CN104764897A - Automobile speed measuring device and automobile speed measuring and control method - Google Patents
Automobile speed measuring device and automobile speed measuring and control method Download PDFInfo
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- CN104764897A CN104764897A CN201510082854.3A CN201510082854A CN104764897A CN 104764897 A CN104764897 A CN 104764897A CN 201510082854 A CN201510082854 A CN 201510082854A CN 104764897 A CN104764897 A CN 104764897A
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- 230000005484 gravity Effects 0.000 claims abstract description 52
- 238000005259 measurement Methods 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000000691 measurement method Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract 1
- 238000006243 chemical reaction Methods 0.000 description 4
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Abstract
The invention discloses an automobile speed measuring device and an automobile speed measuring and control method. The automobile speed measuring device comprises an automobile speed controller, a wheel deflection measuring instrument, a wheel speed measuring instrument and a gravity sensor. The speed and the deflection angle of two front wheels are measured in real time, the speeds, of moving around an instantaneous center, of the left front wheel and the right front wheel of an automobile generated when the automobile turns are converted into the moving speeds of the automobile center, the average value of the two automobile speeds at the automobile center serves as the actual running speed generated when the automobile turns, and meanwhile, the automobile speed can be controlled according to the stress condition of two front wheel shafts. According to the automobile speed measuring device and the automobile speed measuring and control method, the problems that in the prior art, the transmission box output shaft rotating speed is adopted to be converted into the automobile speed, the automobile speed accuracy is low when the automobile turns, the control accuracy is lowered, and the automobile running accidents are caused easily are solved effectively, and the device and the method have very high practical value.
Description
Technical field
The present invention relates to field of automobile control, especially relate to a kind of measuring vehicle speed device and the speed of a motor vehicle investigating method that effectively can carry out observing and controlling to speed of a motor vehicle during automobile turning.
Background technology
If the automobile primary of prior art is converted into automobile speed by measuring the rotating speed of output shaft of gear-box, but the rotating speed of output shaft of gear-box represents the speed of automotive wheel, when automobile straight-line travelling, the translational speed of automotive wheel is consistent with the translational speed of Integral automobile, and automobile is when turning, the movement locus of Integral automobile and the track of automobile driving wheel are also inconsistent, therefore replace Integral automobile speed then to there is error with the wheel velocity of automobile.Along with improving constantly of Hyundai Motor intelligent level, also more and more higher to the accuracy requirement of the parameters of automobile, especially automobile more easily occurs when turning security incident occurs, therefore the accuracy requirement for the running car leading indicator speed of a motor vehicle is also more and more higher, to realize the precise hard_drawn tuhes to automobile turning transport condition.Therefore, the how accurately speed of measured automobiles when turning and controling effectively according to the speed of a motor vehicle, reducing is forbidden to lead to errors due to speed of a motor vehicle when turning judges and the driving accident that causes, and guaranteeing traffic safety, is a problem become more and more important.Publication date is on February 15th, 2012, publication number is that the Chinese patent literature of CN102662077A discloses a kind of vehicle speed measurement and speed limit alarm device, this device is made up of the magnetoelectric transducer for measuring the speed of a motor vehicle, single-chip microcomputer, speed of a motor vehicle setting module, alarm unit, described magnetoelectric transducer, speed of a motor vehicle setting module are connected with the signal input part of single-chip microcomputer respectively, and the signal output part of single-chip microcomputer is connected with alarm unit.The present invention detects wheel rotation speed signals input single-chip microcomputer by magnetoelectric transducer, single-chip microcomputer is by carrying out signal showing over the display after process calculates the speed of a motor vehicle, by speed of a motor vehicle setting module, the corresponding speed of a motor vehicle is selected for different regions, after actual vehicle speed exceedes setting value, carry out audio alert, increase travel safety.But the actual speed when program does not consider automobile turning and the inconsistent problem of wheel velocity, automobile speed Measurement accuracy when not solving automobile turning and control problem.
Summary of the invention
The measuring vehicle speed device that the object of the invention is for solving prior art adopts the output shaft of gear-box rotating speed conversion speed of a motor vehicle, when there is automobile turning speed of a motor vehicle accuracy not high, cause control accuracy to reduce and easily cause the problem of driving accident, there is provided a kind of can in real time Measurement accuracy automobile turning time speed, and the measuring vehicle speed device that automobile is control effectively and speed of a motor vehicle investigating method.
The present invention solves the problems of the technologies described above the concrete technical scheme adopted to be, a kind of measuring vehicle speed device, be arranged on four-wheel automobile, comprise speed controller, be arranged on automobile two front-wheels for measure wheel deflection angle wheel Declinometer, be arranged on for measuring the wheel velocity measuring instrument of wheel velocity on automobile two front-wheels, described wheel Declinometer and wheel velocity measuring instrument are all electrically connected with speed controller.The present invention measures speed (wheel is relative to the point-to-point speed on road surface) and the deflection angle of two front-wheels in real time by being arranged on two velocity measuring devices on automobile two front-wheels and wheel deflection angle measuring device, can by vehicle right and left two front-wheels speed around instantaneous movement when automobile turning, be converted into the translational speed at autocentre point place, and then adopt the translational speed at autocentre point place to represent automobile speed.Compared with being directly converted into the speed of a motor vehicle with the output shaft of gear-box rotating speed of prior art, the speed of a motor vehicle that the present invention surveys when automobile turning has higher accuracy, data more accurately can be provided for the intelligent automobile in modern times or automatic automobile, thus realize more accurate more effective control, guarantee traffic safety.
As preferably, speed measuring device also comprises the gravity sensor be arranged on two front-wheel wheel shafts, and described gravity sensor is electrically connected with speed controller.Gravity sensor can provide the force-bearing situation of vehicle front, for automobile speed controls to provide necessary vehicle parameter.
As preferably, speed measuring device also comprises alarm, and alarm connects speed controller, and described alarm comprises voice guard and/or visual alarm, and described voice guard is arranged in pilothouse, and described visual alarm is installed on the dash panel.Alarm can remind driver to note when driving accident easily appears in very fast or centre-of gravity shift etc. at automobile speed.
The automobile speed measuring method of above-mentioned measuring vehicle speed device, comprises the following steps:
The intrinsic parameter of A, acquisition four-wheel automobile, the intrinsic parameter of automobile comprises the wheelbase 2b of automobile, the wheelspan 2a of automobile; Real-time measurement the near front wheel bias angle theta
1with the near front wheel speed v
1, off-front wheel bias angle theta
2with off-front wheel speed v
2, then the central point G of automobile four-wheel and the distance of left and right sides front-wheel and rear axis line are a, and the distance of central point G and front-wheel axial line or rear axis line is b.
B, the drift angle measuring vehicle front and yawing moment, when the drift angle mean value of left and right front-wheel is less than 2.5 degree, the speed of a motor vehicle at autocentre point place presses automobile the near front wheel speed v
1with off-front wheel speed v
2mean value determine; When the drift angle mean value of left and right front-wheel is more than or equal to 2.5 degree, according to motor turning state and respectively with the speed that the near front wheel and off-front wheel are benchmark autocentre point place.
C, take the near front wheel as the speed v at benchmark autocentre place
g1:
1. the distance r of the near front wheel and instantaneous O, is calculated
1computing formula is:
2. the central angle θ, calculate autocentre point G, forming between instantaneous O and rear axis line
g, computing formula is:
when wherein automobile turns left, i=1, when automobile is turned right, i=-1.
3. the distance r of instantaneous O and central point G, is calculated
g, computing formula is:
4. the speed v at autocentre point place, is calculated
g1, computing formula is:
D, take off-front wheel as the speed v at benchmark autocentre place
g2:
1. the distance r of off-front wheel and instantaneous O, is calculated
2, computing formula is:
2. the central angle θ, calculate autocentre point G, forming between instantaneous O and rear axis line
g, computing formula is:
when wherein automobile turns left, i=1, when automobile is turned right, i=-1.
3. the distance r of instantaneous O and central point G, is calculated
g, computing formula is:
4. the speed v at autocentre point place, is calculated
g2, computing formula is:
Central spot average speed v when E, calculating motor turning
gfor:
The present invention measures speed (wheel is relative to the point-to-point speed on road surface) and the deflection angle of two front-wheels in real time by being arranged on two velocity measuring devices on automobile two front-wheels and wheel deflection angle measuring device, simultaneously according to intrinsic parameter wheelbase 2b (distance namely before and after automobile between diaxon) and the wheelspan 2a (distance namely between vehicle right and left two-wheeled of automobile, usual wheel base is identical) determine the central point G of automobile, by vehicle right and left two front-wheels speed around the movement of instantaneous O when automobile turning, be converted into the translational speed of automobile four-wheel central spot respectively.Require during automobile turning that system ensures that pure rolling made by each wheel, here instantaneous be exactly each wheel when making pure rolling around same central point, but in fact during automobile turning the near front wheel and off-front wheel around central point be not same point, namely may there are having two instantaneous situations, therefore the present invention adopts the near front wheel and off-front wheel separate computations, and using the mean value of two car speeds in autocentre point place as actual travel speed during automobile turning, like this closer to actual conditions, and there is higher accuracy.Compared with the output shaft of gear-box rotating speed directly conversion speed of a motor vehicle of prior art, the speed of a motor vehicle that the present invention surveys when automobile turning has higher accuracy, data more accurately can be provided for the intelligent automobile in modern times or automatic automobile, thus realize more accurate more effective control, guarantee traffic safety.In addition, determine vehicle driving mileage by the speed of a motor vehicle that the inventive method is surveyed, also there is higher accuracy.
Method of the present invention when the drift angle mean value of automobile two front-wheels is less than 2.5 degree directly by the mean value determination speed of a motor vehicle of two front wheel speeds, can avoid like this causing dyscalculia when automobile turning radius is too large, reduce system cost, when front wheel slip angle is too small simultaneously, its speed of a motor vehicle differs very little with wheel speed, can not affect measuring accuracy.
Based on an automobile speed control method for above-mentioned automobile speed measuring method, two front-wheels of automobile are equipped with gravity sensor, measure in real time and obtain the gravity value F of two gravity sensors be arranged on respectively on the near front wheel and off-front wheel wheel shaft
1and F
2, as automobile speed v
gduring>=8m/s, calculate the large value of gravity of two gravity sensors and the ratio K of the little value of gravity, i.e. K=F
greatly/ F
little, when K>=8, speed controller controls automobile and reduces the speed of a motor vehicle, the large value of the gravity that two gravity sensors are detected and the little value of gravity than K < 5.
With the ratio of the little value of gravity, the present invention judges whether automobile may to side overturning by the large value of gravity detecting the gravity sensor on two front-wheels, the distribution of vehicle weight on two front-wheels occurs that great change is the omen that turning on one's side may appear in automobile, brake system and the engine system of speed controller and automobile are connected, the speed of a motor vehicle can be reduced by brake system and engine system intelligence, take deceleration measure effectively can prevent the generation of this rollover in time.The vehicle side turning that the present invention is mainly very fast for speed of a motor vehicle during automobile turning and cause, the ratio of the large value of gravity therefore only when the speed of a motor vehicle is more than or equal to 8 metre per second (m/s) just in detection two gravity sensors and the little value of gravity.And the speed of a motor vehicle slower time the rollover that occurs normally the too high or Uneven road of centre of gravity of vehicle cause, now take the usual poor effect of deceleration measure.The weight of the body structure below gravity sensor can't detect, but this part weight belongs to fixed value, can to F
1and F
2value is revised, also negligible.
As preferably, when 10 > K>=5 or | v
g1-v
g2|/v
gwhen>=0.1, speed controller passes through alarm equipment alarm.Wherein 10 > K>=5 represent automobile and have trend to a certain lateral movement, and remind occupant to note by alarm, driver can take suitable counter-measure; | v
g1-v
g2|/v
g>=0.1 represents that the difference between two autocentre speed calculating respectively for benchmark with the near front wheel and off-front wheel differs larger with the ratio of these two speed average, this situation normally automobile storage in mechanical fault, therefore need to remind occupant to note, because two the autocentre speed under normal circumstances, calculated respectively for benchmark with the near front wheel and off-front wheel are more or less the same.
The invention has the beneficial effects as follows, the measuring vehicle speed device that it efficiently solves prior art adopts the output shaft of gear-box rotating speed conversion speed of a motor vehicle, when there is automobile turning speed of a motor vehicle accuracy not high, cause control accuracy to reduce and easily cause the problem of driving accident, the present invention can in real time Measurement accuracy automobile turning time speed, and car speed is effectively controlled, guarantee traffic safety, there is very high practical value.
Accompanying drawing explanation
Fig. 1 is measuring vehicle speed device embodiment of the present invention 1 one kinds of structural representations;
Fig. 2 is measuring vehicle speed device embodiment of the present invention 2 one kinds of structural representations;
Fig. 3 is measuring vehicle speed device embodiment of the present invention 3 one kinds of structural representations;
Fig. 4 is a kind of parameter schematic diagram of the present invention when automobile turns left;
Fig. 5 is a kind of parameter schematic diagram of the present invention when Automobile Right is turned.
In figure: 1. speed controller, 2. wheel Declinometer, 3. wheel velocity measuring instrument, 4. gravity sensor, 5. alarm.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment 1
In embodiment 1 as shown in Figure 1, a kind of measuring vehicle speed device, be arranged on four-wheel automobile, comprise speed controller 1, be arranged on automobile two front-wheels for measure wheel deflection angle wheel Declinometer 2, be arranged on automobile two front-wheels for measuring the wheel velocity measuring instrument 3 of wheel velocity, wheel Declinometer is arranged on automobile the near front wheel and off-front wheel respectively, for the deflection angle theta of measured automobiles the near front wheel in turning process
1and the deflection angle theta of off-front wheel
2size; Wheel velocity measuring instrument is arranged on automobile the near front wheel and off-front wheel respectively, for the real-time speed v of measured automobiles the near front wheel
1and the real-time speed v of off-front wheel
2, described wheel Declinometer and wheel velocity measuring instrument are all electrically connected with speed controller.
The automobile speed measuring method of above-mentioned measuring vehicle speed device, comprises the following steps:
The intrinsic parameter of A, acquisition four-wheel automobile, the intrinsic parameter of automobile comprises the wheelbase 2b of automobile, the wheelspan 2a of automobile; Real-time measurement the near front wheel bias angle theta
1with the near front wheel speed v
1, off-front wheel bias angle theta
2with off-front wheel speed v
2, then the central point G of automobile four-wheel and the distance of left and right sides front-wheel and rear axis line are a, and the distance of central point G and front-wheel axial line or rear axis line is b (see Fig. 4 Fig. 5);
B, the drift angle measuring vehicle front and yawing moment, when the drift angle mean value of left and right front-wheel is less than 2.5 degree, the speed of a motor vehicle at autocentre point place presses automobile the near front wheel speed v
1with off-front wheel speed v
2mean value determine; When the drift angle mean value of left and right front-wheel is more than or equal to 2.5 degree, according to motor turning state and respectively with the speed that the near front wheel and off-front wheel are benchmark autocentre point place;
C, take the near front wheel as the speed v at benchmark autocentre place
g1:
1. the distance r of the near front wheel and instantaneous O, is calculated
1computing formula is:
2. the central angle θ, calculate autocentre point G, forming between instantaneous O and rear axis line
g, computing formula is:
when wherein automobile turns left, i=1, when automobile is turned right, i=-1.
3. the distance r of instantaneous O and central point G, is calculated
g, computing formula is:
4. the speed v at autocentre point place, is calculated
g1, computing formula is:
D, take off-front wheel as the speed v at benchmark autocentre place
g2:
1. the distance r of off-front wheel and instantaneous O, is calculated
2, computing formula is:
2. the central angle θ, calculate autocentre point G, forming between instantaneous O and rear axis line
g, computing formula is:
when wherein automobile turns left, i=1, when automobile is turned right, i=-1.
3. the distance r of instantaneous O and central point G, is calculated
g, computing formula is:
4. the speed v at autocentre point place, is calculated
g2, computing formula is:
Central spot average speed v when E, calculating motor turning
gfor:
Embodiment 2
In embodiment 2 as shown in Figure 2, measuring vehicle speed device also comprises the gravity sensor 4 be arranged on two front-wheel wheel shafts, and described gravity sensor is electrically connected with speed controller.Brake system and the engine system of speed controller and automobile are connected, and can reduce the speed of a motor vehicle by brake system and engine system intelligence.
In the structure of embodiment 1 and the basis of vehicle speed measurement method, the method for controlling driving speed of embodiment 2 is: measure in real time and obtain the gravity value F of two gravity sensors be arranged on respectively on the near front wheel and off-front wheel wheel shaft
1and F
2, as automobile speed v
gduring>=8m/s, calculate the large value of gravity of two gravity sensors and the ratio K of the little value of gravity, i.e. K=F
greatly/ F
little, when K>=8, speed controller controls automobile and reduces the speed of a motor vehicle, the large value of the gravity that two gravity sensors are detected and the little value of gravity than K < 5.
Embodiment 3
In embodiment 3, automobile speed TT&C system also comprises alarm 5 (see Fig. 3), and alarm connects speed controller, and described alarm comprises voice guard and visual alarm, described voice guard is arranged in pilothouse, and described visual alarm is installed on the dash panel.In the present embodiment, measure in real time and obtain the gravity value F of two gravity sensors be arranged on respectively on the near front wheel and off-front wheel wheel shaft
1and F
2, as automobile speed v
gduring>=8m/s, calculate the large value of gravity of two gravity sensors and the ratio K of the little value of gravity, i.e. K=F
greatly/ F
little, when 8 > K>=5 or | v
g1-v
g2|/v
gwhen>=0.1, speed controller is by alarm equipment alarm, and all the other are identical with embodiment 1 or embodiment 2.
The present invention is by measuring speed and the deflection angle of two front-wheels in real time, accurately can calculate central point speed during automobile turning, the present invention adopts the near front wheel and off-front wheel separate computations, and using the mean value of two car speeds in autocentre point place as actual travel speed during automobile turning, like this closer to actual conditions, and there is higher accuracy.With the ratio of the little value of gravity, the present invention judges whether automobile may to side overturning by the large value of gravity detecting the gravity sensor on two front-wheels, the distribution of vehicle weight on two front-wheels occurs that great change is the omen that turning on one's side may appear in automobile, brake system and the engine system of speed controller and automobile are connected, the speed of a motor vehicle can be reduced by brake system and engine system intelligence, take deceleration measure effectively can prevent the generation of this rollover in time.Compared with the output shaft of gear-box rotating speed directly conversion speed of a motor vehicle of prior art, the speed of a motor vehicle that the present invention surveys when automobile turning has higher accuracy, data more accurately can be provided for the intelligent automobile in modern times or automatic automobile, thus realize more accurate more effective control, guarantee traffic safety.
In addition to the implementation; in the scope disclosed in claims of the present invention and instructions; technical characteristic of the present invention or technical data can carry out reselecting and combining; thus form new embodiment; the embodiment that these the present invention do not describe in detail is that those skilled in the art just can realize easily without the need to creative work, and therefore these embodiments do not described in detail also should be considered as specific embodiments of the invention and within protection scope of the present invention.
Claims (6)
1. a measuring vehicle speed device, be arranged on four-wheel automobile, it is characterized in that, comprise speed controller (1), be arranged on automobile two front-wheels for measure wheel deflection angle wheel Declinometer (2), be arranged on for measuring the wheel velocity measuring instrument (3) of wheel velocity on automobile two front-wheels, described wheel Declinometer and wheel velocity measuring instrument are all electrically connected with speed controller.
2. measuring vehicle speed device according to claim 1, is characterized in that, described speed measuring device also comprises the gravity sensor (4) be arranged on two front-wheel wheel shafts, and described gravity sensor is electrically connected with speed controller.
3. measuring vehicle speed device according to claim 1 and 2, it is characterized in that, described speed measuring device also comprises alarm (5), alarm connects speed controller, described alarm comprises voice guard and/or visual alarm, described voice guard is arranged in pilothouse, and described visual alarm is installed on the dash panel.
4. a vehicle speed measurement method for speed measuring device as claimed in claim 1, is characterized in that, comprise the following steps:
The intrinsic parameter of A, acquisition four-wheel automobile, the intrinsic parameter of automobile comprises the wheelbase 2b of automobile, the wheelspan 2a of automobile; Real-time measurement the near front wheel bias angle theta
1with the near front wheel speed v
1, off-front wheel bias angle theta
2with off-front wheel speed v
2, then the central point G of automobile four-wheel and the distance of left and right sides front-wheel and rear axis line are a, and the distance of central point G and front-wheel axial line or rear axis line is b;
B, the drift angle measuring vehicle front and yawing moment, when the drift angle mean value of left and right front-wheel is less than 2.5 degree, the speed of a motor vehicle at autocentre point place presses automobile the near front wheel speed v
1with off-front wheel speed v
2mean value determine; When the drift angle mean value of left and right front-wheel is more than or equal to 2.5 degree, according to motor turning state and respectively with the speed that the near front wheel and off-front wheel are benchmark autocentre point place; C, take the near front wheel as the speed v at benchmark autocentre place
g1:
1. the distance r1 computing formula, calculating the near front wheel and instantaneous O is:
2. the central angle θ, calculate autocentre point G, forming between instantaneous O and rear axis line
g, computing formula is:
when wherein automobile turns left, i=1, when automobile is turned right, i=-1;
3. the distance r of instantaneous O and central point G, is calculated
g, computing formula is:
4. the speed v at autocentre point place, is calculated
g1, computing formula is:
D, take off-front wheel as the speed v at benchmark autocentre place
g2:
1. the distance r of off-front wheel and instantaneous O, is calculated
2, computing formula is:
2. the central angle θ, calculate autocentre point G, forming between instantaneous O and rear axis line
g, computing formula is:
when wherein automobile turns left, i=1, when automobile is turned right, i=-1;
3. the distance r of instantaneous O and central point G, is calculated
g, computing formula is:
4. the speed v at autocentre point place, is calculated
g2, computing formula is:
Central spot average speed v when E, calculating motor turning
gfor:
5. based on a method for controlling driving speed for vehicle speed measurement method described in claim 4, two front-wheels of automobile are equipped with gravity sensor, it is characterized in that, measure in real time and obtain the gravity value F of two gravity sensors being arranged on the near front wheel and off-front wheel axle center respectively
1and F
2, as automobile speed v
gduring>=8m/s, calculate the large value of gravity of two gravity sensors and the ratio K of the little value of gravity, i.e. K=F
greatly/ F
little, when K>=8, speed controller controls automobile and reduces the speed of a motor vehicle, the large value of the gravity that two gravity sensors are detected and the little value of gravity than K < 5.
6. method for controlling driving speed according to claim 5, is characterized in that, when 10 > K>=5 or | v
g1-v
g2|/v
gwhen>=0.1, speed controller passes through alarm equipment alarm.
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CN201510082854.3A CN104764897B (en) | 2015-02-13 | 2015-02-13 | Measuring vehicle speed device and speed investigating method |
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Cited By (4)
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CN105823899A (en) * | 2015-09-16 | 2016-08-03 | 浙江吉利汽车有限公司 | Rotary transformer-based implementation method for calculating turning speed of vehicle |
WO2016127751A1 (en) * | 2015-02-13 | 2016-08-18 | 盐城工学院 | Vehicle speed measurement and control method and system |
CN108116234A (en) * | 2016-11-29 | 2018-06-05 | 比亚迪股份有限公司 | Speed when vehicle and its brakeing during cornereing calculates method and apparatus |
CN113432887A (en) * | 2021-06-10 | 2021-09-24 | 杭州光明汽车有限公司 | Detection equipment of intelligent speed-limiting control system of automobile |
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EP0534418A1 (en) * | 1991-09-24 | 1993-03-31 | Toyota Jidosha Kabushiki Kaisha | Doppler-effect type ground speed sensing apparatus |
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WO2016127751A1 (en) * | 2015-02-13 | 2016-08-18 | 盐城工学院 | Vehicle speed measurement and control method and system |
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CN108116234A (en) * | 2016-11-29 | 2018-06-05 | 比亚迪股份有限公司 | Speed when vehicle and its brakeing during cornereing calculates method and apparatus |
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CN113432887A (en) * | 2021-06-10 | 2021-09-24 | 杭州光明汽车有限公司 | Detection equipment of intelligent speed-limiting control system of automobile |
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