CN103884514B - A kind of multifunction motor vehicle measuring instrument and detection method - Google Patents
A kind of multifunction motor vehicle measuring instrument and detection method Download PDFInfo
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Abstract
A kind of multifunction motor vehicle measuring instrument and detection method, the vehicle-mounted fault diagnosis system belonged in automotive electronic technology, mainly it is made up of two parts, Part I is wheel Posture acquisition device, mainly by MEMS micro-mechanical inertia navigation modules, microprocessor, wireless blue tooth sending module, fixed and constituted using special fixture and wheel, each wheel installs a wheel Posture acquisition device, Part II is portable main machine instrument, mainly by wireless blue tooth wheel signal receiving module, vehicle-mounted attitude transducer, pedal force acquisition module, microprocessor, GPS communication module, 3G/GPRS communication modules, display, printer, vehicle power, vehicle power charger is constituted.Profit it using it is upper have it is safe and accurate, conveniently, efficient distinguishing feature, for safeguarding road traffic order, prevention and to reduce traffic accident significant.
Description
Technical field：
The invention belongs to the vehicle-mounted fault diagnosis system in automotive electronic technology, specifically motor vehicle is in actual road test process
In, by inertial navigation, GPS, 3G/GPRS communication technology, measure the portable apparatus of the various technical performances of motor vehicle.
Background technology：
The braking ability of motor vehicle is one of important performance of motor vehicle, and it is directly connected to the driving safety of motor vehicle.
Meanwhile, good braking ability is also the premise for improving motor vehicle speed, without good, reliable braking ability as guarantee,
Running at high speed for motor vehicle is not just known where to begin.With developing rapidly for auto industry, increasing new technology especially electronics
Technology is applied in brake system of car.Such as ABS（Anti-lock braking system）、EBD（Electronic braking force is distributed）And ESP（Electricity
Sub- stability program）Etc. the standard configuration that brakes has become Hyundai Motor.And ABS can be improved in Motor Vehicle Braking Procedure
Control stability and shortening braking distance, are the primary of raising vehicle active safety so as to effectively ensure vehicle safety
Approach, it turns into the mandatory item mesh of automobile.
In national standard GB7258《Motor vehicle safe and technical specification》、GB18565《The requirement of commerial vehicle combination property and inspection
Survey method》And GB21861《Motor vehicle safety inspection project and method》In technical requirements, due to not a kind of complete function, valency
The detection device of the cheap domestic ABS anti-lock braking system of lattice, national standard 7258 is to refer to the requirement of this respect, is not forced
It is required that each motor vehicle detecting mechanism is equipped with, it is the defect in terms of each current safety check structural establishment outfit.So, no matter from vapour
Car factory is to information of safety inspection for motor vehicles mechanism all in the urgent need to a kind of detection of simple, general ABS anti-lock braking system
Instrument, is easily detected to automobile braking performance, forbids the underproof vehicle of automobile braking performance in traffic route
Upper traveling.
Due to the limitation of desk-top brake tester, especially in main car and trailer braking protection valve sequential, main car and trailer abs braking
The measurement of coordination time, currently without also good measuring instrument.
The existing portable brake performance tester in market, can only meet the general requirement to motor vehicle braking force, it is impossible to complete
, can not into the measurement of the wheel slip of automotive anti-lock braking ABS performances, it is impossible to measure the coordination time of each wheel
Time is coordinated to tractor and trailer braking protection valve, the measurement of sequential is braked.
Measured because in the market portable brake performance tester uses acceleration transducer, wheel is because of braking
When sideslip occurs for problem, due to the effect of component, when there is load horizontal transfer because of brake failure in measurement vehicle, it is impossible to measure
Relative distance during load horizontal transfer, can also cause the whether qualified erroneous judgement of braking deceleration.
Domestic wide variety of suspension performance detection method has drop type, pressure bodywork-type, resonant, flat board brake type four
Kind, GB18565《The requirement of commerial vehicle combination property and detection method》Middle regulation design speed is not less than 100km/h, axoplasm amount
No more than 1500kg visitor, lorry, should measure suspension performance, but suspension measurement is not proposed to the vehicle more than 1500kg
It is required that, in reality, automobile new product is tested and assessed, the vehicle suspension characteristic test and appraisal under different loads, the suspension performance of different roads
Test and appraisal, are required for a kind of suspension test instrumentation to measure, the present invention propose it is a kind of use vehicle-mounted attitude transducer, to drop type,
Pressure bodywork-type measuring method is quantified, so as to draw the specific evaluation index that suspension performance is measured, this method can not be by
Place is limited, and can be changed according to car load, be drawn different suspension performances, favorably the entirety to vehicle suspension characteristic is ground
Study carefully.
In control stability actual road test, Uneven road can make automobile produce certain vibration, under certain conditions, road
When the vibration that face is evoked evokes resonance with the shared vibration frequency of automobile, automobile and the attachment coefficient on ground can be influenceed, automobile is pacified
Full property causes certain potential safety hazard, therefore, and the three-dimensional vibration letter in vehicle traveling process is measured in this actual road test
Breath tool has very important significance.
Domestic front wheel angle measurement apparatus has vehicle front steering angle check-out console and the class of four-wheel aligner two, and measuring station generally makes
The measurement of front wheel steering angle is carried out with vehicle front steering angle check-out console, because in operating process, monitor station needs tire to position,
The defects such as steering-wheel placing difficulty, the defect such as troublesome poeration, time-consuming, data are error-prone, the present invention proposes a kind of to use vehicle-mounted appearance
State sensor, is fixed in steering front wheel, the method by measuring tyre angle, to measure front-wheel steering locking angle, steering
Real time synchronization, this method can not be limited by place, the measurement of double steering wheel before being particularly adapted to.
With the very fast development of microelectric technique, in the market occurs in that cheap attitude transducer, attitude transducer
It is the high performance three-dimensional motion attitude measuring system based on MEMS technology.It includes three-axis gyroscope, three axis accelerometer, three axles
The motion sensors such as electronic compass, the 3 d pose by temperature-compensating and side are obtained by embedded low-power consumption arm processor
The data such as position.Using three-dimensional algorithm and special data integration technology based on quaternary number, output is with quaternary number, Eulerian angles table in real time
The zero shift 3 d pose bearing data shown.Attitude transducer can be embedded into model plane unmanned plane extensively, robot, mechanical head,
Shipping vehicle, ground and underwater installation, virtual reality, human motion analysis etc. need the production in autonomous measurement 3 d pose and orientation
In product equipment.
The content of the invention：
The technical problems to be solved by the invention are to provide a kind of multifunction motor vehicle measuring instrument and detection method, used
MEMS micro-mechanical inertias navigate, and the technology such as Kalman filtering installs a wheel Posture acquisition by each wheel to motor vehicle
Device, measures the average retardation rate of each wheel respectively（MFDD）Brake coordination time, initial speed of braking, braking distance, cunning
Shifting rate, brake coordination time, braking sequential, the gradient, steering locking angle, steering angle synchronism, brake pedal force, suspension performance come
Judging braking performance of vehicle, there is provided a kind of less expensive multifunction motor vehicle measuring instrumentss.
The technical problems to be solved by the invention are realized using following technical scheme.
A kind of multifunction motor vehicle measuring instrument and detection method are made up of two parts, and Part I is wheel Posture acquisition
Device, as shown in figure 1, it is main by MEMS micro-mechanical inertias navigation module, microprocessor, wireless blue tooth sending module, using special
Fixture is fixed with wheel and constituted, and each wheel installs a wheel Posture acquisition device.
Part II is portable main machine instrument, as shown in Fig. 2 main by wireless blue tooth wheel signal receiving module, car
Carry attitude transducer, pedal force acquisition module, microprocessor, GPS communication module, 3G/GPRS communication modules, display, printing
Machine, vehicle power, vehicle power charger composition.
MEMS micro-mechanical inertias navigation module, vehicle-mounted attitude transducer wherein in wheel Posture acquisition device, which are included, includes three
Axle gyroscope, three axis accelerometer（That is IMU）, three axle electronic compass, the sensor such as temperature sensor can be for measurement automobile
The angular speed and acceleration of car body, wheel in three dimensions, the angle speed calibrated by embedded low power processor output
Degree, acceleration, magnetic data etc., it is possible thereby to converse the speed of vehicle, distance, displacement etc., pass through improved motor racing shape
State Kalman filter algorithm carries out data fusion, and the zero shift three-dimensional motion represented with quaternary number, Eulerian angles etc. is exported in real time
Attitude data, meets the vehicle motion posture measurement in the case of high dynamic.
Pedal force acquisition module is made up of pressure sensor, signal amplifier, microprocessor, wireless blue tooth module, such as Fig. 3
Shown, its function is integrally fixed on motor brake treadle, and when operating personnel touch on the brake, pedal force acquisition module will be stepped on automatically
The pressure data of plate power, pedal time, portable main machine instrument is sent to by wireless blue tooth, number is provided for follow-up measurement
According to.
A kind of multifunction motor vehicle measuring instrument and detection method, specifically include following methods step, and wheel posture first is adopted
Storage is fixed on the optional position of each wheel, and vehicle-mounted attitude transducer, the GPS of portable main machine instrument are consolidated with sucker
Set, foot brake pedal pressure gauge is fixed on brake pedal, input wheel radius data, the initial velocity tested according to national standard different vehicle
It is required that, start vehicle, when vehicle initial velocity reaches Standard, suddenly touch on the brake, after stopping completely to vehicle, portable main machine
Instrument is during the entire process of brake, the high property of wheel posture, i.e. wheel that each wheel Posture acquisition device of automatic data collection is sent
Energy three-dimensional motion posture, calculates motor vehicle average retardation rate（MFDD）, the brake coordination time, initial speed of braking, braking distance,
Brake sequential.
In addition to above-mentioned braking ability is measured, to the vehicle with ABS ANTI LOCK performances, according to automobile in braking procedure
In, wheel can slide relative to road surface, sliding composition ratio row shared in vehicle longitudinal movement can by slip rate Lai
Represent, slip rate λ definition is：
V：Car speed (m/s)
r：Radius of wheel (m)
ω：Vehicle wheel rotational speed (radian/s)1
According to the high performance three-dimensional athletic posture of wheel, wheel radius data is inputted, so that it may calculate abs braking performance
Slip rate, and the data such as speed critical point, each wheel acceleration-deceleration, wheel speed change frequency during each wheel ABS work, so that
The data of dynamic evaluation abs braking performance.
The beneficial effects of the invention are as follows：Using cheap attitude transducer, research and development are a kind of multi-functional flat containing motor vehicle
Equal deceleration（MFDD）Brake coordination time, initial speed of braking, braking distance, braking sequential, motor vehicle anti-lock abs braking
The portable apparatus of energy, suspension performance, steering locking angle etc. is possibly realized, and the research and development of the instrument can be easily to motor vehicle system
Dynamic performance carries out comprehensive measurement, promotes the use of in automobile safety performance detection mechanism, improves motor vehicle inspection station to motor-driven
The detectability of car braking ability, strengthens that the source of vehicle is exercised supervision and managed.It using it is upper have it is safe and accurate,
Convenient, efficient distinguishing feature, for safeguarding road traffic order, prevention and reduction traffic accident are significant.
Brief description of the drawings：
Fig. 1 wheel Posture acquisition device schematic diagrams；
Fig. 2 portable main machine instrument structure figures；
Fig. 3 foot brake pedal pressure gauges electricity structure chart；
Fig. 4 wheel Posture acquisition devices and portable apparatus scheme of installation；
Fig. 5 measures steering locking angle with turning to synchronism wheel Posture acquisition device scheme of installation；
Fig. 6 drop types measure suspension performance wheel Posture acquisition device scheme of installation.
Embodiment：
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
1st, automobile braking performance test
As shown in figure 4, wheel Posture acquisition device is fixed on the optional position of each wheel first, by portable main machine
Vehicle-mounted attitude transducer, the GPS of instrument are fixed with sucker, and foot brake pedal pressure gauge is fixed on brake pedal, input radius of wheel number
According to the initial velocity requirement tested according to national standard different vehicle starts vehicle, anxious when vehicle initial velocity reaches Standard
Touch on the brake, after stopping completely to vehicle, portable main machine instrument is during the entire process of brake, each wheel posture of automatic data collection
The high performance three-dimensional athletic posture of the wheel posture that collector is sent, i.e. wheel, calculates motor vehicle average retardation rate（MFDD）、
Brake coordination time, initial speed of braking, braking distance, braking sequential.
In addition to above-mentioned braking ability is measured, to the vehicle with ABS ANTI LOCK performances, according to automobile in braking procedure
In, wheel can slide relative to road surface, sliding composition ratio row shared in vehicle longitudinal movement can by slip rate Lai
Represent, slip rate λ definition is：
V：Car speed (m/s)
r：Radius of wheel (m)
ω：Vehicle wheel rotational speed (radian/s)1
According to the high performance three-dimensional athletic posture of wheel, wheel radius data is inputted, so that it may calculate abs braking performance
Slip rate, and the data such as speed critical point, each wheel acceleration-deceleration, wheel speed change frequency during each wheel ABS work, so that
The data of dynamic evaluation abs braking performance.
To vehicles more than two axles, such as cargo vehicle, tractor, trailer can be according to the numbers of wheel, in each wheel
Fixing vehicle wheel Posture acquisition device, when suddenly touching on the brake braking, records the brake pedal time, and gathers each wheel posture in real time and adopt
The storage on-position time, the braking sequential between cargo vehicle, trailer can be calculated, tractor and trailer system is particularly suitable for use in
The measurement of dynamic performance.
When there is brake failure in vehicle side, vehicle will appear from deviation phenomenon of braking, according to the high-performance three of wheel
Athletic posture is tieed up, wheel Posture acquisition device measures deviation angle in real time, and it is relative to measure wheel by computer Integral Processing
Offset distance.
2. road the examination of road
As a result of GPS navigation module, do not limited by place, environment-adapting ability is strong, can be wet in the case of unobstructed
Ways face, night and the complex condition such as overcast and rainy are completed, can actual road surface measure, in long range actual road test, root
According to the wheel count of measurement vehicle, arbitrarily increase, subtract wheel Posture acquisition device, in the overall process of traveling, portable main machine instrument
Table gathers wheel Posture acquisition device, vehicle-mounted attitude transducer, GPS navigation module signal in real time, is completed by microprocessor
The project testing of above-mentioned braking ability, and motor vehicle speed, yaw velocity, matter are calculated according to the vehicle-mounted attitude transducers of GPS+
The control stability data such as heart side drift angle, vehicle roll angle, and distance travelled, the driving trace of overall process, traveling can be counted
During step on gradient situation, the measurement of energy storage situation, wheel sideslip data under the frequency of braking, braking conditions.
3. motor turning angle is tested
Vehicle is reached on steering wheel or relative plane and the small platform of coefficient of friction, with one to three wheel Posture acquisition
Device is fixed on any of vehicle front-wheel（Or relative is in 120 °）On position, as shown in Figure 5A, turned left by steering wheel, by before
Wheel first goes to maximum position to the left, and portable main machine instrument first gathers the left steering locking angle of front-wheel, then, steering wheel is turned right
It is dynamic, front-wheel is gone into the right maximum position, portable main machine instrument gathers the right steering locking angle of front-wheel again, as shown in Figure 5 B.
Portable main machine instrument according to the high performance three-dimensional athletic posture of wheel, by wheel angle using at integration
Reason, can measure steering locking angle, turn to real time synchronization.
It is fixed on using a wheel attitude transducer on wheel, wheel attitude transducer should be fixed close proximity to ground,
The error that wheel itself vertical direction angle change is caused during vehicle wheel rotation is avoided, then should be in wheel if desired for high-acruracy survey
It is upper that three relative 120 ° wheel attitude transducers are installed, accurate measurement is reached most by the amendment of three wheel attitude transducers
Big steering angle, the purpose for turning to real time synchronization.
Because each wheel correspondence installs corresponding wheel Posture acquisition device, the measurement of preceding double steering wheel can increase wheel
Attitude transducer realizes measurement.
4. automobile suspension systems are tested
Domestic wide variety of suspension performance detection method has drop type, pressure bodywork-type, resonant, flat board brake type four
Kind, it is main to be measured using domestic resonant, two kinds of methods of flat board brake type, drop type, pressure bodywork-type due to measurement data,
Entirely with artificial experience, it is impossible to the service behaviour of effectively evaluating automotive suspension apparatus.
Drop type, pressure bodywork-type wheel ground adhesion index can characterize the service behaviour of draft hitch, and wheel ground adhesion refers to
Number indicates draft hitch ensures the minimum ability that wheel is in contact with road surface in running car.In running car, Suo Youche
The ground connection sex index of wheel is different because respectively wheel draft hitch service behaviour differ, respectively wheel bear load and differ, respectively
The wheel not first-class reason of air pressure is caused.If on monitor station, artificially making each load born of taking turns consistent with tire pressure, that
, wheel ground adhesion index just depends mainly on the service behaviour of draft hitch.Therefore, wheel ground adhesion index can be used completely
Evaluate the service behaviour of draft hitch.
Example 1：（Fall-down test）
Vehicle-mounted attitude transducer is installed to above the relevant position for needing to measure suspension performance, one is installed before vehicle
The stand of fall-down test, vehicle is slowly reached on falling test stand, by vehicle inertia, free-electron model；Or first pass through lifting dress
Put and automobile is risen into certain altitude, supporting mechanism is then unclamped suddenly, vehicle falls generation free vibration.With the vehicle-mounted posture of measurement
Sensor gathers car body amplitude data, draws suspension performance curve, evaluates the service behaviour of automotive suspension apparatus.
Example 2：（Press bodywork-type experiment）
The present invention proposes that one kind uses vehicle-mounted attitude transducer vehicle suspension Characterization method, is fixed with vehicle-mounted Posture acquisition device
On the optional position of car body, manually vehicle corresponding site is pressed with portable pressure gauge, when pressure reaches specified pressure
Afterwards, unclamp suddenly, the process that progressively decays of vehicle frequency measured by vehicle-mounted attitude transducer, it is measurable go out body vibrations curve
Change, calculates suspension performance, going out this method can not be limited by place by microprocessor, it can be deduced that different suspensions is special
Property, favorably to the holistic approach of vehicle suspension characteristic.
The suspension performance of each wheel of measurement vehicle is such as needed, attitude transducer can be fixed on to the suspension of each wheel
On point, each wheel attitude transducer vibration frequency is measured respectively, the suspension performance of each wheel can be calculated.
5. the measurement of motor vehicle vibration acceleration
In control stability actual road test, Uneven road can make automobile produce certain vibration, under certain conditions, road
When the vibration that face is evoked evokes resonance with the shared vibration frequency of automobile, automobile and the attachment coefficient on ground can be influenceed, automobile is pacified
Full property causes certain potential safety hazard, passes through GPS navigation module registration of vehicle driving trace, speed, vehicle-mounted attitude transducer note
Vehicle acceleration, velocity vibration frequency are recorded, resonant frequency of the vehicle on different road surfaces can be analyzed.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (3)
1. a kind of multifunction motor vehicle measuring instrument, it is characterised in that：It is made up of two parts, Part I is wheel Posture acquisition
Device, mainly by MEMS micro-mechanical inertias navigation module, microprocessor, wireless blue tooth sending module, using special fixture and wheel
Fixed composition, each wheel installs the MEMS micromechanics in a wheel Posture acquisition device, described wheel Posture acquisition device
Inertial navigation module includes three-axis gyroscope, three axis accelerometer (IMU), three axle electronic compass, temperature sensor；
Part II be portable main machine instrument, mainly by wireless blue tooth wheel signal receiving module, vehicle-mounted attitude transducer, step on
It is plate power acquisition module, microprocessor, GPS communication module, 3G/GPRS communication modules, display, printer, vehicle power, vehicle-mounted
Mains charger is constituted, and vehicle-mounted attitude transducer includes three-axis gyroscope, three axis accelerometer (IMU), three axle electronic compass, temperature
Spend sensor；
The wheel Posture acquisition device, gathers the braking time brought to a halt, and records the brake pedal time, each wheel is gathered in real time
The on-position time, draw the braking sequential of two-axle car；
The vehicle-mounted attitude transducer, when gathering the amplitude data produced when car body falls respectively and discharging car body under specified pressure
The vibration frequency of generation, draws suspension performance curve, judges automotive suspension apparatus performance.
2. a kind of multifunction motor vehicle measuring instrument according to claim 1, it is characterised in that：Described pedal force collection
Module is made up of pressure sensor, signal amplifier, microprocessor, wireless blue tooth module.
3. a kind of detection method of multifunction motor vehicle measuring instrument according to claim 1, it is characterised in that：It is detected
Method, specifically includes following methods step, and wheel Posture acquisition device first is fixed on the optional position of each wheel, will just
Vehicle-mounted attitude transducer, the GPS for taking formula main frame instrument are fixed with sucker, and foot brake pedal pressure gauge is fixed on brake pedal, input car
Radius data is taken turns, the initial velocity requirement tested according to national standard different vehicle starts vehicle, when vehicle initial velocity reaches that national standard will
When asking, suddenly touch on the brake, after stopping completely to vehicle, portable main machine instrument during the entire process of brake, automatic data collection each
The high performance three-dimensional athletic posture of the wheel posture that wheel Posture acquisition device is sent, i.e. wheel, calculates motor vehicle mean deceleration
Spend (MFDD), brake coordination time, initial speed of braking, braking distance, braking sequential；
In addition to above-mentioned braking ability is measured, to the vehicle with ABS ANTI LOCK performances, according to automobile in braking procedure, car
Wheel can be slid relative to road surface, and sliding composition ratio row shared in vehicle longitudinal movement can be represented by slip rate,
Slip rate λ definition is：
v：Car speed (m/s)
r：Radius of wheel (m)
ω：Vehicle wheel rotational speed (radian/s)1
According to the high performance three-dimensional athletic posture of wheel, wheel radius data is inputted, so that it may calculate the sliding of abs braking performance
Rate, and the data such as speed critical point, each wheel acceleration-deceleration, wheel speed change frequency during each wheel ABS work, so that dynamic
Evaluate the data of abs braking performance；
When gathering release car body under the amplitude data produced when car body falls and specified pressure respectively by vehicle-mounted attitude transducer
The vibration frequency of generation, draws suspension performance curve, judges automotive suspension apparatus performance.
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| CN201410075525.1A CN103884514B (en) | 2014-03-03 | 2014-03-03 | A kind of multifunction motor vehicle measuring instrument and detection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104931186A (en) * | 2015-06-17 | 2015-09-23 | 上海工程技术大学 | Vehicle dynamic braking force measuring device |
| CN105510052B (en) * | 2016-01-18 | 2017-10-31 | 吉林大学 | Automobile brake time sequence inspection device and method based on stereoscopic vision |
| CN107685631A (en) * | 2017-09-18 | 2018-02-13 | 长安大学 | A kind of gas is stepped on by mistake prevents control system and its control method |
| CN107702684B (en) * | 2017-09-30 | 2020-01-21 | 广东工贸职业技术学院 | Automobile front wheel steering angle monitoring method based on nine-axis sensor |
| CN107796636A (en) * | 2017-10-26 | 2018-03-13 | 安徽农业大学 | A kind of vehicle braking comfortableness test system and method |
| CN108871810A (en) * | 2018-07-09 | 2018-11-23 | 广东工贸职业技术学院 | A kind of automotive wheel braking ability dynamic monitoring method and system |
| CN111537241B (en) * | 2020-05-12 | 2023-02-24 | 北京汽车集团越野车有限公司 | Vehicle braking performance evaluation method |
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| JP3963181B2 (en) * | 2003-12-03 | 2007-08-22 | トヨタ自動車株式会社 | Vehicle fault diagnosis system |
| JP4523818B2 (en) * | 2004-09-09 | 2010-08-11 | 株式会社ブリヂストン | Wheel attitude angle measuring device and wheel attitude angle measuring method |
| CN101480946B (en) * | 2009-02-16 | 2010-06-02 | 华南理工大学 | Wheel load-based type intelligent sensing wheel brake performance monitoring methods |
| CN102529850B (en) * | 2012-01-16 | 2014-06-25 | 华南理工大学 | Safe state monitoring method of motor vehicle based on wheel load type intelligent sensing |
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