CN104132637A - Road ride comfort detecting device and method based on vehicle-mounted CAN bus - Google Patents

Abstract

The invention relates to the technical field of road mobile measurement and discloses a road ride comfort detecting device and method based on a vehicle-mounted CAN bus. The device comprises at three communication base stations, a vehicle-mounted industrial personal computer, a vehicle-mounted mobile phone, a displayer and a data storage hard disk, wherein the vehicle-mounted industrial personal computer, the vehicle-mounted mobile phone, the displayer and the data storage hard disk are installed on a vehicle. According to the device, the real-time running speed of the vehicle is obtained through the vehicle-mounted mobile phone, and the real-time running speed of the vehicle is compared with a designed vehicle speed, so that the road ride comfort is evaluated on the basis of the running speed of the vehicle.

Description

Road ride comfort pick-up unit and detection method thereof based on vehicle-mounted CAN bus

Technical field

The present invention relates to road traverse measurement technical field, relate in particular to a kind of road ride comfort pick-up unit and detection method thereof based on vehicle-mounted CAN bus.

Background technology

At present, road ride comfort evaluation main manual measurement that relies in engineering reality completes, and manual measurement result precision is low, and static measurement efficiency is poor, cannot meet requirement efficient, that accurately measure, need to introduce more scientific measuring method and system.Retrieval is found, the road ride comfort evaluation that the utility model patent of a kind of vehicle-mounted road ride comfort measurement system by name (patent No. 201120352860.3) obtains to detect pavement disease image situation, although it has used inertia sensor, but based on running velocity, road ride comfort not being made to evaluation, is not the evaluation of proper road ride comfort.

Summary of the invention

Inventor thinks: road ride comfort and traffic safety are closely related.At present, the linear geometry designs standard of highway in China determines that, based on design speed, all Alignment Elements are all chosen according to pre-determined design speed.Correlative study shows, driver is determined by driver's " road safety sense " substantially to the control of the speed of a motor vehicle, be that operating speed control is that the road operating environment factors such as highway alignment, pavement conditions and transport environmental condition are carried out the result of vision induction combined action to vehicle driver, therefore, operating speed can be used as the sign that characterizes road ride comfort.

The object of the present invention is to provide a kind of road ride comfort pick-up unit and detection method thereof based on vehicle-mounted CAN bus, this device obtains the real time execution speed of vehicle by vehicle carried mobile phone, and real time execution speed and the design speed of vehicle are compared, thereby based on running velocity, road ride comfort is made to evaluation.

For reaching above-mentioned technical purpose, the present invention adopts following technical scheme to be achieved.

Scheme one:

Road ride comfort pick-up unit based on vehicle-mounted CAN bus, is characterized in that, comprises at least three communication base stations, is arranged on vehicle-mounted industrial computer, vehicle carried mobile phone, display and data storage hard disk on vehicle;

Described at least three communication base stations, wherein each communication base station comprises range finder module, timing module, signal transmitting and receiving module, described range finder module is for sending distance measuring signal to described vehicle carried mobile phone, described timing module is for determining that according to transmission distance measuring signal and reception return signal the two-way time that the two-way time of distance measuring signal, described signal transmitting and receiving module is used for receiving positioning request information and transmits is to described vehicle carried mobile phone;

Described vehicle carried mobile phone inclusion information transmitter module and validation of information module, described information transmitting module is for launching positioning request information to described communication base station, described validation of information module is used for receiving the distance measuring signal that described communication base station sends, and returns to confirmation;

Described vehicle-mounted industrial computer comprises database and computing module, described database is for storing electronic map, described computing module is used for according to the real time running speed that calculates described vehicle the two-way time of signal, and the design speed in real time running speed and this section is compared, and comparative result is shown by display and store by data storage hard disk;

Described communication base station is connected by wireless communication mode with described vehicle carried mobile phone, the output terminal of described vehicle carried mobile phone is electrically connected to the input end of described vehicle-mounted industrial computer, the input end of the input end of described display and data storage hard disk is the corresponding output terminal that is electrically connected to described vehicle-mounted industrial computer respectively, and described vehicle-mounted industrial computer is electrically connected in described CAN bus.

The feature of the technical program and further improvement are:

In described CAN bus, be connected with ignition systems for vehicles.

Described display adopts Innolux/ group to create V.7 4.3 cun of LCDs of group's wound of AT043TN24.

Described data storage hard disk adopts the OceanStor S2200T of Huawei type.

Scheme two:

Road ride comfort detection method based on vehicle-mounted CAN bus, based on above-mentioned a kind of road ride comfort pick-up unit based on vehicle-mounted CAN bus, is characterized in that, comprises the following steps:

(1) data acquisition: the information transmitting module in described vehicle carried mobile phone is at least three communication base station transmitting positioning request information, described at least three communication base stations send distance measuring signal to described vehicle carried mobile phone respectively after receiving the positioning request information of described information transmitting module transmitting, and described timing module records delivery time; Described vehicle carried mobile phone receives after this distance measuring signal, returns to confirmation distance measuring signal; Communication base station receives described confirmation distance measuring signal, and described timing module records the time of reception, determines the two-way time of distance measuring signal according to the time of described delivery time and the time of reception; Described at least three communication base stations obtain the two-way time of at least three distance measuring signals, and each communication base station will send to vehicle carried mobile phone the two-way time of resulting distance measuring signal separately;

(2) data processing: described vehicle carried mobile phone sends it to vehicle-mounted industrial computer after receiving two-way time of at least three distance measuring signals, described vehicle-mounted industrial computer is according to the geographical latitude and longitude coordinates of described at least three communication base stations in the electronic chart of storing in described database, and the two-way time of the distance measuring signal separately that obtains of each communication base station, according to poor direction finding localization method (TDOA) time of arrival, obtain the geographical latitude and longitude coordinates of described vehicle carried mobile phone;

The positioned update time of described vehicle carried mobile phone is t, be that described vehicle carried mobile phone sends one-time positioning solicited message every t, simultaneously, described industrial computer calculates once the geographical latitude and longitude coordinates of described vehicle carried mobile phone every t, described industrial computer according to the geographical latitude and longitude coordinates of the vehicle carried mobile phone of two adjacent positioned updated time obtain vehicle carried mobile phone at positioned update the range ability L in the time, obtain the average velocity of two adjacent positioned updates in constantly

$\stackrel{\‾}{v}=\frac{L}{t}$

If this average velocity is the travelling speed v of a rear location updated time in two adjacent positioned updated time _i, according to known category of roads design specifications and highway layout data, determine the design speed v' of road, setting the position operating speed of updated time and the difference of the highway layout speed of a motor vehicle is Δ v:

Δv＝v _i-v'

Foundation be take the positioned update time as horizontal ordinate, the difference of operating speed and the highway layout speed of a motor vehicle is the rectangular coordinate system of ordinate, and in described rectangular coordinate system, make the gauge point of each positioned update operating speed constantly and the difference of the highway layout speed of a motor vehicle, establishing n is that gauge point is total, n ₁for the gauge point of described difference DELTA v between-a and a, η ₁for the gauge point between-a and a accounts for the number percent of total gauge point, n ₂for the gauge point of described difference DELTA v between-b and b, η ₂for the gauge point between-b and b accounts for the number percent of total gauge point, a is less than b:

${\mathrm{\η}}_1=\frac{{\mathrm{\η}}_1}{n}\×100\%$

${\mathrm{\η}}_2=\frac{{\mathrm{\η}}_2}{n}\×100\%$

Work as η ₁>70% and η ₂>80%, the whole ride comfort of sampling road is evaluated as " excellent ", works as η ₁>60% and η ₂>70%, the whole ride comfort of sampling road is evaluated as " good ", and the whole ride comfort of other situation sampling roads is evaluated as " poor ";

(3) judgement shows: described display shows described rectangular coordinate system, and in described rectangular coordinate system, show and take each positioned update constantly as horizontal ordinate be take the gauge point that the difference of operating speed constantly of each positioned update and the highway layout speed of a motor vehicle is ordinate, described difference DELTA v is between-a and a time, display output Green Marker point; Difference DELTA v between a and b or-a and-b between time, display is exported yellow gauge point; Difference DELTA v is greater than b or during be less than-b, display output red gauge point.

Ultimate principle of the present invention is to obtain vehicle carried mobile phone positional parameter, the principle according to vehicle carried mobile phone and place vehicle with same movement state, obtain the running velocity identical with vehicle carried mobile phone, calculate the poor of running velocity and design speed, and the difference of running velocity and design speed and the comparison of road ride comfort evaluation criterion, obtain road ride comfort evaluation result, and automatically record and store.

This device is based on vehicle-mounted CAN bus, without installing extra onboard sensor equipment additional, simple, cost-saving, has stronger promotion and application prospect.By road ride comfort, evaluate, can find the travel safety problem that road exists, by revising or carrying out safety improvement, improve the operation safety of road.

Accompanying drawing explanation

Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.

Fig. 1 is the structural representation block diagram of the road ride comfort pick-up unit based on vehicle-mounted CAN bus of the present invention;

Fig. 2 is the workflow diagram of the road ride comfort detection method based on vehicle-mounted CAN bus of the present invention;

Fig. 3 is that test findings of the present invention shows exemplary plot;

Fig. 4 is poor direction finding localization method (TDOA) schematic diagram time of arrival.

Embodiment

With reference to Fig. 1, it is the structural representation block diagram of the road ride comfort pick-up unit based on vehicle-mounted CAN bus of the present invention; This device comprises vehicle-mounted industrial computer, vehicle carried mobile phone, display, the data storage hard disk being arranged on vehicle, at least three communication base stations.

At least three communication base stations, wherein each communication base station comprises range finder module, timing module, signal transmitting and receiving module, range finder module is for sending distance measuring signal to vehicle carried mobile phone, timing module is for determining that according to transmission distance measuring signal and reception return signal the two-way time that the two-way time of distance measuring signal, signal transmitting and receiving module is used for receiving positioning request information and transmits is to vehicle carried mobile phone;

Vehicle carried mobile phone inclusion information transmitter module and validation of information module, information transmitting module is for launching positioning request information to communication base station, and validation of information module is used for receiving the distance measuring signal that communication base station sends, and returns to confirmation.

Vehicle-mounted industrial computer comprises database and computing module, database is for storing electronic map, computing module is used for according to the real time running speed that calculates vehicle the two-way time of signal, and the design speed in real time running speed and this section is compared, and comparative result is shown by display and store by data storage hard disk.

Communication base station is connected by wireless communication mode with vehicle carried mobile phone, the output terminal of vehicle carried mobile phone is electrically connected to the input end of vehicle-mounted industrial computer, the input end of the input end of display and data storage hard disk is the corresponding output terminal that is electrically connected to vehicle-mounted industrial computer respectively, and vehicle-mounted industrial computer is electrically connected in CAN bus.

In CAN bus, be connected with ignition systems for vehicles.

Display adopts Innolux/ group to create V.7 4.3 cun of LCDs of group's wound of AT043TN24.

Data storage hard disk adopts the OceanStor S2200T of Huawei type.

For realizing the detection of road ride comfort of the present invention, take above-mentioned road ride comfort pick-up unit as basis, concrete steps are as follows:

Vehicle-mounted CAN bus is obtained igniting and flame-out signal, its high voltage appearance is ignition signal, low-voltage is flame-out signal, vehicle-mounted CAN bus is sent to vehicle-mounted industrial computer by the igniting of obtaining and flame-out signal, vehicle-mounted industrial computer is controlled this device according to ignition signal and is started working, and according to flame-out this device of signal controlling, quits work.

(1) data acquisition: the information transmitting module in vehicle carried mobile phone is at least three communication base station transmitting positioning request information, at least three communication base stations send distance measuring signal to vehicle carried mobile phone respectively after receiving the positioning request information of described information transmitting module transmitting, and timing module records delivery time; Vehicle carried mobile phone receives after this distance measuring signal, returns to confirmation distance measuring signal; Communication base station receives described confirmation distance measuring signal, and timing module records the time of reception, determines the two-way time of distance measuring signal according to the time of delivery time and the time of reception; At least three communication base stations obtain the two-way time of at least three distance measuring signals, and each communication base station will send to vehicle carried mobile phone the two-way time of resulting distance measuring signal separately;

(2) data processing: vehicle carried mobile phone sends it to vehicle-mounted industrial computer after receiving two-way time of at least three distance measuring signals, vehicle-mounted industrial computer is according to the geographical latitude and longitude coordinates of at least three communication base stations in the electronic chart of storing in database, and the two-way time of the distance measuring signal separately that obtains of each communication base station, according to poor direction finding method (TDOA) time of arrival, obtain the geographical latitude and longitude coordinates of vehicle carried mobile phone;

Poor direction finding time of arrival location (TDOA) schematic diagram as shown in Figure 4.

In figure: A, B, C are three communication base stations, and T is vehicle carried mobile phone; The distance that T is three communication base stations to A, B, C is respectively L _aT, L _bT, L _cT, the corresponding travel-time is t _aT, t _bT, t _cT, T is Δ t to the propagation time difference of A communication base station, B communication base station _aB:

${\mathrm{\Δt}}_{\mathrm{AB}}=t_{\mathrm{AT}}-t_{\mathrm{BT}}=\frac{L_{\mathrm{AT}}-L_{\mathrm{BT}}}{C}$

Wherein: $L_{\mathrm{AT}}=\sqrt{X_T^2+Y_T^2}$

$L_{\mathrm{BT}}=\sqrt{X_T^2+{(Y_B-Y_T)}^2}$

Obtain formula 1: ${\mathrm{\Δt}}_{\mathrm{AB}}=t_{\mathrm{AT}}-t_{\mathrm{BT}}=\frac{1}{C}(\sqrt{X_T^2+Y_T^2}-\sqrt{X_T^2+{(Y_B-Y_T)}^2})$

In like manner: T is Δ t to the propagation time difference of A communication base station, C communication base station _aCfor:

${\mathrm{\Δt}}_{\mathrm{AC}}=t_{\mathrm{AT}}-t_{\mathrm{CT}}=\frac{L_{\mathrm{AT}}-L_{\mathrm{CT}}}{C}$

Wherein: $L_{\mathrm{CT}}=\sqrt{{(X_C-X_T)}^2+Y_T^2}$

Obtain formula 2: ${\mathrm{\Δt}}_{\mathrm{AC}}=t_{\mathrm{AT}}-t_{\mathrm{CT}}=\frac{1}{C}(\sqrt{X_T^2+Y_T^2}-\sqrt{{(X_C-X_T)}^2+Y_T^2})$

Above-mentioned formula 1, formula 2 are the distortion of hyperbolic function.

When measure Δ t by communication base station _aB, Δ t _aC, and by the geographical latitude and longitude coordinates A (0,0) of known each communication base station, B (0, Y _b), C (X _c, 0) and after substitution formula 1 and formula 2, just can solve the position T (X of vehicle carried mobile phone T _t, Y _t).

In the present embodiment, vehicle carried mobile phone positioned update frequency is 10Hz, so the positioned update time of vehicle carried mobile phone is 0.1s, be that vehicle carried mobile phone sends one-time positioning solicited message every 0.1s, simultaneously, industrial computer calculates the geographical latitude and longitude coordinates of a vehicle carried mobile phone every 0.1s, industrial computer according to the geographical latitude and longitude coordinates of the vehicle carried mobile phone of two adjacent positioned updated time obtain vehicle carried mobile phone at positioned update the range ability L in the time, obtain the average velocity of two adjacent positioned updates in constantly

$\stackrel{\‾}{v}=\frac{L}{0.1}$

If this average velocity is the travelling speed v of a rear location updated time _i, unit is km/h, according to known category of roads design specifications and highway layout data, determines the design speed v' of road, and unit is km/h, and setting the position operating speed of updated time and the difference of the highway layout speed of a motor vehicle is Δ v:

Δv＝v _i-v'

Foundation be take the positioned update time as horizontal ordinate, the difference of operating speed and the highway layout speed of a motor vehicle is the rectangular coordinate system of ordinate, and in described rectangular coordinate system, make the gauge point of each positioned update operating speed constantly and the difference of the highway layout speed of a motor vehicle, establishing n is that gauge point is total, n ₁for the gauge point of described difference DELTA v between-10 and 10, η ₁for the gauge point between-10 and 10 accounts for the number percent of total gauge point, n ₂for the gauge point of described difference DELTA v between 20 and-20, η ₂for the gauge point between 20 and-20 accounts for the number percent of total gauge point:

${\mathrm{\η}}_1=\frac{{\mathrm{\η}}_1}{n}\×100\%$

${\mathrm{\η}}_2=\frac{{\mathrm{\η}}_2}{n}\×100\%$

Work as η ₁>70% and η ₂>80%, the whole ride comfort of sampling road is evaluated as " excellent ", works as η ₁>60% and η ₂>70%, the whole ride comfort of sampling road is evaluated as " good ", and the whole ride comfort of other situation sampling roads is evaluated as " poor ".

(3) judgement shows: described display shows described rectangular coordinate system, and in described rectangular coordinate system, show and take each positioned update constantly as horizontal ordinate be take the gauge point that the difference of operating speed constantly of each positioned update and the highway layout speed of a motor vehicle is ordinate, when described difference DELTA v is less than between-10 and 10, display output Green Marker point, represents that the ride comfort of measurement point is evaluated as excellent; Difference DELTA v is between 10 and 20 or-10 and-20 time, and display is exported yellow gauge point, represents that the ride comfort of measurement point is evaluated as good; Difference DELTA v is greater than 20 or be less than at-20 o'clock, display output red gauge point, and it is poor that the ride comfort that represents measurement point is evaluated as, as shown in Table 1.

Table one ride comfort evaluation criterion

(4) record data

In step 2 judgement road ride comfort level, vehicle-mounted industrial computer sends to data storage hard disk with the operating speed in each positioned update moment and the difference of the highway layout speed of a motor vehicle constantly by each positioned update.The numerical value of Δ v has sign, and positive sign represents that operating speed is greater than design speed, and negative sign represents that operating speed is less than design speed.Meanwhile, automatic rebound step 2, repeating step 2-3.

Described display frame and data stored picture are as shown in Figure 3.

(5) system finishing

The extinction voltage signal that vehicle-mounted CAN bus collects, and be transferred to vehicle-mounted industrial computer, the operation of vehicle-mounted industrial computer judgement vehicle stop, described system finishes automatically.

This device is based on vehicle-mounted CAN bus, without installing extra onboard sensor equipment additional, simple, cost-saving, has stronger promotion and application prospect.By road ride comfort, evaluate, can find the travel safety problem that road exists, by revising or carrying out safety improvement, improve the operation safety of road.

Although below by reference to the accompanying drawings embodiment of the present invention are described, the present invention is not limited to above-mentioned specific embodiments and applications field, and above-mentioned specific embodiments is only schematic, guiding, rather than restrictive.Those of ordinary skill in the art, under the enlightenment of instructions, in the situation that do not depart from the scope that the claims in the present invention are protected, can also make a variety of forms, and these all belong to the row of the present invention's protection.

Claims (5)

1. the road ride comfort pick-up unit based on vehicle-mounted CAN bus, is characterized in that, comprises at least three communication base stations, is arranged on vehicle-mounted industrial computer, vehicle carried mobile phone, display and data storage hard disk on vehicle;

Described at least three communication base stations, wherein each communication base station comprises range finder module, timing module, signal transmitting and receiving module, described range finder module is for sending distance measuring signal to described vehicle carried mobile phone, described timing module is for determining that according to transmission distance measuring signal and reception return signal the two-way time that the two-way time of distance measuring signal, described signal transmitting and receiving module is used for receiving positioning request information and transmits is to described vehicle carried mobile phone;

Described vehicle carried mobile phone inclusion information transmitter module and validation of information module, described information transmitting module is for launching positioning request information to described communication base station, described validation of information module is used for receiving the distance measuring signal that described communication base station sends, and returns to confirmation;

Described vehicle-mounted industrial computer comprises database and computing module, described database is for storing electronic map, described computing module is used for according to the real time running speed that calculates described vehicle the two-way time of signal, and the design speed in real time running speed and this section is compared, and comparative result is shown by display and store by data storage hard disk;

Described communication base station is connected by wireless communication mode with described vehicle carried mobile phone, the output terminal of described vehicle carried mobile phone is electrically connected to the input end of described vehicle-mounted industrial computer, the input end of the input end of described display and data storage hard disk is the corresponding output terminal that is electrically connected to described vehicle-mounted industrial computer respectively, and described vehicle-mounted industrial computer is electrically connected in described CAN bus.

2. the road ride comfort pick-up unit based on vehicle-mounted CAN bus according to claim 1, is characterized in that, in described CAN bus, is connected with ignition systems for vehicles.

3. the road ride comfort pick-up unit based on vehicle-mounted CAN bus according to claim 1, is characterized in that, described display adopts Innolux/ group to create V.7 4.3 cun of LCDs of group's wound of AT043TN24.

4. the road ride comfort pick-up unit based on vehicle-mounted CAN bus according to claim 1, is characterized in that, described data storage hard disk adopts the OceanStor S2200T of Huawei type.

5. the road ride comfort detection method based on vehicle-mounted CAN bus, based on the road ride comfort pick-up unit based on vehicle-mounted CAN bus claimed in claim 1, is characterized in that, comprises the following steps:

(1) data acquisition: the information transmitting module in described vehicle carried mobile phone is at least three communication base station transmitting positioning request information, described at least three communication base stations send distance measuring signal to described vehicle carried mobile phone respectively after receiving the positioning request information of described information transmitting module transmitting, and described timing module records delivery time; Described vehicle carried mobile phone receives after this distance measuring signal, returns to confirmation distance measuring signal; Communication base station receives described confirmation distance measuring signal, and described timing module records the time of reception, determines the two-way time of distance measuring signal according to the time of described delivery time and the time of reception; Described at least three communication base stations obtain the two-way time of at least three distance measuring signals, and each communication base station will send to vehicle carried mobile phone the two-way time of resulting distance measuring signal separately;

(2) data processing: described vehicle carried mobile phone sends it to vehicle-mounted industrial computer after receiving two-way time of at least three distance measuring signals, described vehicle-mounted industrial computer is according to the geographical latitude and longitude coordinates of described at least three communication base stations in the electronic chart of storing in described database, and the two-way time of the distance measuring signal separately that obtains of each communication base station, according to poor direction finding localization method (TDOA) time of arrival, obtain the geographical latitude and longitude coordinates of described vehicle carried mobile phone;

The positioned update time of described vehicle carried mobile phone is t, be that described vehicle carried mobile phone sends one-time positioning solicited message every t, simultaneously, described industrial computer calculates once the geographical latitude and longitude coordinates of described vehicle carried mobile phone every t, described industrial computer according to the geographical latitude and longitude coordinates of the vehicle carried mobile phone of two adjacent positioned updated time obtain vehicle carried mobile phone at positioned update the range ability L in the time, obtain the average velocity of two adjacent positioned updates in constantly

$\stackrel{\‾}{v}=\frac{L}{t}$

If this average velocity is the travelling speed v of a rear location updated time in two adjacent positioned updated time _i, according to known category of roads design specifications and highway layout data, determine the design speed v' of road, setting the position operating speed of updated time and the difference of the highway layout speed of a motor vehicle is Δ v:

Δv＝v _i-v'

Foundation be take the positioned update time as horizontal ordinate, the difference of operating speed and the highway layout speed of a motor vehicle is the rectangular coordinate system of ordinate, and in described rectangular coordinate system, make the gauge point of each positioned update operating speed constantly and the difference of the highway layout speed of a motor vehicle, establishing n is that gauge point is total, n ₁for the gauge point of described difference DELTA v between-a and a, η ₁for the gauge point between-a and a accounts for the number percent of total gauge point, n ₂for the gauge point of described difference DELTA v between-b and b, η ₂for the gauge point between-b and b accounts for the number percent of total gauge point, a is less than b:

${\mathrm{\η}}_1=\frac{{\mathrm{\η}}_1}{n}\×100\%$

${\mathrm{\η}}_2=\frac{{\mathrm{\η}}_2}{n}\×100\%$

Work as η ₁>70% and η ₂>80%, the whole ride comfort of sampling road is evaluated as " excellent ", works as η ₁>60% and η ₂>70%, the whole ride comfort of sampling road is evaluated as " good ", and the whole ride comfort of other situation sampling roads is evaluated as " poor ";

(3) judgement shows: described display shows described rectangular coordinate system, and in described rectangular coordinate system, show and take each positioned update constantly as horizontal ordinate be take the gauge point that the difference of operating speed constantly of each positioned update and the highway layout speed of a motor vehicle is ordinate, described difference DELTA v is between-a and a time, display output Green Marker point; Difference DELTA v between a and b or-a and-b between time, display is exported yellow gauge point; Difference DELTA v is greater than b or during be less than-b, display output red gauge point.