CN103175987A - Device and method for detecting vehicle speed on parking condition with assistance of acceleration sensor - Google Patents
Device and method for detecting vehicle speed on parking condition with assistance of acceleration sensor Download PDFInfo
- Publication number
- CN103175987A CN103175987A CN2013100715033A CN201310071503A CN103175987A CN 103175987 A CN103175987 A CN 103175987A CN 2013100715033 A CN2013100715033 A CN 2013100715033A CN 201310071503 A CN201310071503 A CN 201310071503A CN 103175987 A CN103175987 A CN 103175987A
- Authority
- CN
- China
- Prior art keywords
- value
- vehicle speed
- speed
- velocity
- processing unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses a device and a method for detecting vehicle speed on parking condition with assistance of an acceleration sensor. The method includes that a two-axis acceleration sensor is arranged in a car and on a horizontal plane of the same, an output of the sensor is connected with a signal processing unit after being processed by signal filtering, and the signal processing unit is connected with a vehicle speed sensor; when speed value Vi detected by the vehicle speed sensor and acquired by the two-axis acceleration sensor is larger than zero and smaller than 20km/h, instant acceleration value Xj and Yj of the two-axis acceleration sensor in a direction of an X axis and in a direction of a Y axis is acquired, and instant speed Vx and Vy and instant vehicle speed Vj in each direction can be calculated; and validity of Vj value is judged and processed by means of recursion average filtering to acquire effective speed value Nj', and final speed value VC of the effective speed value Nj' and the speed value Vi are acquired through weighed average. With the device and the method for detecting the vehicle speed on the parking condition with the assistance of the acceleration sensor, accurate in-time speed information can be acquired, success rate of auxiliary parking is increased, and probabilities of accidents are reduced.
Description
Technical field
The invention belongs to automobile auxiliary parking system field, be specifically related to a kind of by the park method and apparatus of the speed of a motor vehicle under operating mode of acceleration transducer auxiliary detection.
Background technology
The automobile auxiliary parking system can help the driver, and VEHICLES MUST PARK WITHIN THE MARKED BAY in the smooth realization in narrow space area, outside relevant position is provided with range sensor on automobile, obtain the parking stall space size by the outer distance sensor in conjunction with the speed of a motor vehicle, and calculate real-time vehicle position and attitude by overall speed and steering wheel angle information in the process of parking.Present automobile auxiliary parking system adopts the method for directly extracting from vehicle itself (instrument or ABS) to obtain the real-time speed of a motor vehicle, its defective is: the middle speed of a motor vehicle is lower parking, the parking phenomenon is arranged in the middle of particularly parking, make the error of speed data collection larger, particularly the process errors for electromagnetic induction sinewave output formula wheel speed sensors is larger, finally cause the error of calculation of vehicle location is exceeded tolerance band, be prone to park failure or accident.
Summary of the invention
The objective of the invention is to cause the speed data collection error larger in order to solve when existing automobile auxiliary parking system detects the speed of a motor vehicle in the process of parking, finally cause the vehicle location error of calculation to exceed tolerance band, failure or the problem of major accident occurs causes parking, propose a kind of by acceleration transducer auxiliary detection park vehicle speed device and method under operating mode, can obtain more accurate speed information in real time, thereby obtain accurate vehicle location, realize reliably parking.
The present invention proposes passes through the acceleration transducer auxiliary detection technical scheme that vehicle speed device adopts under operating mode of parking and is: be positioned at vehicle interior and be provided with two axle acceleration sensors on vehicle surface level of living in, two axle acceleration sensor outputs connect the input of signal filtering treatment circuit, the output of signal filtering treatment circuit connects signal processing unit through the A/D translation interface, and signal processing unit connects vehicle speed sensor.
The present invention proposes, and to pass through the acceleration transducer auxiliary detection technical scheme that the aided detection method of vehicle speed device adopts under operating mode of parking be to comprise the steps:
(1) signal processing unit obtains the vehicle speed value that vehicle speed sensor detects
V i , when
V i Greater than zero and during less than 20km/h, obtain two axle acceleration sensors at the instantaneous acceleration value X of X-axis, Y direction by signal processing unit through the signal filtering treatment circuit
j, Y
j, to instantaneous acceleration value X
j, Y
jCarry out integral operation and obtain instantaneous velocity on direction separately
V x ,
V y , and pass through
Calculate automobile's instant velocity
V j
(2) to described automobile's instant velocity
V j Value and upper one automobile's instant velocity constantly
V j-1 It is poor to be worth, with the absolute value of difference
△ V j With default velocity variable upper lower limit value △
V max Compare, if
△ V j △ V max ,
V j It is invalid to be worth, and gives up invalid value, if
△ V j ＜△ V MaxY ,
V j Value effectively;
(3) adopt recurrence average value filtering method to effectively
V j Value is processed and is obtained the effective velocity value
V j ' , according to formula
Calculate final vehicle speed value V
C q j , q i It is respectively the effective velocity value
V j ' , vehicle speed value
V i Weights, by formula
Calculate
qIf,
q≥1
,Get
q j =1
, q i =0; If
q＜1
,Get
The invention has the beneficial effects as follows: the present invention is by increasing by two axle acceleration sensors, after the auxiliary process of parking starts, adopt two axle acceleration sensor detection vehicles athletic posture in the plane, and by for the filtering algorithm that designs under the low speed stall condition, in conjunction with the vehicle speed signal of vehicle own, obtain more accurate speed information in real time, improved auxiliary success ratio of parking, reduced contingency occurrence probability.
Description of drawings
Fig. 1 be the present invention propose pass through acceleration transducer auxiliary detection installation diagram and the component of acceleration schematic diagram of two axle acceleration sensors on the vehicle level face in vehicle speed device under operating mode of parking;
Fig. 2 be the present invention propose pass through the park composition schematic diagram of vehicle speed device under operating mode of acceleration transducer auxiliary detection;
Fig. 3 be the present invention propose pass through the park workflow diagram of vehicle speed device under operating mode of acceleration transducer auxiliary detection;
Fig. 4 is obtained the process flow diagram of the final speed of a motor vehicle by acceleration transducer in Fig. 3;
In figure: 1. liang axle acceleration sensor; 2. signal filtering treatment circuit; 3. signal processing unit; 4. power module; 5. vehicle speed sensor; 10. left front deflecting roller; 11. right front deflecting roller; 12. left back deflecting roller; 13. right back deflecting roller; 14. vehicle;
O is the center of the two residing surface level of axle acceleration sensor installation sites; OA is the acceleration of i time period O point on direction of motion; OXi is that OA decomposes the component of acceleration that is mapped on X-axis; OXi is that OA decomposes the component of acceleration that is mapped on Y-axis.
Embodiment
As depicted in figs. 1 and 2, two axle acceleration sensors 1 are arranged on the inside of vehicle 14, demonstrate vehicle 14 attitudes by left front deflecting roller 10, right front deflecting roller 11, left back deflecting roller 12, right back deflecting roller 13 in Fig. 1.The installation site of two axle acceleration sensors 1 is: on the residing surface level of stationary vehicle, Y-axis is parallel with the left and right vehicle wheel transverse axis, X-axis is parallel with transverse axis before and after vehicle, and the intersection point O of X-axis and Y-axis is the center of installation site on the two residing surface levels of axle acceleration sensor 1.The output of two axle acceleration sensors 1 connects the input of signal filtering treatment circuit 2, and the output of signal filtering treatment circuit 2 connects signal processing unit 3(DSP through the A/D translation interface), signal processing unit 3 connects vehicle speed sensor 5.Power module 4 connects respectively two axle acceleration sensors 1 and signal processing unit 3, power supply processing module 4 contains circuit of three-terminal voltage-stabilizing integrated LM317, be the 5V power supply with vehicle-mounted 12V DC power voltage stabilizing, then be accurate 3.3V direct supply through CYT8117T33 with the 5V voltage-regulation, provide stable accurate direct voltage source in order to give two axle acceleration sensors 1 and signal processing unit 3.Signal filtering treatment circuit 2 comprises the signal processing circuit that is comprised of secondary filter circuit and one-level amplifying circuit, and amplifying circuit is the amplifying circuit that is made of operational amplifier LF412 BI-FET, and enlargement factor is 10 times.Analog voltage signal to two axle acceleration sensor 1 outputs carries out the pre-service that processing, secondary filtering processing were processed, amplified to elementary High frequency filter successively.
Before parking, the driver presses the parking system start button, and parking system is started working, and vehicle begins initially seek the storehouse and park with the low speed of a motor vehicle.As 2 and shown in Figure 3, the speed of a motor vehicle value of feedback that signal processing unit 3 Real-time Obtaining vehicle speed sensor 5 detect, judge that whether this speed of a motor vehicle value of feedback is greater than 20km/h, if speed of a motor vehicle value of feedback is greater than 20km/h, be judged to be non-low speed driving states, need not the two axle acceleration sensor 1 auxiliary detection speed of a motor vehicle, vehicle speed value
V i Directly take this speed of a motor vehicle value of feedback.Otherwise, if the speed of a motor vehicle value of feedback that vehicle speed sensor 5 detects is greater than zero and less than 20km/h, the speed of a motor vehicle of this moment is lower, for induction sinusoidal wave feedback vehicle speed sensor, more difficultly obtain the accurate speed of a motor vehicle, therefore need by the two axle acceleration sensor 1 real-time vehicle speed values of auxiliary detection.Concrete steps by the two axle acceleration sensor 1 real-time vehicle speed values of auxiliary detection are as follows:
Referring to Fig. 1 to Fig. 4, signal processing unit 3 Real-time Obtainings on the vehicle in front two axle acceleration sensors 1 in the acceleration feedback voltage value of X, Y direction.In the j time, two axle acceleration sensors 1 detect component of acceleration on X-axis and Y direction, the analog voltage output signal of two-way component of acceleration carries out pre-service through signal filtering treatment circuit 2, by high-precision A/D conversion mouthful input control device digital signal processing unit 3.According to kinematic principle, signal processing unit 3 is with the instantaneous acceleration X of X-axis and Y direction
j, Y
jSoftware Integration by routine obtains the instantaneous velocity on direction separately
V x With
V y , the speed of a motor vehicle of instantaneous correspondence
V j Calculate acquisition by following formula:
Wherein
V j Be the automobile's instant velocity that two axle acceleration sensors 1 detect, V
x, V
yBe respectively the instantaneous velocity on X-axis, Y direction.
Judge this automobile's instant velocity
V j Value whether be effective value, concrete determination methods is: with this automobile's instant velocity
V j Value and upper one automobile's instant velocity constantly
V j-1 It is poor to be worth, will
V j -
V j-1 Absolute difference
△ V j Upper lower limit value △ with the velocity variable of presetting in advance
V max Compare, if
△ V j △ V max , should
V j Value invalid, if
△ V j ＜△ V MaxY , should
V j Value effective.The automobile's instant velocity in a upper moment
V j-1 Preparation method and the automobile's instant velocity of value
V j Preparation method identical.
If
V j Value invalid, give up this value; If
V j Value effective, adopt again conventional recurrence average value filtering method pair
V j Value process to obtain final vehicle speed value
Processing procedure is: getting the recursion window width is
m, after effective vehicle speed value of new calculating, (width that guarantees window is always just to cast out the effective value of obtaining the earliest in window
m), then to this
mIndividual Effective Numerical calculating mean value, and with the vehicle speed value of this mean value as reality.Namely at every turn right
mIndividual speed numerical value
V 1 , V 2 ... V m Carry out equalization and process,
V j ' =(V 1 + V 2 ...+V m )/m, obtain the effective velocity value
V j ' , finish the epicycle velocity computation process.To obtain the effective velocity value
V j ' With vehicle speed sensor 5 detect greater than zero and less than the vehicle speed value of 20km/h
V i Obtain final vehicle speed value V after weighted mean
C, concrete grammar is as follows:
First determine effective velocity amplitude
V j ' , vehicle speed value
V i Weights
q j , q i : by formula
Calculate
qResult, if
Q 〉=1, q j =1
, q i =0; If
Q＜1, 
Then according to formula
Calculate end value
Claims (4)
1. one kind by the acceleration transducer auxiliary detection vehicle speed device under operating mode of parking, it is characterized in that: be positioned at vehicle interior and be provided with two axle acceleration sensors on vehicle surface level of living in, two axle acceleration sensor outputs connect the input of signal filtering treatment circuit, the output of signal filtering treatment circuit connects signal processing unit through the A/D translation interface, and signal processing unit connects vehicle speed sensor.
2. the auxiliary detection vehicle speed device under operating mode of parking according to claim 1 is characterized in that: signal processing unit with are connected axle acceleration sensor and all connect power module.
3. the park aided detection method of vehicle speed device under operating mode of auxiliary detection as claimed in claim 1, is characterized in that comprising the steps:
(1) signal processing unit obtains the vehicle speed value that vehicle speed sensor detects
V i , when
V i Greater than zero and during less than 20km/h, obtain two axle acceleration sensors at the instantaneous acceleration value X of X-axis, Y direction by signal processing unit through the signal filtering treatment circuit
j, Y
j, to instantaneous acceleration value X
j, Y
jCarry out integral operation and obtain instantaneous velocity on direction separately
V x ,
V y , and pass through
Calculate automobile's instant velocity
V j
(2) to described automobile's instant velocity
V j Value and upper one automobile's instant velocity constantly
V j-1 It is poor to be worth, with the absolute value of difference
△ V j With default velocity variable upper lower limit value △
V max Compare, if
△ V j △ V max ,
V j It is invalid to be worth, and gives up invalid value, if
△ V j ＜△ V MaxY ,
V j Value effectively;
(3) adopt recurrence average value filtering method to effectively
V j Value is processed and is obtained the effective velocity value
V j ' , according to formula
Calculate final vehicle speed value V
C q j , q i It is respectively the effective velocity value
V j ' , vehicle speed value
V i Weights, by formula
Calculate
qIf,
q≥1
,Get
q j =1
, q i =0; If
q＜1
,Get
4. require as requested 3 described aided detection methods, it is characterized in that: the recurrence average value filtering method that adopts in step (3) is to effectively
V j Value is processed and is obtained the effective velocity value
V j ' Method be: getting the recursion window width is
m, when newly calculating one effectively
V j Just cast out after value and to obtain the earliest in window
V j Value is right
mIndividual effective velocity value
V 1 , V 2 ... V m Carry out equalization and process, obtain the effective velocity value
V j ' =(V 1 + V 2 ...+V m )/m
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310071503.3A CN103175987B (en) | 2013-03-07 | 2013-03-07 | Method for detecting vehicle speed on parking condition with assistance of acceleration sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310071503.3A CN103175987B (en) | 2013-03-07 | 2013-03-07 | Method for detecting vehicle speed on parking condition with assistance of acceleration sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103175987A true CN103175987A (en) | 2013-06-26 |
| CN103175987B CN103175987B (en) | 2014-10-29 |
Family
ID=48635982
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310071503.3A Active CN103175987B (en) | 2013-03-07 | 2013-03-07 | Method for detecting vehicle speed on parking condition with assistance of acceleration sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103175987B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105389985A (en) * | 2015-11-16 | 2016-03-09 | 北京智视信息科技有限公司 | Intelligent driving behavior analysis method based on mobile phone sensor |
| CN115291203A (en) * | 2022-10-08 | 2022-11-04 | 济南嘉宏科技有限责任公司 | Speed processing method of mine speed measuring radar |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101477136A (en) * | 2009-01-23 | 2009-07-08 | 华南理工大学 | Wheel rotating speed measurement method and device based on wheel-loaded intelligent sensing |
| CN101498740A (en) * | 2008-12-31 | 2009-08-05 | 南京汽车集团有限公司 | Combined sensor for automobile |
| CN101593407A (en) * | 2009-07-01 | 2009-12-02 | 奇瑞汽车股份有限公司 | A kind of parking system |
| CN201498098U (en) * | 2009-08-06 | 2010-06-02 | 深圳市惠全科技有限公司 | Auxiliary device used for automobile parking direction and provided with radio-frequency transceiver |
| CN203148969U (en) * | 2013-03-07 | 2013-08-21 | 江苏大学 | Apparatus for assisting detection of vehicle speed in parking condition through acceleration sensor |
-
2013
- 2013-03-07 CN CN201310071503.3A patent/CN103175987B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101498740A (en) * | 2008-12-31 | 2009-08-05 | 南京汽车集团有限公司 | Combined sensor for automobile |
| CN101477136A (en) * | 2009-01-23 | 2009-07-08 | 华南理工大学 | Wheel rotating speed measurement method and device based on wheel-loaded intelligent sensing |
| CN101593407A (en) * | 2009-07-01 | 2009-12-02 | 奇瑞汽车股份有限公司 | A kind of parking system |
| CN201498098U (en) * | 2009-08-06 | 2010-06-02 | 深圳市惠全科技有限公司 | Auxiliary device used for automobile parking direction and provided with radio-frequency transceiver |
| CN203148969U (en) * | 2013-03-07 | 2013-08-21 | 江苏大学 | Apparatus for assisting detection of vehicle speed in parking condition through acceleration sensor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105389985A (en) * | 2015-11-16 | 2016-03-09 | 北京智视信息科技有限公司 | Intelligent driving behavior analysis method based on mobile phone sensor |
| CN115291203A (en) * | 2022-10-08 | 2022-11-04 | 济南嘉宏科技有限责任公司 | Speed processing method of mine speed measuring radar |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103175987B (en) | 2014-10-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110239462B (en) | Vehicle rollover early warning method and system | |
| CN106394561A (en) | Estimation method and device for longitudinal vehicle speed of vehicle | |
| CN113819914A (en) | Map construction method and device | |
| CN106886215B (en) | Tracking system based on multi-axis trolley bus and trolley bus with tracking system | |
| CN103950448A (en) | Parking track guide method and system as well as parking track generating method and system | |
| CN104627068B (en) | Computing method for car body course angle in automatic parking process | |
| CN106768633A (en) | A kind of multiple-axle vehicle quality and centroid position dynamic measurement device and measuring method | |
| CN106184225A (en) | Longitudinal automobile speedestimate method that distributed type four-wheel-driven electrical vehicular power controls | |
| CN105109490A (en) | Method for judging sharp turn of vehicle on the basis of three-axis acceleration sensor | |
| CN103481820A (en) | Auxiliary parking system having safety monitoring function and method thereof | |
| WO2020191977A1 (en) | Dead reckoning method of automatic parking positioning system | |
| CN105083375A (en) | Vehicle electric-control steering road-feel control method based on drive-by-wire technology | |
| CN102818556A (en) | Vehicle road gradient detection method and device thereof | |
| CN104620297A (en) | Speed calculating device and speed calculating method, and collision determination device | |
| CN103175987B (en) | Method for detecting vehicle speed on parking condition with assistance of acceleration sensor | |
| RU2679941C2 (en) | Technology of turning vehicle | |
| CN102295002A (en) | Method for obtaining wheel rotation signal characteristic quantity based on tangential acceleration curve of wheel | |
| KR102303230B1 (en) | Apparatus and method for estimating radius of curvature in vehicle | |
| CN108238045B (en) | Vehicle control method and vehicle | |
| CN203148969U (en) | Apparatus for assisting detection of vehicle speed in parking condition through acceleration sensor | |
| CN116400362B (en) | Driving boundary detection method, device, storage medium and equipment | |
| CN104742902A (en) | Vehicle auxiliary system and vehicle auxiliary method | |
| KR101241518B1 (en) | Apparatus and method for computing steering angle with moving distance of rear wheel | |
| CN103921789A (en) | Intelligent vehicle balance detection device | |
| CN101938635B (en) | Composite image-type parking assisting system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent of invention or patent application | ||
| CB02 | Change of applicant information |
Address after: 211200 Jiangsu Province, Lishui District Yong Yang Town Bridge Road, No. 688 Applicant after: Jiangsu University Address before: Zhenjiang City, Jiangsu Province, 212013 Jingkou District Road No. 301 Applicant before: Jiangsu University |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |