelligent sensing self-propelled vehicle method for monitoring safety status; It is characterized in that; Said method comprises: through self-propelled vehicle athletic posture, live load and brake monitoring model, utilize intelligent sensing unit monitoring motor vehicle athletic posture, live load and deceleration and stopping performance parameter; Concrete steps comprise:
A obtains the body movement attitude parameter through vehicle body intelligent sensing unit perception vehicle body three-dimensional acceleration according to vehicle body three-dimensional acceleration calculation of parameter; Through wheel intelligent sensing module perception wheel three-dimensional acceleration and tire pressure temperature, obtain the wheel movement attitude parameter according to wheel three-dimensional acceleration calculation of parameter; And said body movement attitude parameter and wheel movement attitude parameter merged the working condition of judging the intelligent sensing unit;
B calculates according to self-propelled vehicle athletic posture information, suspension vertical acceleration and tire pressure temperature parameter and obtains self-propelled vehicle live load parameter;
C utilizes self-propelled vehicle athletic posture information and self-propelled vehicle live load calculation of parameter to obtain the self-propelled vehicle brake parameters;
D merges self-propelled vehicle safe operation data and analyzes the variation tendency of acquisition self-propelled vehicle safe operation parameter.
2. according to claim 1ly it is characterized in that based on wheel load formula intelligent sensing self-propelled vehicle method for monitoring safety status, said
Self-propelled vehicle safe operation data comprise self-propelled vehicle athletic posture information, self-propelled vehicle live load parameter and self-propelled vehicle brake parameters;
Self-propelled vehicle athletic posture information comprises body movement attitude parameter and wheel movement attitude parameter;
The body movement attitude parameter comprises body gesture angular dimensions, vehicle body three-dimensional velocity parameter and vehicle body three-dimensional acceleration parameter;
The wheel movement attitude parameter comprises wheel attitude angle parameter, wheel three-dimensional velocity parameter, wheel three-dimensional acceleration parameter and wheel parameter;
Self-propelled vehicle live load parameter comprises dynamic wheel load parameter, wheel real-time pressure parameter and vehicle tyre pressure temperature parameter;
The self-propelled vehicle brake parameters comprises wheel slip parameter and self-propelled vehicle braking force and balance parameters.
3. according to claim 1ly it is characterized in that, before execution in step A, also comprise: through suspension intelligent sensing unit perception suspension three-dimensional acceleration based on wheel load formula intelligent sensing self-propelled vehicle method for monitoring safety status.
4. according to claim 1 based on wheel load formula intelligent sensing self-propelled vehicle method for monitoring safety status; It is characterized in that; Said method also comprises: vehicle body, wheel and suspension three-dimensional acceleration signal are carried out filtering, digitalisation conversion and temperature compensating, obtain the three-dimensional acceleration parameter of vehicle body, wheel and suspension.
5. describedly it is characterized in that according to claim 1,2 or 3 based on wheel load formula intelligent sensing self-propelled vehicle method for monitoring safety status, said
Vehicle body three-dimensional acceleration parameter comprises: wheel longitudinal acceleration, wheel lateral acceleration and wheel vertical acceleration;
Wheel three-dimensional acceleration parameter comprises: wheel tangential acceleration, wheel lateral acceleration and wheel centripetal acceleration;
Vehicle body three-dimensional velocity parameter comprises: vehicle body longitudinal velocity, vehicle body side velocity and vehicle body vertical velocity;
Wheel three-dimensional velocity parameter comprises: wheel tangential velocity, wheel side velocity and wheel be speed entad;
The body gesture angular dimensions comprises: vehicle roll angle, vehicle body pitch angle and vehicle body yaw angle;
The wheel parameter comprises: angular speed of wheel and wheel angular acceleration;
Suspension three-dimensional acceleration parameter comprises: longitudinal acceleration, lateral acceleration and centripetal acceleration.
6. according to claim 1 based on wheel load formula intelligent sensing self-propelled vehicle method for monitoring safety status; It is characterized in that; Said wheel intelligent sensing module is fixed on the circular triangle free-wheel hub catching plate, and the wheel hub catching plate that will be fixed with wheel intelligent sensing module then realizes being easily installed in dismounting through gripper with being bolted on the wheel nave.
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| CN104057899A (en) * | 2014-06-23 | 2014-09-24 | 无锡市崇安区科技创业服务中心 | Vehicle-mounted vehicle safety detection device |
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| CN105677532A (en) * | 2014-11-11 | 2016-06-15 | 罗伯特·博世有限公司 | Method and device for determining if fault state exists in motor vehicle or not |
| CN107702713A (en) * | 2017-09-30 | 2018-02-16 | 广东工贸职业技术学院 | Based on nine axle sensor wheel movement attitude monitoring methods |
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| CN108871814A (en) * | 2018-07-09 | 2018-11-23 | 广东工贸职业技术学院 | One kind being based on wheel load type intelligent sensing automobile tire dynamic load capacity monitoring method |
| CN109029815A (en) * | 2018-08-13 | 2018-12-18 | 成都旸谷信息技术有限公司 | Rolling stock key structure Fast Monitoring system |
| CN109552245A (en) * | 2018-12-28 | 2019-04-02 | 辽宁工业大学 | A kind of vehicle remote anti-theft monitoring system and method based on electronic digitalizing |
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| CN105677532A (en) * | 2014-11-11 | 2016-06-15 | 罗伯特·博世有限公司 | Method and device for determining if fault state exists in motor vehicle or not |
| CN107702713A (en) * | 2017-09-30 | 2018-02-16 | 广东工贸职业技术学院 | Based on nine axle sensor wheel movement attitude monitoring methods |
| CN107727415A (en) * | 2017-12-04 | 2018-02-23 | 广东泓胜科技股份有限公司 | A kind of portable automobile wheel braking ability dynamic testing method and system |
| CN108871814A (en) * | 2018-07-09 | 2018-11-23 | 广东工贸职业技术学院 | One kind being based on wheel load type intelligent sensing automobile tire dynamic load capacity monitoring method |
| CN109029815A (en) * | 2018-08-13 | 2018-12-18 | 成都旸谷信息技术有限公司 | Rolling stock key structure Fast Monitoring system |
| CN109552245A (en) * | 2018-12-28 | 2019-04-02 | 辽宁工业大学 | A kind of vehicle remote anti-theft monitoring system and method based on electronic digitalizing |
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