CN103322978A - Vehicle-mounted road slope identification device based on embedded system - Google Patents
Vehicle-mounted road slope identification device based on embedded system Download PDFInfo
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- CN103322978A CN103322978A CN 201310248081 CN201310248081A CN103322978A CN 103322978 A CN103322978 A CN 103322978A CN 201310248081 CN201310248081 CN 201310248081 CN 201310248081 A CN201310248081 A CN 201310248081A CN 103322978 A CN103322978 A CN 103322978A
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Abstract
The invention discloses a vehicle-mounted road slope identification device based on an embedded system. The vehicle-mounted road slope identification device is characterized by comprising a vehicle-mounted embedded computer with three serial ports, an acceleration module connected with the vehicle-mounted embedded computer through a first serial port, a vehicle speed module connected with the vehicle-mounted embedded computer through a second serial port, and a timer connected with the vehicle-mounted embedded computer through a third serial port, wherein the acceleration module consists of an acceleration sensor, an analog/digital conversion module and a singlechip; the output end of the acceleration sensor is connected with the singlechip through the analog/digital conversion module; the singlechip is connected with the input end of the embedded computer through the serial port; a power supply module supplies power to each module through a vehicle-mounted power supply.
Description
Technical field
The invention belongs to the vehicle electronics technical field, particularly a kind of vehicle-mounted road grade recognition device based on embedded system.
Background technology
Acceleration transducer is a kind of electronic equipment that can measure accelerating force.Nowadays, acceleration transducer is towards more and more miniaturization, future development cheaply, and they have important using value in fields such as space flight, guidance, navigation and automobiles.Especially at automotive field, micro-machine acceleration transducer successfully has been applied to vehicle electric field cheaply, comprises the aspects such as safe automobile air bag, vibration compensation, antiskid system, is used for improving navigability, security and the comfortableness of automobile.
Identification of road grade is to utilize the sensing element collection vehicle be installed on the vehicle parameter of travelling when Vehicle Driving Cycle, calculates accordingly the gradient of Vehicle Driving Cycle place road.Existing identification of road grade method is generally carried out gradient identification according to the dynamics of vehicle equation.Need comparatively accurate a plurality of vehicle parameters that gather when using these class methods, comprise motor torque, current gear, wheel speed and damping force etc.This method generally is difficult to realize for using towards the low cost vehicle-mounted in enormous quantities of commercialization.For example, in Vehicular navigation system, need the identification road grade with judge vehicle whether about bridge travel.If utilize said method to realize gradient identification, just there is the sensor high cost, mounting arrangements inconvenience, and calculate the problems such as too complicated.
Summary of the invention
The objective of the invention is the demand for low-cost commercialization vehicular applications, propose a kind of vehicle-mounted road grade recognition device based on embedded system.The present invention adopts low cost acceleration sensor, cooperates speed of a motor vehicle module as sensing element, is aided with cheaply timer, has the characteristics such as cost is low, volume is little, precision is high, easy for installation.
The vehicle-mounted road grade recognition device based on embedded system that the present invention proposes, it is characterized in that, this device comprises the vehicle-mounted embedded type computing machine with three serial ports, the acceleration module that links to each other with the vehicle-mounted embedded type computing machine by first serial ports, the speed of a motor vehicle module that links to each other with the vehicle-mounted embedded type computing machine by second serial ports, and by the 3rd timer that serial ports links to each other with embedded computer; Described acceleration module is by an acceleration transducer, an analog-digital conversion module and a single-chip microcomputer consist of, the output terminal of this acceleration transducer links to each other with single-chip microcomputer by analog-digital conversion module, described single-chip microcomputer links to each other with the input end of described embedded computer by serial ports, and supply module is each module for power supply by vehicle power.
Utilize this device, with timer control data sampling interval is set, when speed of a motor vehicle module was sent data, order read acceleration information and vehicle speed data, can calculate road grade according to a moment acceleration information on a moment vehicle speed data and the timer on current vehicle speed and the timer.
Characteristics of the present invention and effect:
The vehicle-mounted road grade recognition device based on embedded system that the present invention proposes, adopt low cost acceleration sensor, cooperate speed of a motor vehicle module, as sensing element, have the characteristics such as cost is low, volume is little, precision is high, easy for installation such as speedometer or global positioning satellite module.Utilize this device in real time vehicle speed data and acceleration information to be measured, can calculate road grade according to measurement data.Its computing method are easy, and are efficient, can satisfy most of demand for the not high low-cost commercialization vehicular applications of precision and requirement of real-time.
Description of drawings
Fig. 1 is the structural drawing of device of the present invention.
Embodiment
The vehicle-mounted road grade recognition device based on embedded system that the present invention proposes reaches by reference to the accompanying drawings embodiment and is described in detail as follows:
The structure of apparatus of the present invention as shown in Figure 1, this device comprises the vehicle-mounted embedded type computing machine with three serial ports, the acceleration module that links to each other with the vehicle-mounted embedded type computing machine by first serial ports, the speed of a motor vehicle module that links to each other with the vehicle-mounted embedded type computing machine by second serial ports, and by the 3rd timer that serial ports links to each other with embedded computer; Described acceleration module is by an acceleration transducer, an analog-digital conversion module and a single-chip microcomputer consist of, the output terminal of this acceleration transducer links to each other with single-chip microcomputer by analog-digital conversion module, described single-chip microcomputer links to each other with the input end of described embedded computer by serial ports, and supply module is each module for power supply by vehicle power.Composition and the function of each parts embodiment of apparatus of the present invention are respectively described below:
(1) acceleration transducer, the low-cost single axle acceleration sensor ADXL103 that adopts ADI company to produce among the present invention; True feeling is subjected to vehicle acceleration when being used for, and vehicle acceleration is converted into analog information output.
(2) single-chip microcomputer, 8 single-chip microcomputer MC68H908GZ16 that adopt Freescale company to produce among the present invention; Be used for timing acquiring digital acceleration information, and the information exchange that gathers is crossed serial ports send out.
(3) analog digital modular converter (being called for short the A/D conversion), 10 A/D modular converters that adopt single-chip microcomputer to carry among the present invention; Be used for converting the acceleration simulation information that receives to numerical information.
(4) speed of a motor vehicle module adopts Global Positioning System (GPS) (being called for short GPS) module among the present invention, be used for obtaining speed information;
(5) embedded computer adopts the common vehicle-mounted embedded type computing machine with three serial ports, is used for calculating road grade according to the acceleration information that receives and speed information;
(6) timer can arrange the speed of a motor vehicle sampling time interval that embedded computer is taked according to artificial setting;
(7) supply module is each module for power supply by vehicle power.
Wherein, the output terminal of degree of will speed up sensor links to each other with the single-chip microcomputer input end by the A/D conversion and is made into circuit board, consists of acceleration module.In this module, single-chip microcomputer comes the neatly digital acceleration information of timing acquiring A/D modular converter output according to the setting of timer, and the information exchange that gathers is crossed serial ports 1 send into embedded computer.
Speed of a motor vehicle module, namely the GPS module among the present invention links to each other with embedded computer by serial ports 2.
Vehicle-mounted road grade recognition device is installed onboard, guaranteed that the sensitive axes forward of acceleration transducer is aimed at the headstock direction.
The flow process of utilizing said apparatus to carry out identification of road grade may further comprise the steps:
(1) constantly sensor acceleration a of a moment speed of a motor vehicle v (t-1) and upper is set
s(t-1) be invalid value;
(2) wait for that serial ports 2 receives vehicle speed data;
(3) when serial ports 2 receives vehicle speed data, order is carved into all acceleration informations in the t moment and the vehicle speed data in serial ports 2 buffer memorys when reading the t-1 that receives in serial ports 1 buffer memory;
(4) empty serial ports 1 and serial ports 2 buffer memorys;
(5) acceleration information that described step (3) is obtained replaces number mean value, as working as front sensor acceleration a
s(t);
(6) if constantly speed of a motor vehicle v (t-1) is all effective for current vehicle speed v (t) and upper, then according to current vehicle speed v (t) and upper constantly speed of a motor vehicle v (t-1) calculated the acceleration of motion a in a upper moment
mOtherwise constantly an acceleration of motion a is set (t-1),
m(t-1) be invalid value;
(7) if the sensor acceleration a in a upper moment
s(t-1) and upper one constantly acceleration of motion a
m(t-1) all effective, then according to sensor acceleration a
s(t-1) and upper one constantly acceleration of motion a
m(t-1) calculate road grade θ, as the road grade value of current identification; Be invalid value otherwise road grade θ is set;
(8) upgrading current vehicle speed v (t) is a upper moment speed of a motor vehicle v (t-1), upgrades as front sensor acceleration a
s(t) be a upper moment sensor acceleration a
s(t-1);
(9) repeating step (3)-(8), the identification of real road grade when finishing.
In the above-mentioned steps (6), according to constantly speed of a motor vehicle v (t-1) calculating of current vehicle speed v (t) and upper upper one acceleration of motion a constantly
m(t-1) method is shown below:
a
m(t-1)＝[v(t)-v(t-1)]/T
Wherein, T is the time interval that receives vehicle speed data, can set by timer.
In the above-mentioned steps (7), according to the sensor acceleration a in a upper moment
s(t-1) and upper one constantly acceleration of motion a
m(t-1) method of calculating road grade θ is shown below:
θ＝[a
s(t-1)-a
m(t-1)]/g
Wherein, g is the acceleration of gravity constant, is taken as 9.8m/s
2
Claims (9)
1. vehicle-mounted road grade recognition device based on embedded system, comprise: the vehicle-mounted embedded type computing machine with three serial ports, the acceleration module that links to each other with the vehicle-mounted embedded type computing machine by first serial ports, the speed of a motor vehicle module that links to each other with the vehicle-mounted embedded type computing machine by second serial ports, and by the 3rd timer that serial ports links to each other with embedded computer; Described acceleration module is by an acceleration transducer, an analog-digital conversion module and a single-chip microcomputer consist of, the output terminal of this acceleration transducer links to each other with single-chip microcomputer by analog-digital conversion module, described single-chip microcomputer links to each other with the input end of described embedded computer by serial ports, and supply module is each module for power supply by vehicle power.
2. recognition device as claimed in claim 1, wherein, described acceleration transducer is single-axis acceleration sensors.
3. recognition device as claimed in claim 2, wherein, described speed of a motor vehicle module is Global Positioning System (GPS) (GPS).
4. recognition device as claimed in claim 2, wherein, described single-chip microcomputer is 8 single-chip microcomputer MC68H908GZ16 that Freescale company produces.
5. recognition device as claimed in claim 2, wherein, described analog-digital conversion module is 10 A/D modular converters that single-chip microcomputer carries.
6. recognition device as claimed in claim 1, wherein, modules is integrated on the same surface-mounted integrated circuit.
7. recognition device as claimed in claim 2, wherein, the sensitive axes of described acceleration transducer is over against the headstock direction.
8. recognition device as claimed in claim 2, wherein, the measurement road gradient is carried out in accordance with the following steps, and (1) arranges constantly speed of a motor vehicle v (t-1) and a upper moment sensor acceleration a
s(t-1) be invalid value;
(2) wait for that serial ports 2 receives vehicle speed data;
(3) when serial ports 2 receives vehicle speed data, order is carved into all acceleration informations in the t moment and the vehicle speed data in serial ports 2 buffer memorys when reading the t-1 that receives in serial ports 1 buffer memory;
(4) empty serial ports 1 and serial ports 2 buffer memorys;
(5) acceleration information that described step (3) is obtained replaces number mean value, as working as front sensor acceleration a
s(t);
(6) if constantly speed of a motor vehicle v (t-1) is all effective for current vehicle speed v (t) and upper, then according to current vehicle speed v (t) and upper constantly speed of a motor vehicle v (t-1) calculated the acceleration of motion a in a upper moment
mOtherwise constantly an acceleration of motion a is set (t-1),
m(t-1) be invalid value;
(7) if the sensor acceleration a in a upper moment
s(t-1) and upper one constantly acceleration of motion a
m(t-1) all effective, then according to sensor acceleration a
s(t-1) and upper one constantly acceleration of motion a
m(t-1) calculate road grade θ, as the road grade value of current identification; Be invalid value otherwise road grade θ is set;
(8) upgrading current vehicle speed v (t) is a upper moment speed of a motor vehicle v (t-1), upgrades as front sensor acceleration a
s(t) be a upper moment sensor acceleration a
s(t-1);
(9) repeating step (3)-(8), the identification of real road grade when finishing.
In the above-mentioned steps (6), according to constantly speed of a motor vehicle v (t-1) calculating of current vehicle speed v (t) and upper upper one acceleration of motion a constantly
m(t-1) method is shown below:
a
m(t-1)＝[v(t)-v(t-1)]/T
Wherein, T is the time interval that receives vehicle speed data, can set by timer.
In the above-mentioned steps (7), according to the sensor acceleration a in a upper moment
s(t-1) and upper one constantly acceleration of motion a
m(t-1) method of calculating road grade θ is shown below:
θ＝[a
s(t-1)-a
m(t-1)]/g
9. wherein, g is the acceleration of gravity constant, is taken as 9.8m/s
2
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201310248081 CN103322978A (en) | 2013-06-20 | 2013-06-20 | Vehicle-mounted road slope identification device based on embedded system |
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| CN 201310248081 CN103322978A (en) | 2013-06-20 | 2013-06-20 | Vehicle-mounted road slope identification device based on embedded system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104482919A (en) * | 2014-12-10 | 2015-04-01 | 陕西法士特齿轮有限责任公司 | Commercial vehicle dynamic slope test system and commercial vehicle dynamic slope test method |
| CN105823484A (en) * | 2016-05-26 | 2016-08-03 | 清华大学 | Integrated inertial navigation measuring unit and corresponding measuring method |
-
2013
- 2013-06-20 CN CN 201310248081 patent/CN103322978A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104482919A (en) * | 2014-12-10 | 2015-04-01 | 陕西法士特齿轮有限责任公司 | Commercial vehicle dynamic slope test system and commercial vehicle dynamic slope test method |
| CN105823484A (en) * | 2016-05-26 | 2016-08-03 | 清华大学 | Integrated inertial navigation measuring unit and corresponding measuring method |
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Application publication date: 20130925 |