CN102717671A - Vehicle tyre burst detection emergency method - Google Patents
Vehicle tyre burst detection emergency method Download PDFInfo
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- CN102717671A CN102717671A CN2012102364893A CN201210236489A CN102717671A CN 102717671 A CN102717671 A CN 102717671A CN 2012102364893 A CN2012102364893 A CN 2012102364893A CN 201210236489 A CN201210236489 A CN 201210236489A CN 102717671 A CN102717671 A CN 102717671A
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Abstract
The invention discloses a vehicle tyre burst detection emergency method comprising the following steps: acquiring data such as abnormal sound generated by a tire, tire pressure variation and vehicle stress variation through a signal acquisition unit; sending the data to a main control unit for analysis and processing; analyzing the data with the main control unit; sending a steering wheel rotating angle required for maintaining the driving trace of the vehicle before tyre burst to a steering wheel emergency prompt unit; and informing a driver the optimal steering wheel steering manner for maintaining the current driving of the vehicle. According to the method for confirming whether a wheel of the vehicle is burst or not according to the combination of abnormal sound and tire pressure variation and providing correct operation information for the driver when tyre burst is confirmed, so as to avoid serious consequence. The method provided by the invention is simple, and has the advantages that the application is easy, the cost of required equipment is low, the reliability is high, the accuracy for tyre burst judgment is improved obviously, and the using effect is good.
Description
Technical field
The present invention relates to a kind of detection emergency method, especially a kind of automobile flat tire detects emergency method.
Background technology
Show according to the ASSOCIATE STATISTICS data; 70% traffic accident causes for the tire problem on China's express highway at present, and wherein 46% is the accident of blowing out, and the particularly serious traffic accident that causes of blowing out accounts for 35% of whole traffic accidents; And speed per hour in the mortality of blowing out more than 160 kilometers near 100%; Therefore, how to reduce road traffic accident, the pernicious traffic accident that causes of particularly blowing out has been pendulum urgent and serious problem in face of us.Have now and manyly adopt tyre pressure sensor to realize monitoring tire pressure in real time, and judge whether to blow out according to the variation of tire pressure in the tyre explosion safety control technology of grinding; When finding to blow out, Central Processing Unit (CPU) sends instruction immediately and gives brake unit, through this rapid actv. brake measure, realizes that the speed of a motor vehicle decelerates to the safe speed of a motor vehicle in the short time, thereby reaches protection passenger's security purpose.Yet make above safety control technology obtain Expected Results, the promptness and the accuracy of the identification that must guarantee to blow out also will be guaranteed glancing impact simultaneously, and the braking force reasonable distribution is to avoid the generation of unfavorable situations such as going off course.There is certain risk yet utilize tyre pressure sensor to judge to blow out, sends alerting signal again, be unfavorable in time finding to blow out if guarantee to blow out, and if the doubtful sign of blowing out just sends the possibility that wrong report then appears in alerting signal easily.The rear becomes a technical barrier equally to control problem for blowing out.Because the braking scheme after many blowing out adopts automatic control technology completely at present; If the manipulation to bearing circle also realizes through all electronic scheme; Then since at present onboard sensor still can't discern the residing particular case of moving vehicle comprehensively and (whether send a car like the place ahead; Whether vehicle periphery exists factors such as obstacle), so its controlled target is difficult to confirm, realize also not knowing where to begin once the practical all-electronin bearing circle control policy of cover.And if allow chaufeur to handle, show by related data that then the many serious accidents in back of blowing out are because chaufeur is lacked experience, the direction errors is handled and the result that causes.On the contrary, data shows if chaufeur can be tackled unruffledly equally, trustworthy bearing circle, and then effective control vehicle stable in most cases avoided the generation of serious accident.This shows some problem below the current automatic safe control technology of blowing out exists: 1, the judgement of blowing out is only relied on the ANOMALOUS VARIATIONS of tire pressure, be difficult to fast and effeciently realize accurate judgement to blowing out; 2, fail to formulate the bearing circle control policy, make it can help the direction control after the calm reply of chaufeur is blown out, can not interfere with the urgent counter-measure that chaufeur is made according to actual state simultaneously again; 3, fail electron controls technology is combined with navigating mate, give full play to the effect of navigating mate, in fact,, can effectively reduce the generation of the back serious accident of blowing out if navigating mate can correctly be handled.
Summary of the invention
The objective of the invention is: provide a kind of automobile flat tire to detect emergency method; Whether this method can detect automobile accurately and effectively and blow out; And provide the best maneuverability pattern of chaufeur to select; Simultaneously do not hinder chaufeur to revise again according to actual conditions, thus the probability that has an accident after reduction is blown out.
The objective of the invention is to realize like this: a kind of automobile flat tire detects emergency method; Gather the data of abnormal noise, tire pressure varies and the stressed variation of vehicle of tire generation through signal gathering unit; And send it to and analyze in the main control unit and handle; The required bearing circle rotational angle of vehicle driving trace sent in the emergent Tip element of bearing circle before main control unit will be kept after with data analysis and blow out, and informed the current optimum orientation dish maneuverability pattern of keeping vehicle operating of chaufeur.
As a kind of preferred scheme, the said preceding required bearing circle rotational angle of vehicle driving trace of blowing out of keeping equals to correct by the inconsistent caused steering wheel angle △ of the rear wheel radius of blowing out
1With correction blow out back automobile side angle power keep blow out before the steering wheel angle △ ω of side force
nSum.
Wherein detecting emergency facility realizes through detecting emergency facility; Concrete said detection emergency facility comprises main control unit; And handle indicating member with main control unit bonded assembly signal gathering unit and bearing circle respectively, signal gathering unit is made up of aud. snl. collector unit, tire pressure sensing unit and vehicle-mounted sensing unit; Aud. snl. collector unit, tire pressure sensing unit and vehicle-mounted sensing unit all are connected with main control unit.Bearing circle manipulation indicating member is made up of voice alerting unit and screen prompt unit, and voice alerting unit all is connected with main control unit with the screen prompt unit.Between each unit by the total wire joint of CAN.
Owing to adopted technique scheme; Compared with prior art; The present invention adopts and combines the mode of abnormal noise and tire pressure varies to confirm whether automobile blows out; And under the situation of confirming to blow out, utilizing to detect provides the disposal method of the bearing circle rotational angle of the best to navigating mate after the information analysis that obtains is handled, thereby avoids producing serious consequence.Method of the present invention is simple, implements easily, and employed equipment is with low cost, and reliability is high, judges that the accuracy rate of blowing out is significantly improved, and result of use is good.
Description of drawings
Fig. 1 is that structure of the present invention is formed scheme drawing;
Fig. 2 is a tire pressure sensing unit scheme drawing of the present invention;
Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7 are audio signal sample amplification circuit diagram of the present invention;
Fig. 8 is a direction signal acquisition controller circuit diagram of the present invention;
Fig. 9, Figure 10 are the circuit diagram of the emergent indicating member of bearing circle;
Figure 11 is the program flow diagram of sound collection unit of the present invention;
Figure 12 is the program flow diagram of tire pressure sensing unit of the present invention;
Figure 13 is the program flow diagram of main control unit of the present invention;
In the accompanying drawing: 1, signal gathering unit; 1002, ultrasonic transduter; 1003, advance signal amplifying circuit; 1103, instrument is amplified chip; 1004, signal amplification circuit; 1005, microphone; 1006, signal amplification circuit; 1106, integrated transporting discharging chip; 1007, effective value change-over circuit; 1107, effective value detects integrated chip; 1008, effective value change-over circuit; 1009, steering wheel angle sensor; 1010, yaw-rate sensor; 1011, direction signal acquisition controller; 1111, micro controller system; 1211, CAN bus driver chip; 1012, tyre pressure sensor; 1112, pressure acquisition unit; 1212, temperature collecting cell; 1312, sensor carries microprocessor; 1412, spi bus; 1512, radiofrequency emitting module; 1612, emitting antenna; 1013, tire pressure signal acquisition controller; 1014, bandwidth-limited circuit; 1114, chip is amplified in integrated computing; 1015, abnormal noise signal acquisition controller; 1115, micro controller system; 1215, CAN bus driver chip; 1016, wheel speed sensors; 1017, wheel velocity signal capturing controller; 2, main control unit; 201, master controller; 3, the emergent Tip element of bearing circle; 301, loud speaker; 302, suggestion voice module; 312, speech recording and reproducing integrated chip; 322, integrated transporting discharging chip; 303, LCD MODULE; 304, reminding module controller; 314 micro controller systems; 4. aud. snl. collector unit; 5. tire pressure sensing unit; 6. voice alerting unit; 7. screen prompt unit; 8. vehicle-mounted sensing unit.
The specific embodiment
A kind of automobile flat tire detects emergency method; Gather the data of abnormal noise, tire pressure varies and the stressed variation of vehicle of tire generation through signal gathering unit 1; And send it in the main control unit 2 and analyze and handle; Main control unit 2 calculates the correct optimum orientation dish steering angle of handling according to current state; And its mode with voice and image informed chaufeur, and monitor the operation state of chaufeur simultaneously, avoid and correct chaufeur panic-stricken overreaction occurring through the early warning or the mode of in time reminding.
This automobile flat tire detects emergency method and realizes that through the vehicle inspection and test emergency facility structure is as shown in Figure 1, comprises main control unit 2, and main control unit 2 is connected with signal gathering unit 1 and the emergent Tip element 3 of bearing circle respectively; Signal gathering unit 1 is made up of aud. snl. collector unit 4, tire pressure sensing unit 5 and vehicle-mounted sensing unit 8, and aud. snl. collector unit 4, tire pressure sensing unit 5 and vehicle-mounted sensing unit 8 all are connected with main control unit 2; The emergent Tip element 3 of bearing circle is made up of voice alerting unit 6 and screen prompt unit 7, and voice alerting unit 6 all is connected with main control unit 2 with screen prompt unit 7.
Bearing circle is handled indicating member 3 and is comprised loud speaker 301, suggestion voice module 302, LCD MODULE 303 and reminding module controller 304.
The tire pressure sensing unit 5 of signal gathering unit 1 is installed in tire inside to obtain the abnormal tyre pressure signal, with the important evidence of blowing out as judgement.A kind of common tire pressure sensing unit 5 constructionals drawing are by shown in Figure 2; Tire pressure sensing unit 5 self with the control of microprocessor 1312 under; Pressure acquisition unit 1112 reads pressure and temp information respectively with temperature collecting cell 1212, and gives sensor and carry microprocessor 1312 analysis and judgement; The result of microprocessor 1312 analysis and judgement sends radiofrequency emitting module 1512 to through spi bus 1412, and radiofrequency emitting module 1512 is loaded on the emitting antenna 1612 after data are modulated into useful signal, with form of electromagnetic wave data is sent out.These information will be received by tire pressure signal acquisition controller 1013, and pass to master controller 201 through the CAN bus.
For the promptness and the reliability of the testing result that guarantees to blow out, the present invention monitors the abnormal noise signal simultaneously.Behind automobile flat tire, can send the aud. snl. of the different sounds of different frequency.The audio frequency that its frequency limit can be heard from people's ear is to supersonic band.At this, instance of the present invention is selected to be easy to and other frequency range of background noise phase region, is detected object like the 40KHz super sonic.Also the ordinary audio signal is monitored simultaneously, and whether surpass threshold value as criterion with the signal energy size that records.
In aud. snl. collector unit 4, the testing circuit of ordinary audio signal is made up of microphone 1005, signal amplification circuit 1006 and effective value change-over circuit 1007.Signal amplification circuit 1006 is as shown in Figure 3, mainly is made up of integrated transporting discharging chip 1106.Integrated transporting discharging chip 1106 pin ones are connected to pin two as mouth through resistance R 5.The pin two of integrated transporting discharging chip 1106 is again through resistance R 4, capacitor C 2 ground connection.Pin 3 is as input end, and through resistance R 1, capacitor C 1 links to each other with ground.Resistance R 3 and capacitor C 1 link to each other with parallel way, an end ground connection, and the other end links to each other with power Vcc through resistance R 2.The pin 4 direct ground connection of integrated transporting discharging chip 1106, pin 8 direct power connection Vcc.Wherein resistance R 2 and R3 form the 1/2Vcc bleeder circuit, and through R1 amplifier are setovered.R5, R4, C2 constitutes the feedback system of amplifying circuit.After this amplifying circuit amplifies, realize of the conversion of the effective value of random waveform signals through effective value change-over circuit 1007 by signal that microphone transmitted again, thereby reach the purpose of the detection sound intensity to dc signal.As shown in Figure 4, effective value change-over circuit 1007 adopts special-purpose effective value to detect integrated chip 1107 and realizes, its pin one, 3 direct ground connection, and positive-negative power+Vs reaches-and Vs is connected to the pin 4 of effective value detection chip 1107 through resistance R 1 after variable resistance R2 dividing potential drop.The pin 6 that effective value detects integrated chip 1107 links to each other with pin 9 through variable resistance.Pin 8 links to each other with pin 9 through capacitor C 1.Pin 9 is as output, and output converts straight-though signal effective value to.Pin one 0, pin one 1 respectively with negative supply-Vs, positive supply+Vs directly links to each other.Need carry out the signal of effective value conversion is imported by pin one 3 through capacitor C 2 couplings.Effective value signal after the final conversion converts digital quantity to through the A/D translation function that abnormal noise signal acquisition controller 1015 carries, for abnormal noise signal acquisition controller 1015 judgement that does further analysis.
Ultrasonic signal detects by sonac 1002, pre-amplification circuit 1003, bandwidth-limited circuit 1014, and signal amplification circuit 1004, and effect value change-over circuit 1008 is formed.As shown in Figure 5, pre-amplification circuit 1003 adopts high-precision meter to amplify chip 1103 and realizes.The signal that ultrasonic transduter 1002 obtains inserts pin two and the pin 3 that instrument is amplified chip 1103, constitutes input circuit.Wherein pin two links to each other with an output pin of ultrasonic transduter 1002 through capacitor C 1, and pin 3 directly links to each other with another pin of ultrasonic transduter 1002, has been connected in series resistance R 1 between pin two and the pin 3.Capacitor C 1 and resistance R 1 are formed passive high three-way filter, to reduce useless low-frequency noise intensity.The pin 8 that instrument is amplified chip 1103 links to each other with pin one through resistance R 2.Pin 4 meets negative supply-Vs, pin 5 direct ground connection, and pin 7 links to each other with positive supply+Vs.Signal output after pin 6 will amplify is given active band-pass filter circuit 1014.The physical circuit of active bandwidth-limited circuit 1014 is as shown in Figure 6, and it mainly amplifies chip 1114 by integrated computing and constitutes.Incoming signal is through resistance R 1, and capacitor C 1 inserts the normal phase input end pin 3 that chip 1114 is amplified in integrated computing, and the two ends of capacitor C 1 link to each other with ground with capacitor C 2 and resistance R 2 again respectively simultaneously.Resistance R 1 is formed low-pass network with capacitor C 2 like this, and capacitor C 1 is formed high pass network with resistance R 2.The inverting input pin two that chip 1114 is amplified in integrated computing links to each other with ground through resistance R 3.The pin 7 that chip 1114 is amplified in integrated computing links to each other pin 4 direct ground connection with power supply.The pin 6 that chip 1114 is amplified in integrated computing connects three-line; The resistance R 4 of leading up to links to each other with pin two and constitutes inverse feedback; Another road links to each other with pin 3 through resistance R 5 and capacitor C 1 and constitutes positive feed back; Last road is transferred to signal amplification circuit 1004 as the output of bandwidth-limited circuit 1014 with signal, after effective value change-over circuit 1008 is converted to the strong and weak effective value of characterization signal.Signal amplification circuit 1004 and effective value change-over circuit 1008 adopt the circuit identical with Fig. 3 Fig. 4 to realize.
The acquisition function that abnormal noise signal acquisition controller 1015 is realized the abnormal noise signal.As shown in Figure 7, abnormal noise signal acquisition controller 1015 is made up of the micro controller system 1115 and the special-purpose CAN bus driver chip 1215 of band A/D conversion and CAN bus functionality.ADIN1 connects the input of sound intensity signal effective value, and ADIN2 connects the input of ultrasonic signal effective value.Resistance R 1, capacitor C 1, C2 are as the filtering noise reducing circuit of first via A/D change-over circuit.C1, C2 parallel connection ground connection, the other end connects input interface ADIN1 respectively, and Chip Microcomputer A/input pin of D conversion and the positive pole of diode D1.The negative pole of D1 connects power source voltage Vcc, and such purpose can guarantee that the input voltage of micro controller system A/D port can beyond supply voltage.The high frequency noise of the low-pass filter circuit formed of resistance capacitance in can filtered signal simultaneously. Pin 6,58, the 59 power connection Vcc of micro controller system 1115, pin 7,56,57 direct ground connection.Between capacitor C 5, C6, C7 parallel connection and power Vcc and the ground, for micro controller system 1115 provides filter regulator circuit.The pin one of CAN bus driver chip 1215 and pin 4 link to each other with the pin two 8 and the pin two 9 of micro controller system 1115 respectively, and the pin 7 of CAN bus driver chip 1215 and pin 6 are connected the high-end and low side of CAN bus respectively.Parallel connection provides filter regulator circuit for CAN bus driver chip 1215 to capacitor C 8 with C9, and its two ends connect the pin two and the pin 3 of chip 1215 respectively.The pin 3 of CAN bus driver chip 1215 is the supply pin of chip, links to each other with Vcc, and pin two ground connection.
Steering wheel angle sensor 1009 is used for monitoring in real time the manipulation intention of chaufeur, and after confirming to blow out with help system, chaufeur is in correct state to the manipulation of direction.It is installed on the Steering gear of bearing circle downside, and output signal is the two-way analog voltage signal, and one the tunnel representes the direction and the number of turns that bearing circle rotates, and the angle that bearing circle rotates is represented on another road.
In the present invention, yaw-rate sensor 1010 is used for the operation attitude of monitor vehicle.In the present embodiment, yaw velocity is used for the stability of monitor vehicle operation.After the generation of blowing out, can be used as basis according to the change of yaw velocity, so that obtain the ideal orientation dish corner number of degrees under the current state, supply the navigating mate reference.
Above steering wheel angle signal and yaw velocity signal are responsible for acquisition process by direction signal acquisition controller 1011.As shown in Figure 8, direction signal acquisition controller 1011 comprises the micro controller system 1111 that has CAN bus communication function, and A/D gathers peripheral circuit and 1211 formations of CAN bus driver chip.Wherein the rotation lap signal of the input end ADIN1 of first via A/D change-over circuit and steering wheel angle sensor output links to each other, and the angle signal that is turned under the second road A/D change-over circuit ADIN2 and the current number of turns that steering wheel angle sensor is exported links to each other.The input end ADIN3 of Third Road A/D change-over circuit links to each other with the signal of yaw-rate sensor output.The detailed description of all the other each functional modules of circuit is consistent with signal acquisition controller shown in Figure 7 1015.
The back bearing circle of blowing out is handled indicating member 3 by loud speaker 301, suggestion voice module 302, and parts such as LCD MODULE 303 and reminding module controller 304 are formed.As shown in Figure 9, the circuit of suggestion voice module 302 is mainly built by speech recording and reproducing integrated chip 312 and integrated transporting discharging chip 322.The pin one of speech recording and reproducing integrated chip 312---6 and pin 9,10 be respectively eight bit address line A0---A7, their receive by reminding module controller 304 and transmit signals, represent the voice data institute address stored of required broadcast.Pin two 3 input PLAYL signals are with level triggering mode control broadcast.Pin two 6 direct ground connection.Pin one 6,28 power connection Vcc, pin one 3,12 ground connection.Cross-over connection capacitor C 1 between power Vcc and the ground, C2, C3 are to realize the function of filtering voltage regulation.Pin one 4 and pin one 5 constitute the delivery channel of sound signals, link to each other with the pin 3 and the pin two of integrated transporting discharging chip 322 through resistance R 3, capacitor C 7 and resistance R 2, capacitor C 8 respectively.This sound signal is amplified rear drive loud speaker 301 through amplifier 322 and is play.Resistance R 3 on the signal path, capacitor C 7 and resistance R 2,8 pairs of signal shapings of capacitor C, useless low frequency signal in the filtered signal.Integrated amplification chip 322 pins 4 ground connection, pin 6 power connection Vcc realize filtering voltage regulation through capacitor C 6 between power supply and the ground.Waveform after pin 5 outputs of integrated transporting discharging chip 322 are amplified is through capacitor C 5 coupling rear drive loud speakers 301 sounding.Be connected with resistance R 1 and capacitor C 4 between the output pin 5 of integrated amplification chip 322 and the ground, to offset the counter electromotive force of loud speaker, the protection power amplifier.Figure 10 is reminding module controller 304 and LCD MODULE circuit.The control that micro controller system 314 is realized speech play and liquid crystal display.A7 A wire pin links to each other its pin 55 A0 of speech recording and reproducing integrated chip 312---48 with---; Address data memory so that speech play to be provided; Pin 47 provides the PLAYL control signal of speech play; Pin one 6,17,18 links to each other with the pin 4,5,1 of LCD MODULE 303, through the SPI communication modes LCD MODULE 303 is controlled.Pin one 9,20 links to each other with the pin two, 3 of LCD MODULE 303, with the function that realization resets and data command is selected.The pin 7 power connection Vcc of LCD MODULE 303, pin 8 ground connection.Function is consistent with function shown in Fig. 8 shown in the remaining circuit part among Figure 10.
Introducing below blows out successively detects emergency method and the working process that detects emergency facility.
The function that detects emergency facility after blowing out can help chaufeur to confirm how the steering dish is to get back to the preceding driving trace of blowing out.Auxiliary device direction of passage dish sensor and yaw-rate sensor are confirmed current optimum orientation dish corner for this reason, and offer chaufeur through the mode of image and sound, with auxiliary its stabilising direction.Its computation process is at first calculated according to the rear wheel change in radius of blowing out, and this value can be confirmed through correlation model and prior test; After this just adjust through the feedback of yaw velocity according to the value of last time.(because automobile is when low speed driving, the running orbit that chaufeur can the actv. Control of Automobile, lower to the injury that chaufeur causes, and the dangerous great talent of the automobile of only running at high speed need be worked by this detection emergency facility.）
Master controller 201 calculates by the inconsistent steering handwheel deflection angle that causes of back both sides radius of wheel of blowing out at first according to theoretical model and test.For the ease of narration, this paper is that example is set forth it with the front-wheel tyre-burst, and other tires can be obtained by similar approach.By the back both sides change in wheel model of blowing out, can calculate this moment radius of wheel to change caused steering wheel angle value be ω
1=k arctan (R-r)/B), wherein R is that normal wheels radius, r are that wheelspan, k are the steering swivel system angular gear ratio for the back radius of blowing out, B.Based on this, add a correction ω ' who obtains through test (it is mainly revised according to the speed of a motor vehicle etc.).So just, obtain to correcting by the inconsistent needed steering wheel angle △ of the rear wheel radius of blowing out
1=ω
1+ ω
1'.Pairing this tyre slip angle of not blowing out of this corner can be calculated by approximate evaluation formula α=(v+l* γ)/u-ω; ν is an automobile side angle speed in the formula; U is the automobile speed of advance, and γ is the automobile yaw velocity, and these three amounts can obtain approximate value by the related sensor detection and through simple algorithm for estimating; L is automobile barycenter to a front axle distance, and ω is a steering wheel angle.If estimate that the front wheel side drift angle approximate value that obtains is α this moment
1
After the initial steer angle obtains, every at a distance from a sampling period Δ T, just calculate adjustment amount according to variation delta γ/Δ T and the automobile front axle cornering stiffness gc of yaw velocity in the cycle, the relation of sideslip angle α.This adjustment amount is conceived to as far as possible the suffered side force of automobile adjusted near the state before blowing out.According to last sampling period Δ T
N-1In yaw velocity value and the difference between the target yaw rate, can confirm the direction adjusted, concrete size then can be confirmed according to the calculating and the respective threshold of automobile side angle power.But the side force approximate calculation before blowing out is F
Y=gc
0* α
0, gc wherein
0Be front axle cornering stiffness just often, α
0Be the tyre slip angle before blowing out, it can be similar to by deflection angle and calculate.And owing to blow out and driving conditions changes and to make cornering stiffness change, current cornering stiffness can calculate through the yaw angle acceleration/accel.Know △ γ/△ T=l * gc by automobile side angle power model
N-1* a/I (wherein l is automobile barycenter to a front axle distance, and I is the automobile rotor inertia) so just can extrapolate current front axle cornering stiffness value through yaw-rate sensor.Therefore, make side force near the side force before blowing out, according to formula gc
0* α
0=gc
N-1* α can calculate the steering wheel angle of expectation.It is compared with current corner, can obtain the current value △ ω that should adjust
nShould avoid too fast ground steering wheel rotation after owing to blow out, therefore be provided with the limit value △ ω of adjustment value in each cycle
HAdjustment value can be expressed as △ ω like this
n=max (△ ω
n, Δ ω
H), because under the speed of a motor vehicle condition with higher, automobile generally is a straight-line travelling; Promptly be some turning, the bearing circle rotational angle is also very little, therefore; The approximate bearing circle of regarding as generally is place's straight-line travelling state; Therefore, the steering wheel angle under the straight-line travelling state is provided with coordinate 0 point, the turning angle of steering wheel of following one-period is set to △
n=△
1+ △ ω
n, the prompting value of voice or liquid crystal display prompting equals △
nDeduct the angle value that current bearing circle departs from 0 on coordinate.
When master controller 201 through tire pressure signal and abnormal noise signal monitoring to current when blowing out vehicle condition; It at first notify party send voice signal and " blow out the bearing circle of please holding with a firm grip " to emergent Tip element; To help navigating mate to set the mind at rest, avoid taking wrong measure under flurried.Subsequently, master controller 201 will be controlled corner by the each bearing circle of above-mentioned policy calculation, and be shown to chaufeur through voice and picture signal.Wherein picture signal can also show in real time chaufeur work as front control steering wheel angle and and expected value between difference, can let the more directly clear and definite next bearing circle direction that should handle and the angle that need turn over again of chaufeur like this.In addition, for preventing the too fast bearing circle (this is the one of the main reasons that causes accident) of beating of chaufeur, master controller 201 is gone back the real-time change of monitoring direction dish corner.When finding that the bearing circle velocity of rotation surpasses threshold value, it sends instruction, helps the calm reply of chaufeur with voice mode, the stability of vehicle after blowing out with assurance.
The mode of operation of checking system of blowing out then is described below.Figure 11,12,13 has shown the program flow diagram of tyre pressure sensor control chip 1012, abnormal noise signal acquisition controller 1015 and master controller 201 respectively.In tyre pressure sensor 1012, preestablish two different threshold value THRESH1 and THRESH2.Wherein THRESH2 is the threshold value of tire pressure, and TRESH1 is the threshold value of tire pressure downward gravity.Tyre pressure sensor 1012 whenever at regular intervals at interval △ t promptly tire pressure is carried out one-time detection.If find that current tire pressure value is lower than setting threshold THRESH2 and explains that promptly current tire pressure has been in complete abnormal state of affairs, send alerting signal SIG2 this moment immediately, expression is blown out, and need take immediate steps.If the tire pressure of surveying more than TRESH2, then further calculate the Grad of tire pressure varies in the nearest time period T.If find that tire pressure is on a declining curve, and the downward gravity value surpassed threshold value TRESH1, then sends alerting signal SIG1, explain that ANOMALOUS VARIATIONS appears in tire pressure, probably is the generation of blowing out.These alerting signals pass to master controller 201 again after tire pressure signal acquisition controller 1013 obtains.Same; Abnormal noise signal acquisition controller 1015 per interval section △ t promptly measure respectively ultrasonic signal and sound intensity signal; And respectively the effective value and the preset threshold of its intensity compared; When finding that arbitrary signal strength has been higher than threshold value, think the abnormal noise signal to occur, therefore send alerting signal SIG3 and give master controller 201.
Master controller 201 is constantly monitored the information that each signal acquisition controller transmits, and notes the expected value of the later control of the yaw velocity aviation value conduct direction in the nearest time period T0.When master controller 201 receives alerting signal SIG1; Show that unexpected downward trend appears in tire pressure; The possibility of blowing out is bigger, so master controller 201 continues to blow out if just think searching for whether there is alerting signal SIG3 in the time period t recently.When master controller 201 receives alerting signal SIG2, show that tire pressure is lower, cisco unity malfunction, explaining blows out takes place.Under above two kinds of situation, master controller 201 changes the rear of blowing out over to handling the prompting flow process.
Claims (2)
1. an automobile flat tire detects emergency method; It is characterized in that: the data of gathering abnormal noise, tire pressure varies and the stressed variation of vehicle of tire generation through signal gathering unit (1); And send it in the main control unit (2) and analyze and handle; Main control unit (2) sends in the emergent Tip element (3) of bearing circle keeping the preceding required bearing circle rotational angle of vehicle driving trace of blowing out after the data analysis, informs the current optimum orientation dish maneuverability pattern of keeping vehicle operating of chaufeur.
2. a kind of automobile flat tire according to claim 1 detects emergency method, it is characterized in that: the said preceding required bearing circle rotational angle of vehicle driving trace of blowing out of keeping equals to correct by the inconsistent caused steering wheel angle △ of the rear wheel radius of blowing out
1With correction blow out back automobile side angle power keep blow out before the steering wheel angle △ ω of side force
nSum.
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| CN106143003A (en) * | 2015-04-16 | 2016-11-23 | 联创汽车电子有限公司 | The tire pressure monitoring system being automatically adjusted and its implementation |
| CN107499069A (en) * | 2017-09-08 | 2017-12-22 | 江苏金坛绿能新能源科技有限公司 | Vehicle tyre flat tire prewarning device |
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| CN107933212A (en) * | 2017-10-23 | 2018-04-20 | 深圳市招科智控科技有限公司 | Harbour container is horizontal to carry the quick-fried detecting system of unmanned vehicle tire tire and method |
| CN108482365A (en) * | 2018-04-28 | 2018-09-04 | 江苏大学 | A kind of vehicle flat tire transient state vehicle body emergency flight control system and method |
| CN111994067A (en) * | 2020-09-03 | 2020-11-27 | 南京维思科汽车科技有限公司 | Intelligent safety control system and method for dealing with vehicle tire burst |
| WO2022150999A1 (en) * | 2021-01-13 | 2022-07-21 | 华为技术有限公司 | Tire abnormality detection method and apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106143003A (en) * | 2015-04-16 | 2016-11-23 | 联创汽车电子有限公司 | The tire pressure monitoring system being automatically adjusted and its implementation |
| CN106143003B (en) * | 2015-04-16 | 2018-08-21 | 联创汽车电子有限公司 | The tire pressure monitoring system and its implementation of automatic adjustment |
| CN105549040A (en) * | 2015-12-04 | 2016-05-04 | 航天恒星科技有限公司 | Positioning resolving method and receiver |
| CN107499069A (en) * | 2017-09-08 | 2017-12-22 | 江苏金坛绿能新能源科技有限公司 | Vehicle tyre flat tire prewarning device |
| CN107933212A (en) * | 2017-10-23 | 2018-04-20 | 深圳市招科智控科技有限公司 | Harbour container is horizontal to carry the quick-fried detecting system of unmanned vehicle tire tire and method |
| CN107867130A (en) * | 2017-11-08 | 2018-04-03 | 深圳市招科智控科技有限公司 | A kind of harbour container is carried unmanned vehicle and blown out risk checking method and system |
| CN108482365A (en) * | 2018-04-28 | 2018-09-04 | 江苏大学 | A kind of vehicle flat tire transient state vehicle body emergency flight control system and method |
| CN111994067A (en) * | 2020-09-03 | 2020-11-27 | 南京维思科汽车科技有限公司 | Intelligent safety control system and method for dealing with vehicle tire burst |
| WO2022150999A1 (en) * | 2021-01-13 | 2022-07-21 | 华为技术有限公司 | Tire abnormality detection method and apparatus |
| CN115052761A (en) * | 2021-01-13 | 2022-09-13 | 华为技术有限公司 | Method and device for detecting tire abnormity |
| CN115052761B (en) * | 2021-01-13 | 2023-11-03 | 华为技术有限公司 | Method and device for detecting tire abnormality |
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