CN105424377A - Driver assistant system based on tracked vehicle road simulation bench test - Google Patents

Driver assistant system based on tracked vehicle road simulation bench test Download PDF

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Publication number
CN105424377A
CN105424377A CN201510745184.9A CN201510745184A CN105424377A CN 105424377 A CN105424377 A CN 105424377A CN 201510745184 A CN201510745184 A CN 201510745184A CN 105424377 A CN105424377 A CN 105424377A
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China
Prior art keywords
vehicle speed
module
target
dynamometer
speed
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CN201510745184.9A
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Chinese (zh)
Inventor
刘波澜
刘盼
黄英
张付军
赵长禄
董天普
张闯
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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Priority to CN201510745184.9A priority Critical patent/CN105424377A/en
Publication of CN105424377A publication Critical patent/CN105424377A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00Testing of vehicles
    • G01M17/007Wheeled or endless-tracked vehicles

Abstract

The invention provides a driver assistant system based on a tracked vehicle road simulation bench test. The system includes: a power unit which includes two dynamometers connected with an engine through a gearbox, and a dynamometer control cabinet connected with the two dynamometers and used for adjusting the rotating speed of motors; a road spectrum loading module which, according to road surface information of the vehicle speed and gradient of a car yard which is prestored in a system, controls the motors of the dynamometers through the dynamometer control cabinet to generate corresponding motor torque which simulates road resisting moment; and automatic driving module which controls the gearbox to output corresponding rotating speed to follow a target vehicle speed through position type PID operation according to a current vehicle speed collected in the power unit and a set target vehicle speed. Compared with the prior art, the driver assistant system based on the tracked vehicle road simulation bench test has the advantages that a driving situation of a driver under an actual cyclic operating condition is well reproduced, and the system has functions of data display and storage, monitors the condition of the bench test and performs post-processing on data.

Description

A kind of driver assistance system based on the bench test of endless-track vehicle road analogy
Technical field
The present invention relates to technical field of measurement and test, particularly relate to a kind of driver assistance system based on the bench test of endless-track vehicle road analogy.
Background technology
Simulation test research based on road state of cyclic operation is very perfect for civilian vehicle, and research is little for endless-track vehicle.Improve traditional endless-track vehicle propulsion system parameter calibration flow process, need to carry out a large amount of vehicle road tests, not only take time and effort, and because of the factor such as driver, environment, make test findings be difficult to have repeatability and comparability.Therefore, carrying out road circulation bench test to propulsion system demarcates significant to endless-track vehicle.
The state of cyclic operation bench test of propulsion system road surface completes on indoor stand, and state of cyclic operation information of road surface and driving information derive from actual experimental field sport car data.In order to the driving behavior of Reality simulation road and driver in bench test, need system for tracking of good performance to reappear the vehicle parameter of the driving procedure of driver in real roads, complete automatic Pilot.
Although civilian vehicle just have developed artificial assistant's backup system a long time ago and assists driver driving, this kind of aided management system is not also suitable for the research of endless-track vehicle bench test, therefore, needs the vehicle parameter by easy system determination endless-track vehicle.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of driver assistance system based on the bench test of endless-track vehicle road analogy, comprising:
Propulsion system, comprising: two dynamometer machines be connected with engine by wheel box, are connected with described two dynamometer machines the Dynamometer Control cabinet regulating motor speed;
Road spectrum load-on module, the speed of a motor vehicle in parking lot prestored according to system and the information of road surface of the gradient, be converted to the resistance that endless-track vehicle is suffered in the process of moving, be converted into the target torque to gear box output end again, then convert target torque to voltage signal, the motor controlling described dynamometer machine by described Dynamometer Control cabinet generates the motor torque of the corresponding simulated roadway moment of resistance;
Automatic Pilot module, according to the target vehicle speed of the current vehicle speed gathered in propulsion system and setting through Position Form PID computing, throttle digital signal is obtained after computing, throttle digital signal is converted into the voltage signal of described propulsion system identification, corresponding fuel feeding ratch position is converted into according to the size of the voltage signal received by propulsion system control module, described wheel box exports corresponding rotating speed, follows target vehicle speed.
Compared with prior art, the present invention includes following advantage:
Have the following advantages: the workload 1, alleviating endless-track vehicle powerplant research, good reproduction 2 has been carried out, except the function realizing automatic Pilot to the driving situation of driver under actual cycle operating mode, also tool function that data show and store, conveniently monitors the situation of bench test and carries out aftertreatment to data.3, for the correlated performance research of bench test demarcation and endless-track vehicle is laid a good foundation.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of horse structure of the present invention;
Fig. 2 is driver assistance system exchanges data figure schematic diagram of the present invention;
Fig. 3 is driver assistance system hardware of the present invention composition schematic diagram;
Fig. 4 is road of the present invention spectrum load-on module schematic diagram;
Fig. 5 is that the PID of automatic Pilot module of the present invention controls schematic diagram;
Fig. 6 is driver assistance system main program flow chart of the present invention;
Embodiment
For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, and below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
With reference to Fig. 1, show the structural drawing of the stand of the use in an embodiment of the present invention, the driver assistance system of simulating bench experiment of the present invention comprises:
Propulsion system, comprising: two dynamometer machines be connected with engine by wheel box, are connected with described two dynamometer machines the Dynamometer Control cabinet regulating motor speed; In the present embodiment, according to the effect of Dynamometer Control cabinet, the frequency conversion tank adopted in figure is Dynamometer Control cabinet.
Wherein, frequency conversion tank is for controlling the motor speed in dynamometer machine.
The software architecture of driver assistance system see Fig. 2, can comprise road spectrum load-on module, automatic Pilot module;
Road spectrum load-on module, the speed of a motor vehicle in parking lot prestored according to system and the information of road surface of the gradient, endless-track vehicle resistance suffered is in the process of moving obtained through theory calculate, be converted into the target torque to gear box output end again, then convert target torque to voltage signal, the motor controlling described dynamometer machine by described frequency conversion tank generates the motor torque of the corresponding simulated roadway moment of resistance; Generate target torque.
Automatic Pilot module, according to the target vehicle speed of the current vehicle speed gathered in propulsion system and setting through Position Form PID computing, throttle digital signal is obtained after computing, throttle digital signal is converted into the voltage signal of described propulsion system identification, described propulsion system control module is converted into corresponding fuel feeding ratch position according to the size of the voltage signal received, described wheel box exports corresponding rotating speed, follows target vehicle speed.
Wherein, automatic Pilot module comprises again following five modules:
Initialization module, for realizing initialization operation;
The read module of target data, comprises revolver, right target torque of taking turns and rotating speed of target for reading;
The acquisition module of data, in described propulsion system, gathers the right motor current torque in the left motor in the first dynamometer machine, the second dynamometer machine and current rotating speed by torque/speed integrative sensor;
The output module of target torque, after demarcating Electric Machine Control magnitude of voltage and described dynamometer machine torque value linear relationship; Export after all converting all target torques to Electric Machine Control magnitude of voltage; The motor simulation in dynamometer machine is regulated to be correlated with torque by Dynamometer Control cabinet.
The generation module of accelerator open degree, difference for the current vehicle speed according to target vehicle speed and described propulsion system carries out PID arithmetic, obtains accelerator open degree, then accelerator open degree is converted to voltage signal and flows to propulsion system, regulate the actual vehicle speed of propulsion system, complete following target vehicle speed.
Described generation module performs described PID arithmetic by following formula:
u ( k ) = u P ( k ) + u I ( k ) + u D ( k ) = K C e ( k ) + K C T I θ Σ i = 0 k e ( i ) + K C T D θ [ e ( k ) - e ( k - 1 ) ]
Wherein, u (k) output that is controller; The difference that e (k) is target vehicle speed and actual vehicle speed; u pk output valve that () is proportional component; u ik output valve that () is integral element; u dk output valve that () is differentiation element; K cfor the scale-up factor of controller; The difference that e (k) is target vehicle speed and actual vehicle speed; θ is the sampling period; K is sampling instant; T ifor the integration time constant of controller; T dfor the derivative time constant of controller.
Concrete steps and idiographic flow are performed for modules, the following detailed description of:
As shown in Fig. 2, Fig. 6, driver assistance system of the present invention, is divided into automatic Pilot module and road spectrum load-on module.The figure illustrates the flow direction of signal between system.The target vehicle speed read from the spectrum load-on module of road is carried out PID calculating with the actual speed of a motor vehicle by automatic Pilot module, the accelerator opening amount signal produced sends to controller, and the duty cycle signals that accelerator opening amount signal is converted into the ratch position controlling engine by controller sends to engine thus controls the rotating speed of engine; Controller is uploaded to wheel box Controlling model according to present engine rotating speed and the throttle information shift signal obtained of tabling look-up, and carries out separation and the combination of clutch coupling, reaches target gear.
Flow to frequency converter after road spectrum load-on module is converted into voltage signal by the target torque digital signal read, control motor torque by Dynamometer Control cabinet and carry out simulated roadway resistance.The actual speed of a motor vehicle and dtc signal can be monitored constantly, with this running situation that follows up constantly by data display interface.
As shown in Figure 3, the hardware composition that the present invention relates to comprises driver assistance system PC, NIUSB-6009 board, USB-1203 board and serial communication wire harness etc.Driver assistance system PC, mainly as the host computer of present system, runs above-mentioned modules or system, adopts LabVIEW software program to carry out data processing and related operation in PC; NIUSB-6009 board adopts bus-powered type to design, DA for accelerator opening amount signal in automatic Pilot changes, facilitate and be easy to carry about with one, there are 8 road analog input channels (14 bit resolution), 2 analog output channel, tunnels (12 bit resolution), article 12, digital I/O line, 32 bit resolution counters.In automatic Pilot module, accelerator opening amount signal DA changes analog output channel, needs 1 tunnel, and accelerator open degree voltage is 0.5 ~ 4.5V, and 1.22mV precision meets control accuracy requirement far away simultaneously.The dynamometer machine rotating speed utilizing serial communication to gather, the speed of a motor vehicle is converted in LabVIEW program, then compare with rotating speed of target, through PID arithmetic, the accelerator open degree of digital signal can be obtained, accelerator open degree digital signal is converted to voltage signal by the D/A module in NIUSB-6009 board, flows to the integrating control unit of propulsion system, and in automatic Pilot module, the PID arithmetic of accelerator opening amount signal can complete in integrating control unit (i.e. ECU).USB-1203 is a multifunctional universal A/D plate, and with PC plug and play, without the need to address jumpers, have 12,2 tunnel D/A and export, output voltage 5V or 10V, 12 bit resolutions, precision is 1.22mV.USB-1203 is arranged in Dynamometer Control cabinet, by USB-1203 modulating output software unit in PC master routine, target torque voltage signal is exported to board USB-1203, controls dynamometer machine output torque value.
As shown in Figure 4, road spectrum load-on module is used for the reproduction to real roads situation, it passes through to gather in advance and the information of road surface such as the speed of a motor vehicle, the gradient be stored in host computer calculates the running resistance situation in actual travel process, now just produces the digital signal of target torque.The digital signal of this target torque is converted into by D/A conversion module the voltage signal that Dynamometer Control cabinet can identify.Control the torque of corresponding motor by the voltage signal of dynamometer machine thus realize simulation to road resistance situation.
As shown in Figure 5, the auto-throttle of automatic Pilot module is the emphasis of automatic Pilot module, it is that the difference of the actual vehicle speed of target vehicle speed and the propulsion system circulated by typical road surface is carried out PID arithmetic and automatically generated, then accelerator open degree is converted to voltage signal and flows to propulsion system integrating control unit, regulate the actual vehicle speed of propulsion system, complete following thus realizing automatic Pilot target vehicle speed.The PID controller of automatic Pilot module controls based on LabVIEW, is a kind of controlling of sampling, can only calculate controlled quentity controlled variable according to the deviate of sampling instant.Therefore, can only approach by the method for numerical evaluation, be called digital IIR filters formula.Digital IIR filters formula is divided into Position Form PID to control formula and incremental timestamp formula usually, and the Position Form PID that automatic Pilot module adopts controls formula.Dynamometer torque instrument gathers dynamometer machine rotating speed from torque/speed integrative sensor, then utilize serial communication RS-485 the rotating speed of dynamometer machine to be flowed to LabVIEW program in PC, after the computing of rotating speed collection signal module, be converted into actual vehicle speed signal.By the difference of target vehicle speed and actual vehicle speed through control formula PID formula
u ( k ) = u P ( k ) + u I ( k ) + u D ( k ) = K C e ( k ) + K C T I θ Σ i = 0 k e ( i ) + K C T D θ [ e ( k ) - e ( k - 1 ) ]
Wherein, u (k) output that is controller; The difference that e (k) is target vehicle speed and actual vehicle speed; u pk output valve that () is proportional component; u ik output valve that () is integral element; u dk output valve that () is differentiation element; K cfor the scale-up factor of controller; The difference that e (k) is target vehicle speed and actual vehicle speed; θ is the sampling period; K is sampling instant; T ifor the integration time constant of controller; T dfor the derivative time constant of controller.
Throttle digital signal is obtained after computing, through the DA conversion module of board NIUSB-6009, throttle digital signal is converted into the voltage signal that propulsion system control module can identify, propulsion system control module is converted into corresponding fuel feeding ratch position according to the size of the voltage signal received, send propulsion system model to, corresponding control propulsion system output speed, thus follow target vehicle speed.
As shown in Figure 5, the present invention is based on LabVIEW software programming.Master routine can be divided into generation five software modules of the reading of program initialization module, target data, the collection of real data, the output of target torque and accelerator open degree.Wherein, program initialization module is made up of program initialization software unit separately; The read module of target data comprises revolver, right target torque of taking turns and rotating speed of target reading software unit; The acquisition module of real data comprises left motor, right actual motor torque and actual speed acquisition software unit; The output module of target torque comprises Electric Machine Control voltage calibration software unit and USB-1203 modulating output software unit; The generation module of accelerator open degree comprises PID arithmetic software unit and NIUSB-6009 modulating output software unit.
Program initialization module is only made up of program initialization software unit, mainly comprise yield value and off-set value that initialization demarcates for Electric Machine Control voltage, redistribute the time shaft for the serial ports and initialized target torque and target torque that gather left and right motor torque/tach signal in PC.
The read module of target data comprises information such as reading left and right target torque of taking turns and rotating speed of target.For revolver rotating speed of target reading software unit, the flow process of program is: the dialog box ejecting " please select fast data form ", open the excel form of the create name under specified path, and default name is " Sheet1 ", read the two-dimensional array in " Sheet1 ", read range is that the rotating speed form in program initialization module reads scope corresponding to coordinate, after mark/exponent characters string to numerical value conversion is carried out to 2-D data, read the output numerical value that secondary series data are revolver rotating speed of target, then preserve the change of form and close form.Other revolver target torque, right target torque of taking turns and rotating speed of target reading software unit as revolver rotating speed of target reading software unit class seemingly.
In the acquisition module of real data, the actual torque of left and right motor and rotating speed are transferred to PC by serial communication from dynamometer torque instrument.In LabVIEW, the basic step of carrying out serial communication is divided into three steps: serial ports configuration, read and write serial port and closedown serial ports.
Linear relationship is there is between the target torque of dynamometer machine and the Electric Machine Control voltage of dynamometer machine, so when carrying out the output of dynamometer machine target torque, need to demarcate Electric Machine Control magnitude of voltage and dynamometer machine torque value linear relationship, and then all convert all target torques of dynamometer machine to Electric Machine Control magnitude of voltage, finally export to board USB-1203 by USB-1203 modulating output software unit in master routine.
The generation of accelerator open degree and analog output module comprise PID software for calculation unit and NIUSB-6009 modulating output software unit.PID calculating is carried out to the difference of rotating speed of target and actual speed, obtains accelerator open degree.What adopt is Position Form PID formula, and LabVIEW Program is realized by " PID (DBL) .vi ".In the LabVIEW program of the output employing of accelerator open degree, DAQmx module realizes.First passage is created by DAQmx; Second step is that DAQmx starts task, and equipment starts formation voltage; 3rd step is the accelerator open degree write passage will calculated through PID; Then be closing passage, remove channel resource.
Apply specific case herein to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands system of the present invention and core concept thereof for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.

Claims (5)

1. based on a driver assistance system for endless-track vehicle road analogy bench test, it is characterized in that, comprising:
Propulsion system, comprising: two dynamometer machines be connected with engine by wheel box, are connected with described two dynamometer machines the Dynamometer Control cabinet regulating motor speed;
Road spectrum load-on module, the speed of a motor vehicle in parking lot prestored according to system and the information of road surface of the gradient, be converted to the resistance that endless-track vehicle is suffered in the process of moving, be converted into the target torque to gear box output end again, then convert target torque to voltage signal, the motor controlling described dynamometer machine by described Dynamometer Control cabinet generates the motor torque of the corresponding simulated roadway moment of resistance;
Automatic Pilot module, according to the target vehicle speed of the current vehicle speed gathered in propulsion system and setting through Position Form PID computing, throttle digital signal is obtained after computing, throttle digital signal is converted into the voltage signal of described propulsion system identification, corresponding fuel feeding ratch position is converted into according to the size of the voltage signal received by propulsion system control module, described wheel box exports corresponding rotating speed, follows target vehicle speed.
2. system according to claim 1, is characterized in that, described automatic Pilot module comprises:
Initialization module, for realizing initialization operation;
The read module of target data, comprises revolver, right target torque of taking turns and rotating speed of target for reading;
The acquisition module of data, in described propulsion system, gathers the right motor current torque in the left motor in the first dynamometer machine, the second dynamometer machine and current rotating speed by torque/speed integrative sensor;
The output module of target torque, for demarcating Electric Machine Control magnitude of voltage and described dynamometer machine torque value linear relationship; All target torques are converted to Electric Machine Control magnitude of voltage to export;
The generation module of accelerator open degree, difference for the current vehicle speed according to target vehicle speed and described propulsion system carries out PID arithmetic, obtains accelerator open degree, then accelerator open degree is converted to voltage signal and flows to propulsion system, regulate the actual vehicle speed of propulsion system, complete following target vehicle speed.
3. system according to claim 2, is characterized in that, described generation module performs described PID arithmetic by following formula:
Wherein, u (k) output that is controller; The difference that e (k) is target vehicle speed and actual vehicle speed; u pk output valve that () is proportional component; u ik output valve that () is integral element; u dk output valve that () is differentiation element; K cfor the scale-up factor of controller; The difference that e (k) is target vehicle speed and actual vehicle speed; θ is the sampling period; K is sampling instant; T ifor the integration time constant of controller; T dfor the derivative time constant of controller.
4. system according to claim 2, is characterized in that, adopts NIUSB-6009 board that accelerator open degree is converted to voltage signal and flows to propulsion system.
5. system according to claim 2, is characterized in that, by Electric Machine Control magnitude of voltage and the calibrated signal of described dynamometer machine torque value linear relationship, exports to Dynamometer Control cabinet by USB-1203 board.
CN201510745184.9A 2015-11-05 2015-11-05 Driver assistant system based on tracked vehicle road simulation bench test Pending CN105424377A (en)

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Application publication date: 20160323