CN106218642B - A kind of method and device of detection vehicle heading - Google Patents
A kind of method and device of detection vehicle heading Download PDFInfo
- Publication number
- CN106218642B CN106218642B CN201610573287.6A CN201610573287A CN106218642B CN 106218642 B CN106218642 B CN 106218642B CN 201610573287 A CN201610573287 A CN 201610573287A CN 106218642 B CN106218642 B CN 106218642B
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- vehicle
- acceleration value
- 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
Abstract
The invention discloses a kind of method and devices of detection vehicle heading, are related to technical field of vehicle.The method of the detection vehicle heading includes the first acceleration value to be measured from vehicle acceleration sensor, and first acceleration value is sent to vehicle CAN network；Vehicle motor ECU calculates the second acceleration value by speed；The vehicle motor ECU receives first acceleration value that the vehicle CAN network is sent out；First acceleration value is matched with the second combination of acceleration values at the vehicle motor ECU；Determine that the vehicle heading is rapid according to combinations matches result.The present invention also provides corresponding devices.Pass through this method, vehicle can accurately learn its travel direction in real time, therefore can adjust the relevant parameter in engine control system in time to ensure the driving comfort performance of vehicle, simultaneously, being implemented without for this programme increases additional hardware, therefore also reduces the production cost of vehicle.
Description
Technical field
The present invention relates to technical field of vehicle, more particularly to a kind of method and device of detection vehicle heading.
Background technology
In vehicle engine control system, the functions such as many control strategies such as torque filtering, stabilization all with vehicle shelves
Position is related, and different gear only clear automobile gear level and is lowered in the gear simultaneously since its control parameter is inconsistent
Whole suitable control parameter, just can make vehicle have comfortable cornering ability within the scope of full working scope under each gear, but wherein
Since the reverse gear ratio of vehicle gear box and 1 notch speed are more minimum than difference, so more difficult differentiation vehicle reverse gear and 1 grade.
Reverse gear is covered in 1 grade by the vehicle for being equipped with manual transmission at present, and equipped with AT, DCT, AMT, CVT etc.
Although the vehicle of gearbox is equipped with shift lever position sensor, but during the mutual operation of drive shift and reverse gear, due to
The operation of actual vehicle have delay, so also can not entirely accurate differentiation vehicle heading.
Invention content
The purpose of the present invention is to provide a kind of method of detection vehicle heading, this method can effectively differentiate vehicle
Travel direction, also can effective district separating vehicles reverse gear with 1 grade.
It is another object of the present invention to provide a kind of devices of detection vehicle heading, and leading to the device can be effective
Detect the travel direction of vehicle.
Particularly, the present invention provides a kind of method of detection vehicle heading, it includes following steps：
The first acceleration value is measured from vehicle acceleration sensor, and first acceleration value is sent to vehicle
CAN network；
Vehicle motor ECU calculates the second acceleration value by speed；
The vehicle motor ECU receives first acceleration value that the vehicle CAN network is sent out；
First acceleration value is matched with the second combination of acceleration values at the vehicle motor ECU；
The vehicle heading is determined according to combinations matches result.
Further, the vehicle acceleration sensor configuration is in vehicle airbag system.
Further, the vehicle acceleration sensor configuration is in the electronic stability program ESP system of vehicle.
Further, according to the positive and negative determining vehicle traveling side of first acceleration value and second acceleration value
To.
Further, when first acceleration value is positive and negative identical as second acceleration value, the vehicle is in
Direction of advance；When first acceleration value is positive and negative different from second acceleration value, the vehicle is in retrogressing side
To.
Further, first acceleration value and second acceleration value are timing, and the vehicle, which is in, to advance
In the accelerator in direction；When first acceleration value and second acceleration value are negative, the vehicle, which is in, to advance
In the moderating process in direction.
Further, first acceleration value be bear, second acceleration value is timing, vehicle is in direction of retreat
Accelerator in；First acceleration value be just, second acceleration value is when being negative, vehicle is in subtracting for direction of retreat
During speed.
Further, further include the control parameter adjusted in vehicle engine control system.
Further, the control parameter of the filtering of adjustment torque or/and stabilization software.
Further, the present invention also provides a kind of devices of detection vehicle heading comprising
Vehicle airbag system equipped with acceleration transducer or/and vehicle electric stability program ESP system, are used for
Measure the first acceleration value；
Vehicle CAN network, for receiving first acceleration value sent out from the acceleration transducer and being sent out
It sees off；With
Vehicle motor ECU systems, the first acceleration value sended over for receiving the vehicle CAN network, and
The second acceleration value is calculated by speed, while first acceleration value being matched with the second combination of acceleration values, according to group
It closes matching result and determines vehicle heading.
Further, further include in vehicle engine control system torque filtering or/and stabilization software, for adjusting
Its control parameter.
The beneficial effects of the present invention are, by the acceleration value that measures the acceleration transducer being installed at vehicle with
Vehicle motor ECU is combined matching by the acceleration value that speed calculates, it will be able to the accurate traveling for learning vehicle in real time
Direction, therefore the relevant parameter of engine control system can be adjusted in time to ensure the driving comfort performance of vehicle, it improves
The flexibility of control system and robustness, meanwhile, being implemented without for this programme increases additional hardware, effectively reduces vehicle
Production cost.
Description of the drawings
Some specific embodiments that the invention will be described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter.
Identical reference numeral denotes same or similar component or part in attached drawing.In attached drawing：
Fig. 1 is the method flow diagram according to a kind of detection vehicle heading of one embodiment of the invention.
Specific implementation mode
Fig. 1 is the method flow diagram according to a kind of detection vehicle heading of one embodiment of the invention.
As shown in Figure 1, a kind of method of detection vehicle heading, can comprise the following steps in general manner：
S1：The first acceleration value is measured from vehicle acceleration sensor, and first acceleration value is sent to
Vehicle CAN network；
S2：Vehicle motor ECU calculates the second acceleration value by speed；
S3：The vehicle motor ECU receives first acceleration value that the vehicle CAN network is sent out；
S4：First acceleration value is matched with the second combination of acceleration values at the vehicle motor ECU；
S5：The vehicle heading is determined according to combinations matches result.
By the combinations matches of two acceleration values, vehicle can accurately determine its travel direction, operating process in real time
It is simple and effective, and engine control system relevant parameter can be adjusted in time to ensure the driving comfort performance of vehicle, effectively carry
The flexibility of high control system and robustness.
In an embodiment of the invention, the vehicle acceleration sensor in step 1 is configured in vehicle airbag
In system.
In another embodiment, electronics of the vehicle acceleration sensor configuration in step 1 in vehicle
In stability program ESP system.
Since acceleration value is to measure to obtain in the parts configured by vehicle itself, the measurement of acceleration is not necessarily to vehicle
Increase additional hardware, effectively reduces the production cost of vehicle.
Specifically, judge vehicle heading be according to first acceleration value and second acceleration value just,
Negative determination.
Its measuring principle is specially：In Vehicle Industry, the acceleration transducer for measuring first acceleration value is usual
For capacitive accelerometer, sensing element is a capacitance, and wherein capacitance a pole plate is fixed, another pole plate is in acceleration and deceleration
When be subjected to displacement due to the effect of inertia force, change the spacing between this 2 pole plates, it will be able to export different capacitances.Such as
When vehicle is accelerated forwardly, pole plate spacing becomes smaller, and the first acceleration value is just at this time, and when vehicle is to front reduction gear, pole plate spacing becomes larger,
The first acceleration value is negative at this time, and when vehicle accelerates backward, pole plate spacing becomes larger, and the first acceleration value is negative at this time, vehicle to
After when slowing down, pole plate spacing becomes smaller, and the first acceleration value is just at this time.At the same time, vehicle motor ECU is counted by speed
The second acceleration is calculated, specific is exactly to carry out differential calculation to speed, for example vehicle speed is 10m/s at 9 seconds, vehicle at 9.01 seconds
Speed is 10.05m/s, then the second acceleration value is equal to (10.05-10)/(9.01-9)=5m/s2.In conjunction with above-mentioned two
A acceleration value, it will be able to which the accurate driving condition for knowing vehicle, specific judgment rule are：When first acceleration value with
When second acceleration value is positive and negative identical, the vehicle is in direction of advance, first acceleration value with described second plus
When velocity amplitude is positive and negative different, the vehicle is in direction of retreat；And when first acceleration value and second acceleration
Value is timing, and the vehicle is in the accelerator of direction of advance, first acceleration value and second acceleration
When value is negative, the vehicle is in the moderating process of direction of advance, and first acceleration value is negative, described second acceleration
Angle value is timing, and the vehicle is in the accelerator of direction of retreat, first acceleration value be just, it is described second accelerate
When angle value is negative, the vehicle is in the moderating process of direction of retreat.
In an embodiment of the invention, further include adjustment vehicle motor control system after learning vehicle heading
The step for control parameter in system and when control engine system in suitable parameter ensure the comfort of vehicle drive,
Specifically, the control parameter of torque filtering or/and stabilization software can be adjusted.
Particularly, in an embodiment of the invention, a kind of device of detection vehicle heading is additionally provided, it is general
Property may include vehicle airbag system or/and vehicle electric stability program ESP system equipped with acceleration transducer,
For measuring the first acceleration value；Vehicle CAN network accelerates for receiving sent out from the acceleration transducer described first
Angle value simultaneously transmits it out；With vehicle motor ECU systems, first sended over for receiving the vehicle CAN network
Acceleration value, and the second acceleration value is calculated by speed, while by first acceleration value and the second acceleration value group
Matching is closed, vehicle heading is determined according to combinations matches result.
By the setting of above-mentioned apparatus, vehicle can learn its travel direction in time, can especially distinguish reverse gear and 1
Shelves effectively increase flexibility and the robustness of vehicle control system, and detect the first acceleration value and the second acceleration value
When, vehicle can be obtained from the parts that itself is configured, because without increasing additional hardware, effectively reducing vehicle
Production cost.
In an embodiment of the invention, further include in vehicle engine control system torque filtering or/and stabilization
Software ensures the comfort of vehicle drive for adjusting its control parameter in time.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or derive many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers other all these variations or modifications.
Claims (9)
1. a kind of method of detection vehicle heading, comprises the following steps：
The first acceleration value is measured from vehicular capacitive accelerometer, and first acceleration value is sent to vehicle
CAN network；
Vehicle motor ECU calculates the second acceleration value by speed；
The vehicle motor ECU receives first acceleration value that the vehicle CAN network is sent out；
First acceleration value is matched with positive and negative be combined of the second acceleration value at the vehicle motor ECU；
The vehicle heading is determined according to combinations matches result.
2. the method for detection vehicle heading according to claim 1, which is characterized in that the vehicular capacitive accelerates
Degree meter configuration is in vehicle airbag system.
3. the method for detection vehicle heading according to claim 1, which is characterized in that the vehicular capacitive accelerates
Degree meter configuration is in the electronic stability program ESP system of vehicle.
4. it is according to claim 1 detection vehicle heading method, which is characterized in that first acceleration value with
Second acceleration value it is positive and negative identical when, the vehicle is in direction of advance；First acceleration value and described second
When the positive and negative difference of acceleration value, the vehicle is in direction of retreat.
5. it is according to claim 4 detection vehicle heading method, which is characterized in that first acceleration value with
Second acceleration value is timing, and the vehicle is in the accelerator of direction of advance；First acceleration value with
When second acceleration value is negative, the vehicle is in the moderating process of direction of advance.
6. the method for detection vehicle heading according to claim 4 or 5, which is characterized in that first acceleration
Value is that negative, described second acceleration value is timing, and vehicle is in the accelerator of direction of retreat；First acceleration value is
Just, when second acceleration value is negative, vehicle is in the moderating process of direction of retreat.
7. the method for detection vehicle heading according to claim 1, which is characterized in that further include adjustment vehicle startup
Control parameter in machine control system.
8. it is according to claim 7 detection vehicle heading method, which is characterized in that adjustment torque filtering or/and
The control parameter of stabilization software.
9. a kind of device of detection vehicle heading, including：
Vehicle airbag system equipped with capacitive accelerometer or/and vehicle electric stability program ESP system, for surveying
One acceleration value of flow control；
Vehicle CAN network, for receiving first acceleration value sent out from the capacitive accelerometer and being sent to
It goes out；With
Vehicle motor ECU systems, the first acceleration value sended over for receiving the vehicle CAN network, and pass through
Speed calculates the second acceleration value, while first acceleration value being matched with positive and negative be combined of the second acceleration value,
Vehicle heading is determined according to combinations matches result.
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 CN106218642A (en) | 2016-12-14 |
| CN106218642B true 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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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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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|---|---|---|---|---|
| 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 |
-
2016
- 2016-07-19 CN CN201610573287.6A patent/CN106218642B/en active Active
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 |
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| CN106218642A (en) | 2016-12-14 |
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