CN105136116B - A kind of vehicle-mounted road grade real-time testing system and method for testing - Google Patents
A kind of vehicle-mounted road grade real-time testing system and method for testing Download PDFInfo
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- CN105136116B CN105136116B CN201510431548.6A CN201510431548A CN105136116B CN 105136116 B CN105136116 B CN 105136116B CN 201510431548 A CN201510431548 A CN 201510431548A CN 105136116 B CN105136116 B CN 105136116B
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- receiver
- real
- gps
- vehicle
- road grade
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of vehicle-mounted road grade real-time testing system and method for testing, test system is made up of GPS test equipments, fixing device and data acquisition and procession board；GPS test equipments are mainly used in the accurate horizontal velocity and vertical speed obtained at automobile measuring point；Fixing device is used to fix the top that GPS antenna is located at automobile back wheel；Data acquisition and procession board goes out road grade for real-time resolving and exported by CAN.In terms of method of testing, data acquisition and procession board is calculated filtered velocity information, and processing speed is fast, and real-time is good.Test system and its method of testing of the present invention install simple, and easy to operate, precision is higher.
Description
Technical field
The invention belongs to automotive test and control technology field, specifically a kind of vehicle-mounted road grade real-time testing system
System and method of testing.
Background technology
The accurate acquisition of road grade has to fuel economy evaluation and driving safety the precise control aspect of automobile
Directly influence.In terms of automobile fuel ecomomy, road grade correspondence running car road resistance, big road resistance meeting
Increase vehicle fuel consumption, but the state of cyclic operation of Evaluation: Current automobile fuel ecomomy does not consider road grade factor substantially,
So that there is larger difference between result of the test and actual result.In addition, the presence of road grade causes in vehicle traveling process
Optimal gearshift opportunity is different from level road so that shift quality is deteriorated.At the automatically controlled aspect of vehicle safety, road slope
Car is adhered to and referred to presence influence anti-blocking brake system (ABS) and dynamic stability control system (ESC) road pavement of degree
The accurate estimation of speed, so as to influence the accuracy of control.
Have in the prior art to road grade acquisition methods：By the use of the instrument such as water tank or pendulum directly read inclination angle as
The angle of gradient of road；Based on Kalman filter, the method for estimation such as Proportional integral observer；Method based on resistance of taxing.
Inclination angle is directly read as the method for the angle of gradient of road by instruments such as water tank or pendulums and is vulnerable to road surface bar
Part, speed of operation, the restriction of instrument installation site.
Based on Kalman filter, Proportional integral observer, precision and real-time depend on the complexity of car model.
Method based on resistance of taxing needs to demarcate each resistance coefficient in running car equation, the cunning of foundation
Row resistance model, comprising unknown parameter number it is different, bringing each resistance coefficient precision that differential equation obtains into also has one
Determine difference.
Other obtain the aspect of road grade based on GPS, and such as gps antenna is arranged at the top of vehicle body and can not effectively rejected
The influence that suspension bounce is brought in vehicle traveling process.
The content of the invention
The invention aims to overcome the weak point of existing technology to be installed simply there is provided one kind, easy to operate, precision
Higher vehicle-mounted road grade real-time testing system.
The present invention is achieved by the following technical solutions：
A kind of vehicle-mounted road grade real-time testing system, includes test equipment, fixing device and data acquisition and procession
Board；
The test equipment includes receiver, receiver antenna and terrestrial reference station；The receiver antenna passes through institute
State the top that fixing device is arranged on automobile back wheel；The terrestrial reference station is arranged near test site；The receiver is set
It is placed in the automobile；
The receiver is connected with data acquisition and procession board communication；
The fixing device includes ball stud, connecting rod, gripping sleeve, bearing, ring flange and sucker；The ball stud
One end be fixed on by the sucker on the side vehicle body of automobile, the other end is fixed in the connecting rod；The ring flange
Side the outside of automobile back wheel wheel rim is arranged on by the gripping sleeve, opposite side passes through the bearing and the connecting rod
Connection；The receiver antenna is arranged at one end that the connecting rod is located at the ball stud.
The terrestrial reference station receives satellite-signal and sends the differential signal calculated according to the satellite-signal；
The receiver antenna receives satellite-signal；The receiver resolves the satellite-signal that the receiver antenna is received
And obtain the velocity information of the position where the receiver antenna；The receiver receives the differential signal simultaneously.
The receiver receives the differential signal by radio station module.
The velocity information includes horizontal velocity information and vertical speed information.
The satellite-signal is gps signal.
The receiver is connected with the data acquisition and procession board by communicating serial ports；The data acquisition and procession
Board is connected with the CAN.
A kind of vehicle-mounted road grade method for real-timely testing, using the vehicle-mounted road grade real-time testing system of any of the above-described
System,
The receiver real-time resolving goes out the horizontal velocity information and vertical speed letter of the receiver antenna position
Breath；And give the data acquisition and procession board by the horizontal velocity information and the vertical speed information transmission；
The data acquisition and procession board is receiving the horizontal velocity information of receiver transmission and described
After vertical speed information, calculated by i=tan α and obtain road slope value；Wherein i is road slope value, and a is the road grade
Angle, passes through α=arctan (vV/vH) obtain, wherein, vHThe GPS antenna institute gone out for GPS real-time resolving is in place
The horizontal velocity information put；vVThe vertical speed letter of the GPS antenna position gone out for GPS real-time resolving
Breath；
The road slope value is exported by the CAN.
The beneficial effects of the invention are as follows：
The application is arranged at the upper of automobile back wheel by the way that receiver antenna is arranged in fixing device, and by fixing device
Side, the influence that can effectively avoid automobile suspension bouncing from testing road grade；And this test system and its method of testing
Equipment install simple, easy to operate, precision is high and is suitable for collection Gradient for a long time in the automotive environment.
Brief description of the drawings
Fig. 1 is vehicle-mounted road grade real-time testing system schematic diagram of the present invention；
Fig. 2 is vehicle-mounted road grade real-time testing system schematic diagram of the present invention；
Fig. 3 is that road grade angle of the present invention calculates schematic diagram；
Fig. 4 is vehicle-mounted road grade real-time testing system block diagram of the present invention.
Description of reference numerals
After 1GPS receiver antennas, 2 ball studs, 3 connecting rods, 4 gripping sleeves, 5 bearings, 6 ring flanges, 7 suckers, 8 automobiles
Wheel.
Embodiment
Describe technical scheme in detail by the following examples, following embodiment be only it is exemplary, only
Explanation and illustration technical scheme can be used for, and be not to be construed as the limitation to technical solution of the present invention.
The present invention provides a kind of vehicle-mounted road grade real-time testing system, as shown in figure 1, including test equipment, fixation
Device and data acquisition and procession board (DSP)；
In the present embodiment, the test equipment includes GPS, GPS antenna 1 and GPS terrestrial references
Stand；In the other embodiments of the application, receiver can select the receiver of other models as needed, different to adapt to
Signal.In the present embodiment, using being illustrated exemplified by reception gps signal, in the other embodiments of the application, receiver can
With as needed for the receiver for receiving other navigation signals, receiver antenna letter terrestrial reference station.
The GPS antenna is arranged on the top of automobile back wheel by the fixing device, for receiving gps satellite
Signal；Test device is arranged on to the top of automobile back wheel in invention, vehicle front is prevented effectively from and test is imitated as deflecting roller
The influence of fruit.Positioning precision is effectively increased by setting up GPS terrestrial references station in the present invention, and can accurately obtain traveling
Track.
The GPS terrestrial references station is arranged near test site, in the present embodiment, and GPS terrestrial references station is arranged at
Field edge is tested, GPS terrestrial references station reception gps satellite signal is handed over to calculate to be sent after differential signal by way of radio station；
The GPS is arranged in the automobile, in the present embodiment, and GPS is arranged on the instrument board in driver's cabin.
GPS receives the gps satellite signal that gps antenna is received, and the GPS resolves the GPS antenna and received
Gps satellite signal and obtain the velocity information of the position where the GPS antenna；The velocity information includes water
Flat velocity information and vertical speed information.The GPS receives the difference using the radio station module in GPS simultaneously
Sub-signal.
The fixing device includes ball stud 2, connecting rod 3, gripping sleeve 4, bearing 5, ring flange 6 and sucker 7；It is described
One end of ball stud 2 is fixed on the side vehicle body of automobile by the sucker 7, and the other end is fixed in the connecting rod 3；Institute
The side for stating ring flange 6 is arranged on the outside of the wheel rim of automobile back wheel 8 by the gripping sleeve 4, and keeps ring flange plane
Parallel with automobile back wheel wheel rim plane, opposite side is connected by the bearing 5 with the connecting rod 3；The receiver antenna 1 is set
It is placed in one end that the connecting rod 3 is located at the ball stud.By this fixing device, the bounce of vehicle body can be avoided to meet GPS
Receipts machine antenna produces influence.
The receiver is connected with the data acquisition and procession board by communicating serial ports；The data acquisition and procession
Board is connected with the CAN.As shown in figure 4, the data acquisition and procession board is used for GPS receiver described in real-time reception
The velocity information of GPS antenna (1) position that machine is calculated and to calculate road grade information defeated by CAN
Go out.
A kind of vehicle-mounted road grade method for real-timely testing, using the vehicle-mounted road grade real-time testing system of any of the above-described
System,
The receiver real-time resolving goes out the horizontal velocity information and vertical speed letter of the receiver antenna position
Breath；And give the data acquisition and procession board by the horizontal velocity information and the vertical speed information transmission；
The data acquisition and procession board is receiving the horizontal velocity information of receiver transmission and described
After vertical speed information, calculated by i=tan α and obtain road slope value；Wherein i is road slope value, and a is the road grade
Angle, passes through α=arctan (vV/vH) obtain, wherein, vHThe GPS antenna institute gone out for GPS real-time resolving is in place
The horizontal velocity information put；vVThe vertical speed letter of the GPS antenna position gone out for GPS real-time resolving
Breath；
The road slope value is exported by the CAN.
In the other embodiments of the application, the GPS position information that road slope value is received with GPS is with GPS
After the differential signal of face base station is combined by the detailed positional information of calculating, exported by CAN.In this application,
The GPS position information that GPS is received with GPS terrestrial references station differential signal by the detailed positional information of calculating simultaneously
Not in the protection domain of the application, therefore, in this application, the GPS positions for how determining that GPS is received are not described in detail
Confidence ceases the detailed positional information for passing through calculating with the differential signal at GPS terrestrial references station.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is by appended claims and its equivalent limits.
Claims (5)
1. a kind of vehicle-mounted road grade real-time testing system, it is characterised in that：Include test equipment, fixing device and data to adopt
Collection and processing board；
The test equipment includes receiver, receiver antenna and terrestrial reference station；The receiver antenna passes through described solid
Determine the top that device is arranged on automobile back wheel；The terrestrial reference station is arranged near test site；The receiver is arranged at
In the automobile；
The receiver is connected with data acquisition and procession board communication；
The fixing device includes ball stud, connecting rod, gripping sleeve, bearing, ring flange and sucker；The one of the ball stud
End is fixed on the side vehicle body of automobile by the sucker, and the other end is fixed in the connecting rod；The one of the ring flange
Side is arranged on the outside of automobile back wheel wheel rim by the gripping sleeve, and opposite side is connected by the bearing and the connecting rod
Connect；The receiver antenna is arranged at one end that the connecting rod is located at the ball stud；
The terrestrial reference station receives satellite-signal and sends the differential signal calculated according to the satellite-signal；
The receiver antenna receives satellite-signal；The receiver resolves the satellite-signal that the receiver antenna receives and obtained
Position where the receiver antenna velocity information；The receiver receives the differential signal simultaneously；
The receiver receives the differential signal by radio station module.
2. vehicle-mounted road grade real-time testing system according to claim 1, it is characterised in that：The velocity information includes
There are horizontal velocity information and vertical speed information.
3. vehicle-mounted road grade real-time testing system according to claim 1, it is characterised in that：The satellite-signal is
Gps signal.
4. vehicle-mounted road grade real-time testing system according to claim 1, it is characterised in that：The receiver with it is described
Data acquisition and procession board is connected by communicating serial ports；The data acquisition and procession board is connected with CAN.
5. a kind of vehicle-mounted road grade method for real-timely testing, it is characterised in that：Using any one of the claims 1 to 4 institute
Vehicle-mounted road grade real-time testing system is stated,
The receiver real-time resolving goes out the horizontal velocity information and vertical speed information of the receiver antenna position；And
The data acquisition and procession board is given by the horizontal velocity information and the vertical speed information transmission；
The data acquisition and procession board is receiving the horizontal velocity information of receiver transmission and described vertical
After velocity information, calculated by i=tan α and obtain road slope value；Wherein i is road slope value, and a is the road grade angle, is led to
Cross α=arctan (vV/vH) obtain, wherein, vHThe water of the GPS antenna position gone out for GPS real-time resolving
Flat velocity information；vVThe vertical speed information of the GPS antenna position gone out for GPS real-time resolving；
The road slope value is exported by CAN.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510431548.6A CN105136116B (en) | 2015-07-20 | 2015-07-20 | A kind of vehicle-mounted road grade real-time testing system and method for testing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510431548.6A CN105136116B (en) | 2015-07-20 | 2015-07-20 | A kind of vehicle-mounted road grade real-time testing system and method for testing |
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| Publication Number | Publication Date |
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| CN105136116A CN105136116A (en) | 2015-12-09 |
| CN105136116B true CN105136116B (en) | 2017-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510431548.6A Active CN105136116B (en) | 2015-07-20 | 2015-07-20 | A kind of vehicle-mounted road grade real-time testing system and method for testing |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106352934B (en) * | 2016-08-30 | 2018-12-11 | 中通客车控股股份有限公司 | The fuel economy test macro and method of plug-in hybrid electric vehicle |
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| CN1800780A (en) * | 2004-12-31 | 2006-07-12 | 比亚迪股份有限公司 | Vehicle carried road slope angle measuring system and vehicle carried road slope angle measuring method |
| CN202793407U (en) * | 2012-09-21 | 2013-03-13 | 纵横皆景（武汉）信息技术有限公司 | Pulse collecting device for automobile wheel |
| CN103852064A (en) * | 2014-03-28 | 2014-06-11 | 安徽农业大学 | Vehicle-mounted real-time road slope testing system and testing method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19734096C1 (en) * | 1997-08-07 | 1999-01-14 | Hiss Eckart | Detection system esp. for refuse collection vehicle which prevents vehicle reversing |
| JP2013044562A (en) * | 2011-08-22 | 2013-03-04 | Ono Sokki Co Ltd | Road surface gradient calculation device and method |
| CN102818556A (en) * | 2012-03-19 | 2012-12-12 | 一汽解放青岛汽车有限公司 | Vehicle road gradient detection method and device thereof |
| US9446652B2 (en) * | 2012-08-02 | 2016-09-20 | Toyota Jidosha Kabushiki Kaisha | Road surface state obtaining device and suspension system |
| JP2015040784A (en) * | 2013-08-22 | 2015-03-02 | 旭化成エレクトロニクス株式会社 | Vehicle body inclination angle detection device |
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- 2015-07-20 CN CN201510431548.6A patent/CN105136116B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1800780A (en) * | 2004-12-31 | 2006-07-12 | 比亚迪股份有限公司 | Vehicle carried road slope angle measuring system and vehicle carried road slope angle measuring method |
| CN202793407U (en) * | 2012-09-21 | 2013-03-13 | 纵横皆景（武汉）信息技术有限公司 | Pulse collecting device for automobile wheel |
| CN103852064A (en) * | 2014-03-28 | 2014-06-11 | 安徽农业大学 | Vehicle-mounted real-time road slope testing system and testing method thereof |
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| CN105136116A (en) | 2015-12-09 |
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Address after: 230601 Anhui Province, Hefei City Industrial Park, the Peach Blossom Road No. 669 Applicant after: Anhui Jianghuai Automobile Group Limited by Share Ltd Address before: 230601 Anhui Province, Hefei City Industrial Park, the Peach Blossom Road No. 669 Applicant before: Anhui Jianghuai Automotive Co., Ltd. |
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