CN105946866B - A kind of vehicle driving state method for early warning - Google Patents

A kind of vehicle driving state method for early warning Download PDF

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CN105946866B
CN105946866B CN201610266769.7A CN201610266769A CN105946866B CN 105946866 B CN105946866 B CN 105946866B CN 201610266769 A CN201610266769 A CN 201610266769A CN 105946866 B CN105946866 B CN 105946866B
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CN105946866A (en
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张宪龙
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Beijing Three Chi Inertial Polytron Technologies Inc
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/11—Pitch movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/112—Roll movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/16—Pitch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/18—Roll
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics

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  • Mechanical Engineering (AREA)
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Abstract

The present invention provides a kind of vehicle driving state method for early warning, comprising steps of prejudging vehicle travelling state of cutting steam according to the received sensor information of institute；Motoring condition characteristic value is corrected according to the vehicle driving state；Warning information is exported according to the modified motoring condition characteristic value of institute.By upper, pass through the data of all acquisitions of parsing sensor while the car is driving, calculate motoring condition characteristic value of the different automobiles under different conditions, using the motoring condition characteristic value as the criterion of early warning, warning information is exported accordingly to prompt the potential danger of driver's automobile.

Description

A kind of vehicle driving state method for early warning
Technical field
The present invention relates to field of automobile safety, in particular to a kind of vehicle driving state method for early warning.
Background technique
Real-time and accurate measurement for vehicle motion posture is to carry out automobile chassis comprehensive Control and to automobile operation stabilization Property the premise and basis evaluated with active safety.Since traditional is surveyed using mechanical rotor gyro composition mechanical platform The method of amount automobile attitude has the defects of volume is big, quality is heavy, erroneous for installation and inconvenient for use, makes its answering on automobile With having received considerable restraint.With the development of automotive electronic technology, military sensor is grown rapidly, wherein the most typical Be exactly integrated micro-electro-mechanical subsystem sensor, with small in size, light weight, response is fast, high sensitivity, low energy are high, Gao Gong The advantages such as rate, are used widely on automobile.
And integrated micro-electro-mechanical subsystem sensor measures automobile and water mostly with gravitational accelerometer as attitude transducer The angle of the pitching of plane and roll angle, in this way measurement vehicle static is more accurate, and automobile load posture has its particularity, needs Reflect the real-time attitude of motor racing object, since accelerometer is the sensor of allergen acceleration, this causes automobile to exist Accelerate have a biggish acceleration when starting or suddenly brake, is converted into pitch angle angle probably at 10 degree or so, directly leads It has caused automobile in starting and brake, cannot really reflect automobile attitude.Fig. 1 and Fig. 2 reflects automobile and is starting and stopping The transient change of pitch angle when vehicle.
Summary of the invention
The application provides a kind of vehicle driving state method for early warning, passes through the institute of parsing sensor while the car is driving There are the data of acquisition, calculate motoring condition characteristic value of the different automobiles under different conditions, by the running car shape Criterion of the state characteristic value as early warning exports warning information accordingly to prompt the potential danger of driver's automobile.
The vehicle driving state method for early warning comprising steps of
Vehicle travelling state of cutting steam is prejudged according to the received sensor information of institute；
Motoring condition characteristic value is corrected according to the vehicle driving state；
Warning information is exported according to the modified motoring condition characteristic value of institute.
By upper, by the data of all acquisitions of parsing sensor while the car is driving, calculate different automobiles and exist Motoring condition characteristic value under different conditions, it is defeated accordingly using the motoring condition characteristic value as the criterion of early warning Warning information is out to prompt the potential danger of driver's automobile.
Optionally, in step A, the vehicle driving state include: low-speed running state, rough ride state, frequently on Descent run state or transport condition of frequent acceleration and deceleration.
Optionally, in step B, the motoring condition characteristic value include: course angle Ψ, pitch angle γ, roll angle θ, Left-hand rotation acceleration axj and right-hand rotation acceleration ayj.
Optionally, when step A is judged as low-speed running state in advance,
The pitch angle γ and roll angle θ in motoring condition characteristic value are corrected in step B.
Optionally, in step B, the pitch angle and roll angle are calculated using following formula: Ex=a (sin γ-cos θ)+m (Ey+Ez)；Ez=a (sin θ-cos γ)+m (Ey+Ex)；
Ex, Ey, Ez respectively indicate X-axis, Y-axis, the magnetic deviation amount of Z axis in formula, and a, m respectively indicate proportionality coefficient.
By upper, due to running at a low speed, left-hand rotation acceleration and right-hand rotation acceleration measured by accelerometer are effective, need to be to boat It is modified to angle Ψ, pitch angle γ and roll angle θ.Further, during running at a low speed, course angle Ψ is standard value, Thus it only needs to calculate pitch angle γ and roll angle θ, due to the low frequency characteristic of magnetic, baud rate is about 10 frames/second, therefore accepts and believe magnetic biasing Amount calculates pitch angle γ and roll angle θ.
Optionally, when step A is judged as rough ride state in advance,
Course angle Ψ, pitch angle γ and the roll angle θ in motoring condition characteristic value are corrected in step B.
Optionally, in step B, course angle Ψ, pitch angle γ and the roll angle θ corrected in motoring condition characteristic value is adopted Use following formula
Gx1=gx-Lyx*gy-Lzx*gz；
Gx1=Gx1- (CCS [0] [0] * cos (north_angle*PI/180.0) * cos (latitude*PI/180.0) * Wie/3600.0+CCS[1][0]*sin(latitude*PI/180.0)*Wie/3600.0+CCS[2][0]*sin(north_ angle*PI/180.0)*cos(latitude*PI/180.0)*Wie/3600.0)；
Gy1=gy-Lxy*gx-Lzy*gz；
Gy1=Gy1- (CCS [0] [1] * cos (north_angle*PI/180.0) * cos (latitude*PI/180.0) * Wie/3600.0+CCS[1][1]*sin(latitude*PI/180.0)*Wie/3600.0+CCS[2][1]*sin(north_ angle*PI/180.0)*cos(latitude*PI/180.0)*Wie/3600.0)；
Gz1=gz-Lxz*gx-Lyz*gy；
Gz1=Gz1- (CCS [0] [2] * cos (north_angle*PI/180.0) * cos (latitude*PI/180.0) * Wie/3600.0+CCS[1][2]*sin(latitude*PI/180.0)*Wie/3600.0+CCS[2][2]*sin(north_ angle*PI/180.0)*cos(latitude*PI/180.0)*Wie/3600.0)；
CCS [] [] indicates the direction cosine matrix of gyro posture in formula；
Gx1, Gy1, Gz1 respectively indicate X-axis, Y-axis, the axial angle speed of Z axis；
Gx, gy, gz respectively indicate X-axis, Y-axis, the turning rate valu of Z axis；
Lyx*gy indicates that Y-axis indicates that Z axis is to X in mechanical erection to the dynamic effects of X-axis, Lzx*gz in mechanical erection The dynamic effects of axis；
Lxy*gx indicates that X-axis is to the dynamic effects of Y-axis in mechanical erection, and Lzy*gz indicates that Z axis is to Y in mechanical erection The dynamic effects of axis；
Lxz*gx indicates that X-axis is to the dynamic effects of Z axis in mechanical erection, and Lzy*gz indicates that Y-axis is to Z in mechanical erection The dynamic effects of axis；
North_angle is expressed as the angle to north orientation, latitude is expressed as latitude, Wie indicates earth rotation angle speed Rate, PI indicate pi.
By upper, when speed is higher, gyro attitude matrix algorithm is accepted and believed, baud rate was updated up to 100 frames/second.Further, The dynamic effects of three between centers in mechanical erection are removed, measurement accuracy is improved.
Optionally, when step A is judged as transport condition of frequent climbing and traveling downhill or transport condition of frequent acceleration and deceleration in advance,
Course angle, pitch angle, roll angle, left-hand rotation acceleration and the right side in motoring condition characteristic value are corrected in step B Rotational acceleration.
Optionally, in step B, course angle Ψ, the pitch angle γ, roll angle θ, a left side in motoring condition characteristic value are corrected Rotational acceleration axj and right-hand rotation acceleration ayj uses following formula:
Cx* γ=cx*ax* (0.5f-q2q2-q3q3)+ay* (q1q2-q0q3)+az (q1q3+q0q2)；
Cy* θ=cy*ax* (q1q2-q0q3)+ay* (q1q1-q3q3)+az (q2q3+q0q1)；
Cz* Ψ=cz*ax* (q1q3-q0q2)+az (q1q1+q2q3)；
CCS [] [] indicates the direction cosine matrix of gyro posture in formula；
Cx, cy, cz respectively indicate X-axis, Y-axis, Z axis calibration coefficient；
Ax, ay, az respectively indicate the acceleration of X-axis, Y-axis and Z-direction；
The process variable of f expression computational algorithm.
By upper, when automobile occur whether frequent downhill driving or frequent acceleration and deceleration driving, then belong to the most complicated Road conditions, therefore sensor data collected can not be accepted and believed, i.e., be modified respectively to 5 output valves.In conjunction with above-mentioned magnetic biasing It measures calculation formula and gyro attitude matrix corrects above-mentioned 5 output valves, initial value is provided by magnetic deviation amount calculation formula, by gyro appearance State matrix provides integral.
Optionally, step A includes:
According to institute received automobile travel speed over the ground, when the automobile travel speed over the ground less than automobile over the ground When travel speed threshold value, it is judged as low-speed running state；
When the travel speed over the ground of the automobile is greater than the threshold value of travel speed over the ground of automobile, the received X-axis of foundation institute, The acceleration value in three directions of Y-axis and Z axis calculates the acceleration value root mean square in three directions, when the acceleration value is equal When root is less than acceleration value root mean square threshold, it is judged as rough ride state；
When the acceleration value root mean square is less than acceleration value root mean square threshold, according to the received pitch angle angular speed of institute Value and roll angle magnitude of angular velocity calculate the magnitude of angular velocity root mean square of pitch angle magnitude of angular velocity and roll angle magnitude of angular velocity, when described When magnitude of angular velocity root mean square is less than magnitude of angular velocity root mean square threshold, it is judged as rough ride state；
When the magnitude of angular velocity root mean square is greater than magnitude of angular velocity root mean square threshold, it is judged as transport condition of frequent climbing and traveling downhill Or transport condition of frequent acceleration and deceleration.
By upper, the driving status of automobile is judged by different acquisition amount respectively, to correct different running car shapes respectively State characteristic value, has reached optimal early warning.
Detailed description of the invention
Fig. 1 is the transient change of automobile pitch angle on startup when not using the present invention program；
Fig. 2 is the transient change of automobile pitch angle in brake when not using the present invention program；
Fig. 3 is the flow chart of vehicle driving state method for early warning；
Fig. 4 is the transient change using the pitch angle on startup of automobile after the present invention program；
Fig. 5 is the transient change using the pitch angle in brake of automobile after the present invention program.
Specific embodiment
Vehicle driving state method for early warning according to the present invention passes through the institute of parsing sensor while the car is driving There are the data of acquisition, calculate motoring condition characteristic value of the different automobiles under different conditions, by the running car shape Criterion of the state characteristic value as early warning exports warning information accordingly to prompt the potential danger of driver's automobile.The garage The state characteristic value of sailing includes: course angle Ψ, pitch angle γ, roll angle θ, left-hand rotation acceleration axj and right-hand rotation acceleration ayj.
In the present embodiment, the various kinds of sensors being set on automobile data collected include: that acceleration transducer is adopted The acceleration of the X-axis of collection, Y-axis and Z-direction: ax, ay and az；
Gyroscope vehicle collected surrounds X-axis, the turning rate valu of Y-axis and Z axis axial direction: gx, gy and gz；
Magnetoresistive sensor vehicle collected and X-axis, the magnetic deviation amount of Y-axis and Z axis: Ex, Ey and Ez；
The origin of above-mentioned coordinate system be centre of gravity of vehicle, X-axis be directed toward north, Y-axis be directed toward east, Z axis along ground vertical line be directed toward ground, X-axis, Y-axis and Z axis constitute right-handed coordinate system.
The flow chart of vehicle driving state method for early warning as described in Figure 1, specifically includes:
Step S10: whether anticipation vehicle of cutting steam runs at a low speed, if judging result be it is no, enter step S20, otherwise enter Step S30.
When the travel speed over the ground that sensor collects automobile is less than 4.8km/h, determine that automobile is to run at a low speed, table The driving posture of bright automobile is relatively stable, enters step S20.Otherwise three directions add whether meter root mean square is greater than the set value, vapour When the travel speed over the ground of vehicle is above 4.8km/h, automobile travels at the higher speeds, enters step S30.In this step, if It is worth on the basis of the acceleration ax of X-direction, then the acceleration ax of X-direction is the travel speed over the ground of automobile.
Step S20: corrected Calculation pitch angle and roll angle.
When being less than 4.8km/h due to speed, then it is assumed that left-hand rotation acceleration axj measured by accelerometer and acceleration of turning right It is effective to spend ayj.Thus it needs to be modified course angle Ψ, pitch angle γ and roll angle θ.
Further, during running at a low speed, course angle Ψ is standard value, thus only needs to calculate pitch angle γ and roll Angle θ, due to the low frequency characteristic of magnetic, baud rate is about 10 frames/second, therefore accepts and believe magnetic deviation amount and calculate pitch angle γ and roll angle θ.
Magnetic deviation amount calculation formula are as follows: Ex=a (sin γ-cos θ)+m (Ey+Ez), Ez=a (sin θ-cos γ)+m (Ey+ Ex), a, m respectively indicate proportionality coefficient in formula.Pitch angle γ and roll angle θ are calculated eventually by above-mentioned two calculation formula, is tied It closes left-hand rotation acceleration axj, right-hand rotation acceleration ayj and the course angle Ψ detected by sensor to export together, go to step S70。
Step S30: under automobile non-low-speed running state, prejudge whether disconnected running car jolts.
It is main according to being whether X-axis, the accelerometer root mean square in three directions of Y-axis and Z axis are big to judge whether road surface jolts In threshold value, if more than threshold value, then it represents that running car jolts, and enters step S50, otherwise enters step S40.
Formula adopted in this step isThat is M is greater than threshold valueWhen, indicate road bump.
Step S40: corrected Calculation course angle Ψ, pitch angle γ and roll angle θ.
When speed is greater than 4.8km/h, if still calculating using magnetic deviation amount, cause its more new data that can not adapt to high speed feelings Condition needs to accept and believe gyro attitude matrix algorithm at this time, and baud rate was updated up to 100 frames/second.
The direction cosine matrix of gyro posture indicates are as follows:
Gyro attitude matrix algorithmic notation are as follows: Gx1=gx-Lyx*gy-Lzx*gz, Gx1 indicates X axis to be solved in formula Angular speed, gx indicate sensor X turning rate valu detected, Lyx*gy indicate in mechanical erection Y-axis X-axis is moved State influences, and Lzx*gz indicates dynamic effects of the Z axis to X-axis in mechanical erection.
Further, removal latitude and north component is also needed to influence the angular speed of X axis to be solved, calculating formula indicates Are as follows:
Gx1=Gx1- (CCS [0] [0] * cos (north_angle*PI/180.0) * cos (latitude*PI/180.0) * Wie/3600.0+CCS[1][0]*sin(latitude*PI/180.0)*Wie/3600.0+CCS[2][0]*sin(north_ Angle*PI/180.0) * cos (latitude*PI/180.0) * Wie/3600.0), north_angle is expressed as to north in formula To angle, latitude be expressed as latitude, Wie indicate earth rotation angular speed, PI indicate pi.
The angular speed Gx1 that X axis can be found out by above-mentioned two groups of calculating formulas passes through the angular speed Gx1 product to X axis Point, that is, acquire revised pitch angle γ.
Using formula Gy1=gy-Lxy*gx-Lzy*gz, Gy1 indicates that the angular speed of Y-axis to be solved, gy indicate in formula Sensor Y-axis turning rate valu detected, Lxy*gx indicate dynamic effects of the X-axis to Y-axis, Lzy*gz in mechanical erection Indicate dynamic effects of the Z axis to Y-axis in mechanical erection.
Removing latitude and north component influences the angular speed of Y-axis to be solved, and calculating formula indicates are as follows:
Gy1=Gy1- (CCS [0] [1] * cos (north_angle*PI/180.0) * cos (latitude*PI/180.0) * Wie/3600.0+CCS[1][1]*sin(latitude*PI/180.0)*Wie/3600.0+CCS[2][1]*sin(north_ angle*PI/180.0)*cos(latitude*PI/180.0)*Wie/3600.0).It can be found out by above-mentioned two groups of calculating formulas The angular speed Gy1 of Y-axis is integrated by the angular speed Gy1 to Y-axis, that is, acquires revised roll angle θ.
Similarly, using formula Gz1=gz-Lxz*gx-Lyz*gy, in formula Gz1 indicate Z axis to be solved to angular speed, Gz indicates sensor Z axis turning rate valu detected, Lxz*gx indicate in mechanical erection X-axis to the dynamic effects of Z axis, Lzy*gz indicates dynamic effects of the Y-axis to Z axis in mechanical erection.
Remove latitude and north component on Z axis to be solved to angular speed influence, calculating formula indicates are as follows:
Gz1=Gz1- (CCS [0] [2] * cos (north_angle*PI/180.0) * cos (latitude*PI/180.0) * Wie/3600.0+CCS[1][2]*sin(latitude*PI/180.0)*Wie/3600.0+CCS[2][2]*sin(north_ angle*PI/180.0)*cos(latitude*PI/180.0)*Wie/3600.0).It can be found out by above-mentioned two groups of calculating formulas Z axis to angular speed Gz1, by Z axis to angular speed Gz1 integrate, that is, acquire revised course angle Ψ.
By the revised pitch angle γ of institute, roll angle θ and course angle Ψ, and there is the collected left-hand rotation acceleration of sensor Axj, right-hand rotation acceleration ayj are exported together, and go to step S70.
Step S50: anticipation is cut steam, and whether frequent downhill driving or frequent acceleration and deceleration driving for vehicle.
Judge frequent climb and fall or acceleration-deceleration mainly according to the root mean square for being pitch angle angular speed and roll angle angular speed Whether it is greater than the set value, if so, indicating the frequent climb and fall of automobile or acceleration-deceleration operation, enters step S60；Otherwise step is returned Rapid S40.
Formula adopted in this step isThat is N is greater than threshold valueWhen, indicate automobile whether frequently on Descent run or frequent acceleration-deceleration traveling.
Step S60: corrected Calculation course angle Ψ, pitch angle γ, roll angle θ, left-hand rotation acceleration axj and right-hand rotation acceleration ayj。
When automobile occur whether frequent downhill driving or frequent acceleration and deceleration driving, then belong to road the most complicated Condition, therefore sensor data collected can not be accepted and believed, i.e., be modified respectively to 5 output valves.
In the present embodiment, using Quaternion algebra is combined, using assembled gesture matrix, in conjunction with above-mentioned magnetic deviation amount calculation formula Above-mentioned 5 output valves are corrected with gyro attitude matrix, initial value is provided by magnetic deviation amount calculation formula, is provided by gyro attitude matrix Integral, expression formula are as follows:
Cx* γ=cx*ax* (0.5f-q2q2-q3q3)+ay*(q1q2-q0q3)+az(q1q3+q0q2)；
Cy* θ=cy*ax* (q1q2-q0q3)+ay*(q1q1-q3q3)+az(q2q3+q0q1)；
Cz* Ψ=cz*ax* (q1q3-q0q2)+az(q1q1+q2q3)；
The solve system of equation of four elements indicates are as follows:
In formula f indicate computational algorithm process variable, cx, cy, cz respectively indicate X-axis, Y-axis, Z axis calibration coefficient.
Pitch angle γ, roll angle θ and course angle Ψ and X-axis, Y-axis and Z-direction are acquired using above-mentioned calculating formula respectively Acceleration ax, ay and az further calculate left-hand rotation acceleration axj and right-hand rotation acceleration according to above three acceleration value Ayj,
Finally, by the revised pitch angle γ of institute, roll angle θ, course angle Ψ, left-hand rotation acceleration axj and right-hand rotation acceleration Ayj is exported together, and go to step S70.
Step S70: early warning information is exported according to calculated result.
This step receives pitch angle γ, roll angle θ and the course angle that step S20, step S40 or step S60 are exported Ψ, left-hand rotation acceleration axj and right-hand rotation acceleration ayj calculate the real-time attitude of automobile according to above-mentioned five data, and are converted to Voice messaging output.Further, it is also stored with the standard value of all data under different situations, a certain data exceed standard value It is to be alarmed by voice messaging.It is described by pitch angle γ, roll angle θ and course angle Ψ, left-hand rotation acceleration axj and right-hand rotation Acceleration ayj calculates automobile attitude and belongs to the prior art, and the present embodiment no longer repeats it.
Further, air quality sensor can be also provided in cockpit, to detect the air quality of cockpit, and It is output by voice.
The transient change of pitch angle when shown in Fig. 4 and Fig. 5 being automobile starting revised by this embodiment scheme, can See, after this embodiment scheme is corrected, eliminates automobile and bowed as caused by acceleration when accelerating starting or brake suddenly Elevation angles variation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in the present invention in a word Spirit and principle within, any modification, equivalent replacement, improvement and so on, should be included in protection scope of the present invention it It is interior.

Claims (2)

1. a kind of vehicle driving state method for early warning, which is characterized in that comprising steps of
A, vehicle travelling state of cutting steam is prejudged according to the received sensor information of institute；
B, motoring condition characteristic value is corrected according to the vehicle driving state；
C, warning information is exported according to the modified motoring condition characteristic value of institute；
In step A, the vehicle driving state includes: low-speed running state, rough ride state, transport condition of frequent climbing and traveling downhill Or transport condition of frequent acceleration and deceleration；
In step B, the motoring condition characteristic value includes: course angle Ψ, pitch angle γ, roll angle θ, left-hand rotation acceleration Axj and right-hand rotation acceleration ayj；
When step A is judged as transport condition of frequent climbing and traveling downhill or transport condition of frequent acceleration and deceleration in advance,
The course angle in motoring condition characteristic value, pitch angle, roll angle, left-hand rotation acceleration and right-hand rotation is corrected in step B to add Speed；
In step B, course angle Ψ, the pitch angle γ, roll angle θ, left-hand rotation acceleration axj in motoring condition characteristic value are corrected Following formula is used with right-hand rotation acceleration ayj:
Cx* γ=cx*ax* (0.5f-q2q2-q3q3)+ay*(q1q2-q0q3)+az(q1q3+q0q2)；
Cy* θ=cy*ax* (q1q2-q0q3)+ay*(q1q1-q3q3)+az(q2q3+q0q1)；
Cz* Ψ=cz*ax* (q1q3-q0q2)+az(q1q1+q2q3)；
CCS [] [] indicates the direction cosine matrix of gyro posture in formula；
Cx, cy, cz respectively indicate X-axis, Y-axis, Z axis calibration coefficient；
Ax, ay, az respectively indicate the acceleration of X-axis, Y-axis and Z-direction；
The process variable of f expression computational algorithm.
2. the method according to claim 1, wherein step A includes:
According to institute received automobile travel speed over the ground, when the automobile travel speed over the ground less than automobile traveling over the ground When threshold speed, it is judged as low-speed running state；
When the travel speed over the ground of the automobile is greater than the threshold value of travel speed over the ground of automobile, according to the received X-axis of institute, Y-axis With the acceleration value in three directions of Z axis, the acceleration value root mean square in three directions is calculated, when the acceleration value root mean square When less than acceleration value root mean square threshold, it is judged as rough ride state；
When the acceleration value root mean square is less than acceleration value root mean square threshold, according to the received pitch angle magnitude of angular velocity of institute and Roll angle magnitude of angular velocity calculates the magnitude of angular velocity root mean square of pitch angle magnitude of angular velocity and roll angle magnitude of angular velocity, when the angle speed When angle value root mean square is less than magnitude of angular velocity root mean square threshold, it is judged as rough ride state；
When the magnitude of angular velocity root mean square is greater than magnitude of angular velocity root mean square threshold, it is judged as transport condition of frequent climbing and traveling downhill or frequency Numerous acceleration-deceleration driving status.
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