CN104851300A - Road condition pre-identifying system based on Internet of Things and suitable for vehicle suspension control - Google Patents
Road condition pre-identifying system based on Internet of Things and suitable for vehicle suspension control Download PDFInfo
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Abstract
The invention discloses a road condition pre-identifying system based on Internet of Things and suitable for vehicle suspension control. The system is composed of a vehicle terminal and a server. The vehicle terminal includes a GPS module, a road information collecting module, a vehicle information module, an ECU and a vehicle control module. The server is composed of an information exchange module, a database and an information processing module. Road information collected by vehicles moving on a road ahead is obtained through the Internet of Things and the required road condition information is collected and uploaded to a server through the vehicle terminal, so that necessary data including front road information and the like is sent to a control part of a vehicle suspension. A road condition identification result is obtained through computation by the server based on a large amount of uploaded data. The identification result in the server is sent to a target vehicle before the target vehicle reaches a target area. Therefore, a function of pre-identifying front road condition is realized and inevitable hysteretic nature of the suspension control system is improved, so that vehicle suspension control is enhanced.
Description
Technical field
The present invention relates to the pre-identification system of a kind of road condition, be specifically related to a kind of pre-identification system of road condition being applied to vehicle suspension control based on Internet of Things.
Background technology
The identification of road condition has irreplaceable effect in the control of vehicle active suspension.Industry and mining city now has real-time working condition identification and the pre-identification of operating mode two kinds.Wherein real-time working condition is recognized as and is a kind ofly calculated in real time the data collected by in-vehicle processor by onboard sensor image data and drawn the discrimination method of industry and mining city result.The performance of real-time working condition identification to sensor accuracy and processor has higher dependence, cannot avoid again the hysteresis quality problem of real-time identification simultaneously.
The pre-identification of operating mode then for a kind of by some approach such as real vehicle collection, Internet of Things road information gathered in advance and process obtain identification result, identification result is sent to the discrimination method of target vehicle before target vehicle is about to arrival target area.Therefore the pre-identification of operating mode can well solve the hysteresis quality problem that real-time identification controls.The paper of Japanese scholars Jorge Moreno in the IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS second phase in April, 2006 " Energy-Management System for a Hybrid Electric Vehicle, Using Ultra capacitors and Neural Networks " the middle road condition prognoses system proposed for route, its data adopting real vehicle to gather, utilize the road condition of the method prediction next stop of probability, but road condition change in time is not considered in this prediction, therefore predict the outcome to pass in time and produce comparatively big error.
Summary of the invention
For real-time working condition distinguish to sensor and processor dependence high, have that hysteresis quality and operating mode pre-judging method upgrade slowly, the shortcoming of poor in timeliness, in conjunction with the Internet of Things developed rapidly now, the present invention proposes a kind of pre-identification system of road condition being applicable to vehicle suspension control based on Internet of Things.By completing the collection of data and the sharing functionality of industry and mining city result to vehicle installation car mounted terminal, server data is made to obtain supplementing in time upgrading, the danger of the pre-identification of the common operating mode of great reduction, server is in mass data process simultaneously, to individual data and accuracy requirement not high, to the sensor of car-mounted terminal and processor dependence not high.
The technical solution used in the present invention is as follows: the pre-identification system of road condition being applicable to vehicle suspension control that the present invention is based on Internet of Things is made up of car-mounted terminal and server, both-way communication between car-mounted terminal and server, described car-mounted terminal comprises GPS module, road information acquisition module, information of vehicles module, ECU and vehicle control module, GPS module, road information acquisition module is connected the input end of ECU respectively with the output terminal of information of vehicles module, the output terminal of ECU connects the input end of vehicle control module, described server is by information exchange module, database and message processing module composition, two-way communication between information exchange module and database, two-way communication between database and message processing module, the gps data of described GPS module Real-time Collection vehicle, extracts the longitude and latitude of vehicle position and movement velocity and is transferred to ECU, described road information acquisition module gathers the vertical acceleration of the unsprung mass at four wheel position places and the steering angle acceleration of vehicle, the real-time speed information of described information of vehicles module acquires is also delivered to ECU, produce control signal after the serial data that described vehicle control module reception ECU sends and control suspension, described ECU gathers the information of GPS module, road information acquisition module and information of vehicles module, according to the travel direction and the crankcase ventilaton radius-of-curvature that collect gps data information and calculate this car, the Road turnings radius of road irregularity and vehicle is calculated, simultaneously by road irregularity, crankcase ventilaton radius-of-curvature with the real-time speed information of Ben Che is unidirectional sends to vehicle control module according to the information of road information module, road irregularity, Road turnings radius and vehicle position information that described database purchase car-mounted terminal is uploaded onto the server, store the information after message processing module process, described information exchange module receives car-mounted terminal and is sent to the information of server and is stored to the assigned position of database, and the vehicle location simultaneously uploaded according to car-mounted terminal and travel direction information read information that car-mounted terminal asks and sends it to car-mounted terminal from the assigned position of database, information is carried out screening and ranking operation generation server data and is stored to database assigned position by described message processing module, reads server data, by out-of-date information deletion, car-mounted terminal downloads road irregularity, crankcase ventilaton radius-of-curvature and positional information from server, uploads road irregularity, Road turnings radius, position and travel direction information.
The road information that the driving vehicle that the present invention is obtained in road ahead by Internet of Things gathers, uploaded onto the server by the road condition information needed for car-mounted terminal collection, in advance the necessary datas such as road ahead information can be sent to the control section of vehicle suspension with this, server is utilized to calculate the industry and mining city result of road to the mass data uploaded, again from the road condition information after server download process, before target vehicle is about to arrive target area, the identification result in server is sent to target vehicle, realize the anticipation function to road ahead operating mode.The invention solves the inevitable hysteresis quality problem of suspension control system, thus improve the Suspension control performance of car load, simultaneously by requiring high problem to dealing with in Suspension control of large data to sensor and processor performance to server.
Below by way of the drawings and specific embodiments, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the pre-identification system block diagram of road condition being applicable to vehicle suspension control that the present invention is based on Internet of Things.
Fig. 2 is the operational flow diagram of car-mounted terminal in Fig. 1.
Fig. 3 is the process flow diagram that in Fig. 1, car-mounted terminal obtains this truck position, the speed of a motor vehicle and travel direction by GPS acquisition module.
Fig. 4 is vertical acceleration transducer arrangenent diagram under spring in road information acquisition module in Fig. 1.
Fig. 5 is crankcase ventilaton radius-of-curvature acquisition of information process flow diagram.
Fig. 6 is the process schematic that turning position point judges.
Embodiment
As shown in Figure 1, road condition prognoses system of the present invention is made up of car-mounted terminal and server, both-way communication between car-mounted terminal and server.Wherein car-mounted terminal comprises GPS(Global Positioning System, GPS) module, road information acquisition module, information of vehicles module, car-mounted terminal ECU(Electronic Control Unit, electronic control unit) and vehicle control module, server is made up of information exchange module, database and message processing module.Wherein GPS module, road information acquisition module and the output terminal of information of vehicles module are connected the input end of car-mounted terminal ECU respectively, respectively respective information is sent to car-mounted terminal ECU, the output terminal of car-mounted terminal ECU connect vehicle control module input end, the information processed is passed to vehicle control module by car-mounted terminal ECU.Information exchange module in server and two-way communication between database, two-way communication between database and message processing module.
When car-mounted terminal can with server communication time, car-mounted terminal can download from server needed for road irregularity, crankcase ventilaton radius-of-curvature and become with it the positional information of mapping relations, upload the information such as road irregularity that this car collects, Road turnings radius, this truck position and Ben Che travel direction simultaneously.
GPS module is used for the gps data of Real-time Collection vehicle, analyzes the validity of data simultaneously, extracts the longitude and latitude of vehicle position and movement velocity and is transferred to car-mounted terminal ECU.
Road information acquisition module primary responsibility gathers the vertical acceleration of unsprung mass and the steering angle acceleration of vehicle at four wheel position places of this car, and information is sent to car-mounted terminal ECU.
Namely vehicle control module completes the module to Suspension control, produces control signal and control suspension after the serial data that this module reception car-mounted terminal ECU sends.
Information of vehicles module primary responsibility gathers the peculiar information of this car, comprises the speed information of this car in these information.Speed information is delivered to car-mounted terminal ECU by this module.
Car-mounted terminal ECU is the core of car-mounted terminal.It gathers the information of GPS module, road information acquisition module and information of vehicles module.Car-mounted terminal ECU calculates the travel direction of this car and the radius-of-curvature of crankcase ventilaton according to collecting gps data information.Also calculate the radius of turn of road roughness and vehicle according to the information of road information module and calculate data with GPS and calibrate, the speed information simultaneously sent by information of vehicles module generates this car speed information.Simultaneously this car-mounted terminal ECU is also by road irregularity, crankcase ventilaton radius-of-curvature with the real-time speed information of Ben Che is unidirectional sends to vehicle control module.This car travel direction calculated, road irregularity information, crankcase ventilaton radius-of-curvature and this truck position information are generated this car information data string according to the relation corresponding with this truck position information by ECU.
Database, for information such as the road irregularity, Road turnings radius and the vehicle locations that are stored to car-mounted terminal and upload onto the server, stores the information after described message processing module process simultaneously.
The information interaction of information exchange module primary responsibility server and car-mounted terminal.It receives the information that car-mounted terminal is sent to server, the serial data of the nearest some uploaded by all car-mounted terminals according to position corresponding relation is (as last hundred, article last thousand, the road irregularity etc.) and Road turnings radius information carry out time-based weighted calculation, the road irregularity of generation server end and Road turnings radius information, this information and vehicle position information and travel direction information are set up correct corresponding relation simultaneously, and be stored to the assigned position of described database, message processing module will read server data simultaneously, to the outdated data string of some be exceeded (as 100 serial datas after according to time sequence, article 1000, the serial data after serial data) delete.Finally, information exchange module, according to the database information in the position in vehicle solicited message and travel direction information extraction database from then in the segment distance travelled in the same way that starts of position, is sent to car-mounted terminal.
If car-mounted terminal can with server communication, this car information data string is sent to server by car-mounted terminal ECU, after server receives information, according to the vehicle location in serial data and travel direction information, the serial data comprising road irregularity and Road turnings radius and positional information corresponding with it of the one section of road in front in the track at vehicle place in database is sent to vehicle on-board terminal.After receiving information, the road irregularity of this front side a distance in server data, Road turnings radius information and Ben Che speed information are passed to vehicle control module to solve the lag issues controlled in real time according to the positional information of this car corresponding by car-mounted terminal ECU.Meanwhile can with under all situations of server communication, the travel direction information continuing serial data and this car generated by the car-mounted terminal ECU of this car uploads onto the server by car-mounted terminal.
As shown in Fig. 2, car-mounted terminal is by GPS module, road information module and this car of information of vehicles module acquires information, and this car information comprises this truck position, average speed, travel direction and the information such as road irregularity, crankcase ventilaton radius-of-curvature.The following aspects is had in the information acquisition of this car:
As shown in Figure 3, for car-mounted terminal to obtain the block diagram of this truck position, average speed and travel direction by GPS module.Car-mounted terminal obtain this truck position, average speed and travel direction information time, adopt that Chinese Patent Application No. is 200910149589.0, name is called the method proposed in the patent documentation of " Vehicular suspension control system and suspension control method ".First, this car of GPS module Real-time Collection GPS information and this information is sent to car-mounted terminal ECU.After ECU receives this information, by the longitude and latitude (L in GPS information, B) information is planimetric rectangular coordinates (x, y) information by equations turned described in the patent documentation of 200910149589.0 of Chinese Patent Application No., and this is the positional information of this car.After obtaining this truck position information, ECU calculates the vehicle average velocity in this certain hour according to this truck position sampling point information within the sampling time of certain length.As calculated the distance within two seconds between first this truck position sampled point and second this truck position sampled point, the distance between second this truck position sampled point and the 3rd this truck position sampled point, calculate this truck position sampled point of penultimate and the distance in two seconds between last this truck position sampled point always, and these distances are added up, finally divided by the time of two seconds, the vehicle average velocity in this two second just can be obtained.Simultaneously ECU according to the rectangular coordinate information of the sampled point in planimetric rectangular coordinates is that formulae discovery in the patent documentation of 200910149589.0 goes out this car travel direction by Chinese Patent Application No..So far car-mounted terminal collects this truck position information, average speed information and travel direction information by GPS module.
Information of vehicles module includes vehicle speed sensor, and vehicle speed sensor is arranged in by the output shaft of vehicle gear box, is the sensor of vehicle self-carrying.Car-mounted terminal ECU gathers the real-time speed information that this signal finally obtains vehicle.
As shown in Figure 4, road information acquisition module comprises vertical acceleration sensor 4, and car-mounted terminal obtains road irregularity and road curve radius by road information module and GPS module.Vertical acceleration sensor 4 is arranged in the other vehicle bridge 5 of wheel of vehicle 1, and it is positioned at ride-control 3 times, belongs to the unsprung mass part 2 of vehicle.Therefore the vertical acceleration information of vertical acceleration sensor 4 collection vehicle unsprung mass.The acquisition employing Chinese Patent Application No. of road irregularity is 201410581629.X, name is called the method described in the patent documentation of " a kind of road roughness on-line identification system and method ".Wherein required unsprung mass acceleration signal
a m, x(
t) provided by vertical acceleration sensor 4, required Vehicle Speed signal
u m(
t) provided by information of vehicles module.
As shown in Figure 5 with shown in Fig. 6, during crankcase ventilaton radius-of-curvature acquisition of information, car-mounted terminal transmits travel direction deflection angle when the positional information come judges that vehicle enters turning operating mode by GPS module and is greater than predetermined angle
location point C, go out the radius-of-curvature of this crankcase ventilaton according to positional information calculation simultaneously
and the turning angle acceleration of vehicle when being recorded in diverse location.In the road, A is this truck position, and B is the possible positional information collection point of a series of vehicle.In the B of these collection points, if the angle angle between the straight line at the place, direction when the straight line through P collection point and P-1 collection point and vehicle are kept straight on is greater than predetermined angle
time, then think that this position, collection point is turn inside diameter point position C.So far, after, car-mounted terminal is from the 3rd the positional information sampled point that GPS module obtains, and according to the positional information of current location information and front twice record, totally three dot position information collection points calculate through this radius of a circle of 3.Here, using the radius minimum value that calculates the like this radius-of-curvature as this crankcase ventilaton
.Meanwhile, after acquisition turning position point C, namely car-mounted terminal reads the information of the angular acceleration transducer in road information module after often obtaining a positional information sampled point, corresponding with positional information sampled point saves as turn inside diameter angular acceleration information.
So far, car-mounted terminal is completed by road information module and GPS module and obtains road irregularity and road curve radius information.
After car-mounted terminal collects required all data, generate this car information data string, see Fig. 2 by by above obtained information.Wherein this car information data string comprises vehicle location, travel direction, road irregularity and crankcase ventilaton radius-of-curvature (when running into crankcase ventilaton).Wherein, when getting this car vehicle location sampled point to car-mounted terminal from GPS, namely the travel direction now obtained, road irregularity and crankcase ventilaton radius information are generated this car information data string, both this car information data string was the information data string based on vehicle location sampled point in an order simultaneously.To ensure the information corresponding relation spatially of serial data.Vehicle on a road in driving process all serial datas based on vehicle location sampled point form one or several this car inter-area traffic interareas.These data stream are sent to server by the real-time communication of car-mounted terminal and server.This car information data string uploaded onto the server in real time is except being also construed to be the solicited message of car-mounted terminal to server data as server data source.
In server and car-mounted terminal interactive information, described information exchange module receives the data stream from car-mounted terminal, adds timestamp, to mark the uplink time of this data stream first to this data stream.Information exchange module also needs to extract and process the preservation of paired data and the response to car-mounted terminal request by following steps to the instant serial data received simultaneously.
First, the positional information in serial data, crankcase ventilaton radius-of-curvature information and road irregularity information are sent to database by information exchange module.After database receives information, the information received is stored in the memory headroom belonging to all untreated data stream of this road in database according to this data stream place road according to positional information wherein.So far the preservation of data is completed.Secondly, information exchange module is by the positional information extracted in serial data and travel direction information and the message processing module be sent in server.Judge the road at vehicle place and track and average speed according to these information after message processing module receives these information, then the information in this road and track in reading database, advances vehicle
in second, the road data run over is sent to information exchange module, and by information exchange module, information is sent to car-mounted terminal.After car-mounted terminal receives information, vehicle is all advanced the by each second afterwards server
to
in second, the road data run over is sent to car-mounted terminal.Namely ensure that vehicle advances
road data in second is all sent to the repetition that car-mounted terminal avoids data transmission simultaneously.So far the request-reply to car-mounted terminal is completed.
Described message processing module, except when replying car-mounted terminal to the process of information and to database data have select read function except can also according to the processing capacity of data stream untreated in following steps database.
First, all data stream that message processing module will read about a road, sort according to the timestamp that information exchange module adds simultaneously.If the number of data stream exceedes default numerical value
, then data are deleted by from apart from present time data stream farthest, until the data stream number of preserving is in default value
within.
When server works, new data stream will be ceaselessly had to upload up, often receive a serial data, message processing module contrasts by server data and uploading data, if it is too much that uploading data departs from server data, then abandon these data, though to ensure that car-mounted terminal the data precision is not high when, server still can generate more accurate servers' data.And ceaselessly receive with when abandoning invalid data at server, also by deleted for the data stream of ceaselessly haveing been friends in the past, often receive new data stream number and reach preset value
after, namely start to process to generate new servers' data to all data stream.
Because the situation of road is in continuous change, therefore need before treatment to assign weight to data stream, larger according to time nearlyer weight, the regular allocation that time weight far away is less, ensure that the data that finally obtain more can the road conditions of closing to reality with this, and ensure the accuracy of data sample quantity and data simultaneously.After completing weight allocation, positional information in data stream extracts by message processing module, calculate matching road curve by least square method, the crankcase ventilaton radius-of-curvature information extracted and road irregularity information then process according to the positional information corresponding with it: get a bit on the matching road curve calculated
, by all data points put within the scope of certain length and width extract at this, root mean square calculation is carried out to the crankcase ventilaton radius-of-curvature information in these data points and road irregularity information, the data obtained
then as this matching path coordinate point
server data.Finally by data
with the serial data of matching path coordinate point according to correct corresponding relation generation server end, and preserve in the internal memory at reduced data stream place of so far road.So far the processing capacity of untreated data stream in message processing module database.
After the response that server completes car-mounted terminal request, car-mounted terminal gets vehicle heading front from server
server data in second.After obtaining data, car-mounted terminal ECU is according to the delay of vehicle control module
and current vehicle speed
information, according to current vehicle location information by before this car
data message and the current vehicle speed information of rice are sent to vehicle control module.Namely vehicle control module starts to control suspension work according to these information, solves the unavoidable delay problem of traditional suspension control system with this.
So far native system complete car-mounted terminal Information Collecting & Processing, to receive with server communication, server info and processes and the data receiver function of car-mounted terminal.
Claims (9)
1. the pre-identification system of road condition being applicable to vehicle suspension control based on Internet of Things, it is characterized in that: be made up of car-mounted terminal and server, both-way communication between car-mounted terminal and server, described car-mounted terminal comprises GPS module, road information acquisition module, information of vehicles module, ECU and vehicle control module, GPS module, road information acquisition module is connected the input end of ECU respectively with the output terminal of information of vehicles module, the output terminal of ECU connects the input end of vehicle control module, described server is by information exchange module, database and message processing module composition, two-way communication between information exchange module and database, two-way communication between database and message processing module,
The gps data of described GPS module Real-time Collection vehicle, extracts the longitude and latitude of vehicle position and movement velocity and is transferred to ECU;
Described road information acquisition module gathers the vertical acceleration of the unsprung mass at four wheel position places and the steering angle acceleration of vehicle;
The real-time speed information of described information of vehicles module acquires is also delivered to ECU;
Produce control signal after the serial data that described vehicle control module reception ECU sends and control suspension;
Described ECU gathers the information of GPS module, road information acquisition module and information of vehicles module, according to the travel direction and the crankcase ventilaton radius-of-curvature that collect gps data information and calculate this car, the Road turnings radius of road irregularity and vehicle is calculated, simultaneously by road irregularity, crankcase ventilaton radius-of-curvature with the real-time speed information of Ben Che is unidirectional sends to vehicle control module according to the information of road information module;
Road irregularity, Road turnings radius and vehicle position information that described database purchase car-mounted terminal is uploaded onto the server, store the information after message processing module process;
Described information exchange module receives car-mounted terminal and is sent to the information of server and is stored to the assigned position of database, and the vehicle location simultaneously uploaded according to car-mounted terminal and travel direction information read information that car-mounted terminal asks and sends it to car-mounted terminal from the assigned position of database;
Information is carried out screening and ranking operation generation server data and is stored to database assigned position by described message processing module, reads server data, by out-of-date information deletion;
Car-mounted terminal downloads road irregularity, crankcase ventilaton radius-of-curvature and positional information from server, uploads road irregularity, Road turnings radius, position and travel direction information.
2. the pre-identification system of road condition according to claim 1, it is characterized in that: the longitude and latitude in gps data is converted into the positional information of this car by ECU, go out this car travel direction according to positional information calculation, calculate the average speed at this moment according to this truck position sampling point information within the sampling time.
3. the pre-identification system of road condition according to claim 1, it is characterized in that: road information acquisition module comprises vertical acceleration sensor, vertical acceleration sensor is arranged in the other vehicle bridge of wheel of vehicle, under being positioned at ride-control, by the vertical acceleration information of vertical acceleration sensor collection vehicle unsprung mass.
4. the pre-identification system of road condition according to claim 1, is characterized in that: car-mounted terminal transmits travel direction deflection angle when the positional information come judges that vehicle enters turning operating mode by GPS module and is greater than predetermined angle
positional information sampled point, from turn inside diameter the 3rd positional information sampled point, according to current location information and front twice positional information, totally three some location points calculate through this radius of a circle of 3, and the radius minimum value calculated is described crankcase ventilaton radius-of-curvature.
5. the pre-identification system of road condition according to claim 4, it is characterized in that: namely car-mounted terminal reads the information of the angular acceleration transducer in road information acquisition module after often obtaining a positional information sampled point, correspondingly with positional information sampled point to preserve as turn inside diameter steering angle acceleration information.
6. the pre-identification system of road condition according to claim 1, it is characterized in that: car-mounted terminal generates this car information data string to obtained information, vehicle on a road in driving process all serial datas based on vehicle location sampled point form one or several this car inter-area traffic interareas, these data flow are to server.
7. the pre-identification system of road condition according to claim 6, it is characterized in that: information exchange module receives the data stream from car-mounted terminal, add timestamp to mark the uplink time of this data stream to this data stream, positional information, crankcase ventilaton radius-of-curvature information and road irregularity information are sent to database; Information exchange module is by positional information and travel direction information and be sent to message processing module, message processing module judges the road at vehicle place and track and average speed according to these information, and the road data run over by vehicle is sent to car-mounted terminal by information exchange module.
8. the pre-identification system of road condition according to claim 7, it is characterized in that: all data stream of a road sort according to timestamp by message processing module, if the number of data stream exceedes default numerical value, delete data by from apart from present time data stream farthest, until the data stream number of preserving is within default numerical value.
9. the pre-identification system of road condition according to claim 6, is characterized in that: the positional information least square method in data stream is calculated matching road curve by message processing module; Matching road curve is got a bit
, extract in these all data points put within the scope of certain length and width and root mean square calculation carried out to the crankcase ventilaton radius-of-curvature information in these data points and road irregularity information, the data obtained
then as this matching road waypoint
server data, by data
with the serial data of matching path coordinate point according to corresponding relation generation server end.
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| CN114596716A (en) * | 2020-11-19 | 2022-06-07 | 常州江苏大学工程技术研究院 | Suspension road condition recognition system based on cloud computing platform and control method |
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