CN106218642A - A kind of method and device detecting vehicle heading - Google Patents
A kind of method and device detecting vehicle heading Download PDFInfo
- Publication number
- CN106218642A CN106218642A CN201610573287.6A CN201610573287A CN106218642A CN 106218642 A CN106218642 A CN 106218642A CN 201610573287 A CN201610573287 A CN 201610573287A CN 106218642 A CN106218642 A CN 106218642A
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- China
- Prior art keywords
- vehicle
- accekeration
- heading
- vehicle heading
- acceleration
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Classifications
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
-
- 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
- B60W40/107—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
- B60W2520/10—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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/24—Direction of travel
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Small-Scale Networks (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
The invention discloses a kind of method and device detecting vehicle heading, relate to technical field of vehicle.The method of described detection vehicle heading comprises measures the first accekeration at vehicle acceleration sensor, and sends described first accekeration to car load CAN network；Vehicle motor ECU calculates the second accekeration by speed meter；Described vehicle motor ECU receives described first accekeration that described car load CAN network sends；At described vehicle motor ECU, described first accekeration and the second combination of acceleration values are mated；Determine that described vehicle heading is rapid according to combinations matches result.Present invention also offers corresponding device.Pass through this method, vehicle can learn its travel direction the most in real time, therefore, it is possible to the relevant parameter adjusted in time in engine control system is to ensure the driving comfort performance of vehicle, simultaneously, this programme be implemented without increasing extra hardware, therefore also reduce the production cost of vehicle.
Description
Technical field
The present invention relates to technical field of vehicle, particularly relate to a kind of method and device detecting vehicle heading.
Background technology
In vehicle engine control system, the function such as many control strategy such as moment of torsion filtering, stabilizations all with vehicle shelves
Position is relevant, and to control parameter inconsistent due to it for different gears, the clearest and the most definite automobile gear level and simultaneously lowering at this gear
Whole suitable control parameter, just can make vehicle have comfortable cornering ability under each gear in the range of full working scope, but wherein
Owing to reverse gear ratio and 1 notch speed of vehicle gear box are more minimum than difference, thus more difficult differentiation vehicle reverse gear with 1 grade.
Reverse gear is all covered in 1 grade by the vehicle being equipped with manual transmission at present, and equipped with AT, DCT, AMT, CVT etc.
Although the vehicle of change speed gear box is provided with shift lever position sensor, but during the drive shift mutual operation with reverse gear, due to
The operation of actual vehicle has delay, so also can not the differentiation vehicle heading of entirely accurate.
Summary of the invention
It is an object of the invention to provide a kind of method detecting vehicle heading, the method can effectively differentiate vehicle
Travel direction, also can effectively distinguish vehicle reverse gear with 1 grade.
Further object is that a kind of device detecting vehicle heading of offer, this device logical can be effective
Detect the travel direction of vehicle.
Especially, the invention provides a kind of method detecting vehicle heading, it comprises the steps of:
At vehicle acceleration sensor, measure the first accekeration, and described first accekeration is sent to car load
CAN network；
Vehicle motor ECU calculates the second accekeration by speed meter；
Described vehicle motor ECU receives described first accekeration that described car load CAN network sends；
At described vehicle motor ECU, described first accekeration and the second combination of acceleration values are mated；
Described vehicle heading is determined according to combinations matches result.
Further, described vehicle acceleration sensor is arranged in vehicle airbag system.
Further, during described vehicle acceleration sensor is arranged in the ESP ESP system of vehicle.
Further, vehicle traveling side is determined according to described first accekeration and the positive and negative of described second accekeration
To.
Further, during described first accekeration and described second accekeration positive and negative identical, described vehicle is in
Direction of advance；During described first accekeration and described second accekeration positive and negative different, described vehicle is in retrogressing side
To.
Further, described first accekeration and described second accekeration are timing, and described vehicle is in advance
In the accelerator in direction；When described first accekeration and described second accekeration are negative, described vehicle is in advance
In the moderating process in direction.
Further, described first accekeration is timing for negative, described second accekeration, and vehicle is in direction of retreat
Accelerator in；Described first accekeration be just, described second accekeration for time negative, vehicle is in subtracting of direction of retreat
During speed.
Further, also include adjusting the control parameter in vehicle engine control system.
Further, moment of torsion filtering is adjusted or/and the control parameter of stabilization software.
Further, present invention also offers a kind of device detecting vehicle heading, it includes
Equipped with the vehicle airbag system of acceleration transducer or/and vehicle electric stability program ESP system, it is used for
Measure the first accekeration；
Car load CAN network, for receiving described first accekeration sent from described acceleration transducer and by it
See off；With
Vehicle motor ECU system, for receiving the first accekeration that described car load CAN network sends over, and
Calculate the second accekeration by speed, described first accekeration and the second combination of acceleration values are mated, according to group simultaneously
Close matching result and determine vehicle heading.
Further, also include that the moment of torsion in vehicle engine control system filters or/and stabilization software, be used for adjusting
It controls parameter.
The beneficial effects of the present invention is, by accekeration that the acceleration transducer being installed at vehicle is recorded with
Vehicle motor ECU is combined coupling by the accekeration that speed calculates, it becomes possible to accurately learn the traveling of vehicle in real time
Direction, therefore, it is possible to the relevant parameter of adjustment engine control system is to ensure the driving comfort performance of vehicle in time, improves
The motility of control system and robustness, meanwhile, being implemented without of this programme increases extra hardware, effectively reduces vehicle
Production cost.
Accompanying drawing explanation
Describe some specific embodiments of the present invention the most by way of example, and not by way of limitation in detail.
Reference identical in accompanying drawing denotes same or similar parts or part.In accompanying drawing:
Fig. 1 is a kind of method flow diagram detecting vehicle heading according to one embodiment of the invention.
Detailed description of the invention
Fig. 1 is a kind of method flow diagram detecting vehicle heading according to one embodiment of the invention.
As it is shown in figure 1, a kind of method detecting vehicle heading, it can comprise the steps of in general manner:
S1: measure the first accekeration at vehicle acceleration sensor, and described first accekeration is sent extremely
Car load CAN network；
S2: vehicle motor ECU calculates the second accekeration by speed meter；
S3: described vehicle motor ECU receives described first accekeration that described car load CAN network sends；
S4: at described vehicle motor ECU, described first accekeration and the second combination of acceleration values are mated；
S5: determine described vehicle heading according to combinations matches result.
By the combinations matches of two accekerations, vehicle just can determine its travel direction, operating process the most in real time
Simple effective, and the engine control system relevant parameter driving comfort performance with guarantee vehicle can be adjusted in time, effectively carry
The motility of high control system and robustness.
In an embodiment of the invention, the described vehicle acceleration sensor in step 1 is arranged in vehicle airbag
In system.
In another embodiment, the described vehicle acceleration sensor in step 1 is arranged in the electronics of vehicle
In stability program ESP system.
Owing to accekeration is to measure in the parts by vehicle configuration itself to draw, the measurement of degree of hence speeding up is without car
Increase extra hardware, effectively reduce the production cost of vehicle.
Concrete, it is judged that vehicle heading be according to described first accekeration and described second accekeration just,
Negative determine.
Its measuring principle is particularly as follows: in Vehicle Industry, the acceleration transducer measuring described first accekeration is usual
For capacitive accelerometer, sensing element is an electric capacity, and wherein a pole plate of electric capacity is fixed, and another pole plate is in acceleration and deceleration
Time be subjected to displacement due to the effect of inertia force, change the spacing between these 2 pole plates, it becomes possible to export different capacitances.As
When vehicle is accelerated forwardly, polar plate spacing diminishes, and now the first accekeration is just, vehicle is when front reduction gear, and polar plate spacing becomes big,
Now the first accekeration is negative, and when vehicle accelerates backward, polar plate spacing becomes big, and now the first accekeration is negative, vehicle to
During rear deceleration, polar plate spacing diminishes, and now the first accekeration is just.Meanwhile, vehicle motor ECU is counted by speed
Calculating the second acceleration, concrete carries out differential calculation to speed exactly, and when such as 9 seconds, vehicle speed is 10m/s, car when 9.01 seconds
Speed is 10.05m/s, then the second accekeration is equal to (10.05-10)/(9.01-9)=5m/s2.In conjunction with above-mentioned two
Individual accekeration, it becomes possible to accurately know the travel conditions of vehicle, its concrete judgment rule is: when described first accekeration with
Described second accekeration positive and negative identical time, described vehicle is in direction of advance, and described first accekeration adds with described second
During the positive and negative difference of velocity amplitude, described vehicle is in direction of retreat；And when described first accekeration and described second acceleration
Value is timing, and described vehicle is in the accelerator of direction of advance, described first accekeration and described second acceleration
When value is negative, described vehicle is in the moderating process of direction of advance, and described first accekeration accelerates for negative, described second
Angle value is timing, and described vehicle is in the accelerator of direction of retreat, described first accekeration be just, described second accelerate
Angle value is for time negative, and described vehicle is in the moderating process of direction of retreat.
In an embodiment of the invention, after learning vehicle heading, also include that adjusting vehicle motor controls system
The step for of control parameter in system, and time control suitably parameter in engine system and ensure the comfortableness of vehicle drive,
Concrete, moment of torsion filtering can be adjusted or/and the control parameter of stabilization software.
Especially, in an embodiment of the invention, additionally providing a kind of device detecting vehicle heading, it is general
Property can include the vehicle airbag system equipped with acceleration transducer or/and vehicle electric stability program ESP system,
For measuring the first accekeration；Car load CAN network, for receiving described first acceleration sent from described acceleration transducer
Angle value also transmits it out；With vehicle motor ECU system, it is used for receiving first that described car load CAN network sends over
Accekeration, and calculate the second accekeration by speed, simultaneously by described first accekeration and the second accekeration group
Close coupling, determine vehicle heading according to combinations matches result.
By the setting of said apparatus, vehicle just can learn its travel direction in time, particularly can distinguish reverse gear and 1
Shelves, are effectively increased motility and the robustness of vehicle control system, and detect the first accekeration and the second accekeration
Time, vehicle just can be able to obtain from the parts of configuration itself, thus without increasing extra hardware, effectively reduces vehicle
Production cost.
In an embodiment of the invention, also include that the moment of torsion filtering in vehicle engine control system is or/and stabilization
Software, controls parameter for adjusting it in time, it is ensured that the comfortableness of vehicle drive.
So far, although those skilled in the art will appreciate that the multiple of the most detailed present invention of illustrate and describing show
Example embodiment, but, without departing from the spirit and scope of the present invention, still can be direct according to present disclosure
Determine or derive other variations or modifications of many meeting the principle of the invention.Therefore, the scope of the present invention is it is understood that and recognize
It is set to and covers other variations or modifications all these.
Claims (10)
1. the method detecting vehicle heading, comprises the steps of:
At vehicle acceleration sensor, measure the first accekeration, and described first accekeration is sent to car load CAN
Network；
Vehicle motor ECU calculates the second accekeration by speed meter；
Described vehicle motor ECU receives described first accekeration that described car load CAN network sends；
At described vehicle motor ECU, described first accekeration and the second combination of acceleration values are mated；
Described vehicle heading is determined according to combinations matches result.
The method of detection vehicle heading the most according to claim 1, it is characterised in that described vehicle acceleration senses
Device is arranged in vehicle airbag system.
The method of detection vehicle heading the most according to claim 1, it is characterised in that described vehicle acceleration senses
Device is arranged in the ESP ESP system of vehicle.
4. according to the method for the detection vehicle heading according to any one of claim 1-3, it is characterised in that according to described
First accekeration and described the positive and negative of second accekeration determine vehicle heading.
The method of detection vehicle heading the most according to claim 4, it is characterised in that described first accekeration with
During described second accekeration positive and negative identical, described vehicle is in direction of advance；Described first accekeration and described second
During accekeration positive and negative different, described vehicle is in direction of retreat.
The method of detection vehicle heading the most according to claim 5, it is characterised in that described first accekeration with
Described second accekeration is timing, and described vehicle is in the accelerator of direction of advance；Described first accekeration with
When described second accekeration is negative, described vehicle is in the moderating process of direction of advance.
7. according to the method for the detection vehicle heading described in claim 5 or 6, it is characterised in that described first acceleration
Value is timing for negative, described second accekeration, and vehicle is in the accelerator of direction of retreat；Described first accekeration is
Just, described second accekeration for time negative, vehicle is in the moderating process of direction of retreat.
The method of detection vehicle heading the most according to claim 1, it is characterised in that also include adjusting vehicle startup
Control parameter in machine control system.
The method of detection vehicle heading the most according to claim 8, it is characterised in that adjust moment of torsion filtering or/and
The control parameter of stabilization software.
10. detect a device for vehicle heading, including:
Equipped with the vehicle airbag system of acceleration transducer or/and vehicle electric stability program ESP system, it is used for measuring
First accekeration；
Car load CAN network, for receiving described first accekeration sent from described acceleration transducer and being sent to out
Go；With
Vehicle motor ECU system, for receiving the first accekeration that described car load CAN network sends over, and passes through
Speed calculates the second accekeration, described first accekeration and the second combination of acceleration values is mated, according to combination simultaneously
Join result and determine vehicle heading.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610573287.6A CN106218642B (en) | 2016-07-19 | 2016-07-19 | A kind of method and device of detection vehicle heading |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610573287.6A CN106218642B (en) | 2016-07-19 | 2016-07-19 | A kind of method and device of detection vehicle heading |
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| Publication Number | Publication Date |
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| CN106218642A true CN106218642A (en) | 2016-12-14 |
| CN106218642B CN106218642B (en) | 2018-09-04 |
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| CN201610573287.6A Active CN106218642B (en) | 2016-07-19 | 2016-07-19 | A kind of method and device of detection vehicle heading |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860163A (en) * | 2018-04-26 | 2018-11-23 | 吉利汽车研究院（宁波）有限公司 | A kind of vehicle heading judgment method and device |
| CN112434180A (en) * | 2020-12-15 | 2021-03-02 | 暨南大学 | Ciphertext JPEG image retrieval method based on DCT coefficient value replacement and attention network |
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| EP1006296A2 (en) * | 1998-12-04 | 2000-06-07 | Bayerische Motoren Werke Aktiengesellschaft | Automatic vehicle transmission with simplified selection of forward or reverse gears |
| CN101432155A (en) * | 2006-04-28 | 2009-05-13 | 特杰有限公司 | Measuring device for vehicle data, in particular for the speed of a vehicle running on wheels |
| CN102348912A (en) * | 2009-01-12 | 2012-02-08 | 雷诺股份公司 | Method for anticipating downshifting and for monitoring an automatic transmission |
| CN103702884A (en) * | 2011-08-12 | 2014-04-02 | 迪尔公司 | Method and system for determining the tilt of a vehicle |
| CN103863321A (en) * | 2012-12-11 | 2014-06-18 | 株式会社电装 | Apparatus for judging probability of collision between vehicle and object surrounding the vehicle |
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2016
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1006296A2 (en) * | 1998-12-04 | 2000-06-07 | Bayerische Motoren Werke Aktiengesellschaft | Automatic vehicle transmission with simplified selection of forward or reverse gears |
| CN101432155A (en) * | 2006-04-28 | 2009-05-13 | 特杰有限公司 | Measuring device for vehicle data, in particular for the speed of a vehicle running on wheels |
| CN102348912A (en) * | 2009-01-12 | 2012-02-08 | 雷诺股份公司 | Method for anticipating downshifting and for monitoring an automatic transmission |
| CN103702884A (en) * | 2011-08-12 | 2014-04-02 | 迪尔公司 | Method and system for determining the tilt of a vehicle |
| CN103863321A (en) * | 2012-12-11 | 2014-06-18 | 株式会社电装 | Apparatus for judging probability of collision between vehicle and object surrounding the vehicle |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860163A (en) * | 2018-04-26 | 2018-11-23 | 吉利汽车研究院（宁波）有限公司 | A kind of vehicle heading judgment method and device |
| CN108860163B (en) * | 2018-04-26 | 2020-06-02 | 吉利汽车研究院（宁波）有限公司 | Vehicle driving direction judgment method and device |
| CN112434180A (en) * | 2020-12-15 | 2021-03-02 | 暨南大学 | Ciphertext JPEG image retrieval method based on DCT coefficient value replacement and attention network |
| CN112434180B (en) * | 2020-12-15 | 2024-03-15 | 暨南大学 | Ciphertext JPEG image retrieval method based on DCT coefficient value replacement and attention network |
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| Publication number | Publication date |
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| CN106218642B (en) | 2018-09-04 |
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