CN106546763A - Speed computational methods - Google Patents
Speed computational methods Download PDFInfo
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- CN106546763A CN106546763A CN201510611403.4A CN201510611403A CN106546763A CN 106546763 A CN106546763 A CN 106546763A CN 201510611403 A CN201510611403 A CN 201510611403A CN 106546763 A CN106546763 A CN 106546763A
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Abstract
The invention discloses a kind of speed computational methods, including：1) obtain speed filtering parameter；2) according to prefixed time interval obtain pulse number, the pulse period, calculate accumulated pulse number and, the accumulated pulse cycle and；When accumulated pulse number and more than filtering parameter, the current preset time-interval averaging pulse period is calculated；If 3) do not occur rising edge of a pulse in prefixed time interval, accumulated pulse number and, the accumulated pulse cycle and keep constant；RampDown process is carried out to speed more than the first preset time threshold when accumulative arteries and veins number and holding constant persistent period；4) the current preset time-interval averaging pulse period subtracted the absolute value of the difference of upper prefixed time interval pulse period more than amplitude is limited, then calculated using the pulse period that a upper prefixed time interval is obtained and obtain speed；When calculating speed persistent period for obtaining more than the second preset time threshold using the upper prefixed time interval pulse period, using step 2) in Average pulse period calculate and obtain speed.
Description
Technical field
The present invention relates to automotive field, more particularly to a kind of speed computational methods.
Background technology
Speed is an important parameter in engine control system, and vehicle-mounted ECU is controlled electromotor and turned by GES
The functions such as speed, gear identification, cruise.The accurate and stability of GES directly reflects the effect of electromotor control
Really.
At present, speed computational methods commonly used in the trade are：
After by the pulse signal of vehicle speed sensor output amplified, rectification, rotating speed is gone out according to the computation of Period of pulse signal,
And then be converted to speed.
The problem existed using above method：
Due to the abrasion of signal panels itself difference or life-time service, signal panels facewidth inequality causes the arteries and veins that vehicle speed sensor is exported
The fluctuation of signal period property is rushed, the speed for thus calculating also occurs periodically fluctuation.
The content of the invention
The accuracy and stability of GES are realized, is solved because of vehicle speed sensor signal mill damage, the pulse of output
Signal period property fluctuates, while improve the control effect of electromotor.
The problem to be solved in the present invention is to provide a kind of speed computational methods of accurate stable and is avoided that because of output pulse signal
The speed that cyclic fluctuation is caused calculates fluctuation.
To solve above-mentioned technical problem, the speed computational methods that the present invention is provided are comprised the following steps：
1) linear interpolation is carried out to current vehicle speed value and is calculated the corresponding filtering parameter of current vehicle speed；
2) vehicle speed sensor pulse number within a preset time interval, pulse period are recorded according to prefixed time interval,
The pulse number that records, pulse period are carried out respectively cumulative summation obtain accumulated pulse number and, the accumulated pulse cycle and；
When accumulated pulse number and be more than step 1) in the filtering parameter that calculated, calculate vehicle speed sensor in current preset
Time-interval averaging pulse period, current preset time-interval averaging pulse period=current preset time interval accumulated pulse
Cycle and/current preset time interval accumulated pulse number；
If 3) do not occur rising edge of a pulse in prefixed time interval, accumulated pulse number and, accumulated pulse cycle and guarantor
Hold constant；RampDown is carried out to speed more than the first preset time threshold when accumulative arteries and veins number and holding constant persistent period
Process；RampDown is referred to and is reduced speed with default step-length until adding up arteries and veins number and change, then stopping reduces speed and uses
Currently accumulative arteries and veins number and calculating obtains speed, and RampDown desired values are 0；
4) the current preset time-interval averaging pulse period is big with the absolute value of the difference of upper prefixed time interval pulse period
In amplitude is limited, then calculated using the pulse period that a upper prefixed time interval is obtained and obtain speed；When presetting using upper one
Between interval pulse computation of Period obtain the speed persistent period more than (during counter counts) during the second preset time threshold, then make
With step 2) in be calculated Average pulse period calculate obtain speed.
Wherein, prefixed time interval is 1ms-100ms, the first preset time threshold 100ms-1000ms, and default step-length is
0.5km/h-10km/h, restriction amplitude are 100ms-2000ms, the second preset time threshold 0ms-500ms.
It is preferred that, prefixed time interval be 10ms, 20ms or 30ms, the first preset time threshold be 300ms, 400ms or
500ms, it is 0.5km/h, 1km/h or 1.51km/h to preset step-length, limits amplitude for 500ms, 1000ms or 1500ms,
Second preset time threshold 100ms, 200ms or 300ms.
For commonly used in the trade at present directly using the computation of Period speed of vehicle speed sensor output pulse signal.The present invention exists
This technically increased the algorithm of mean filter (step 1,2) and amplitude limit Glitch Filter (step 3,4).Due to letter
The abrasion of dialer itself difference or life-time service, causes the signal panels facewidth uneven, can avoid signal panels with Mean Filtering Algorithm
The uneven difference for producing of the facewidth；Amplitude limit Glitch Filter is, for the interference for removing burr signal generation, to reach and filter noise
Effect, finally effectively realizes the accuracy and stability of GES.
Description of the drawings
The present invention is further detailed explanation with specific embodiment below in conjunction with the accompanying drawings：
Fig. 1 is the schematic flow sheet of the present invention.
Specific embodiment
As shown in figure 1, the speed computational methods that the present invention is provided, comprise the following steps：
1) linear interpolation is carried out to current vehicle speed value and is calculated the corresponding filtering parameter of current vehicle speed；
2) vehicle speed sensor pulse number within a preset time interval, pulse period are recorded according to prefixed time interval,
The pulse number that records, pulse period are carried out respectively cumulative summation obtain accumulated pulse number and, the accumulated pulse cycle and；
When accumulated pulse number and be more than step 1) in the filtering parameter that calculated, calculate vehicle speed sensor in current preset
Time-interval averaging pulse period, current preset time-interval averaging pulse period=current preset time interval accumulated pulse
Cycle and/current preset time interval accumulated pulse number；
If 3) do not occur rising edge of a pulse in prefixed time interval, accumulated pulse number and, accumulated pulse cycle and guarantor
Hold constant；RampDown is carried out to speed more than the first preset time threshold when accumulative arteries and veins number and holding constant persistent period
Process；RampDown is referred to and is reduced speed with default step-length until adding up arteries and veins number and change, then stopping reduces speed and uses
Currently accumulative arteries and veins number and calculating obtains speed, and RampDown desired values are 0；
4) the current preset time-interval averaging pulse period is big with the absolute value of the difference of upper prefixed time interval pulse period
In amplitude is limited, then calculated using the pulse period that a upper prefixed time interval is obtained and obtain speed；When presetting using upper one
Between interval pulse computation of Period obtain the speed persistent period more than the second preset time threshold when, then using step 2) fall into a trap
Calculation obtains Average pulse period and calculates acquisition speed.
Wherein, prefixed time interval is 1ms-100ms, the first preset time threshold 100ms-1000ms, and default step-length is
0.5km/h-10km/h, restriction amplitude are 100ms-2000ms, the second preset time threshold 0ms-500ms.
It is preferred that, prefixed time interval be 10ms, 20ms or 30ms, the first preset time threshold be 300ms, 400ms or
500ms, it is 0.5km/h, 1km/h or 1.51km/h to preset step-length, limits amplitude for 500ms, 1000ms or 1500ms,
Second preset time threshold 100ms, 200ms or 300ms.
The present invention is described in detail above by specific embodiment and embodiment, but these have not been constituted to this
The restriction of invention.Without departing from the principles of the present invention, those skilled in the art can also make many deformations and change
Enter, these also should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of speed computational methods, it is characterised in that comprise the following steps：
1) linear interpolation is carried out to current vehicle speed value and is calculated the corresponding filtering parameter of current vehicle speed；
2) pulse number, the pulse period of vehicle speed sensor output are obtained within a preset time interval, obtain accumulated pulse
Number and, the accumulated pulse cycle and；When accumulated pulse number and more than filtering parameter, vehicle speed sensor is calculated current pre-
If the time-interval averaging pulse period, current preset time-interval averaging pulse period=current preset time interval adds up arteries and veins
Rush cycle and/current preset time interval accumulated pulse number；
If 3) do not occur rising edge of a pulse in prefixed time interval, accumulated pulse number and, accumulated pulse cycle and guarantor
Hold constant；RampDown is carried out to speed more than the first preset time threshold when accumulative arteries and veins number and holding constant persistent period
Process；RampDown to be referred to and reduce speed by default step-length until adding up arteries and veins number and changing to stop reducing speed, uses and work as
Front accumulative arteries and veins number and calculating obtain speed, and RampDown desired values are 0；
4) the current preset time-interval averaging pulse period is big with the absolute value of the difference of upper prefixed time interval pulse period
In amplitude is limited, then calculated using the pulse period that a upper prefixed time interval is obtained and obtain speed；When presetting using upper one
Between interval pulse computation of Period obtain the speed persistent period more than the second preset time threshold when, then using step 2) fall into a trap
Calculation obtains Average pulse period and calculates acquisition speed.
2. speed computational methods as claimed in claim 1, is characterized in that：Prefixed time interval is 1ms-100ms, the
One preset time threshold 100ms-1000ms, it is 0.5km/h-10km/h to preset step-length, limits amplitude and is
100ms-2000ms, the second preset time threshold 0ms-500ms.
3. speed computational methods as claimed in claim 2, is characterized in that：Prefixed time interval be 10ms, 20ms or
30ms。
4. speed computational methods as claimed in claim 3, is characterized in that：First preset time threshold is 300ms, 400ms
Or 500ms.
5. speed computational methods as claimed in claim 3, is characterized in that：Default step-length be 0.5km/h, 1km/h or
1.51km/h。
6. speed computational methods as claimed in claim 3, is characterized in that：Limit amplitude be 500ms, 1000ms or
1500ms。
7. speed computational methods as claimed in claim 3, is characterized in that：Second preset time threshold 100ms, 200ms
Or 300ms.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510611403.4A CN106546763B (en) | 2015-09-23 | 2015-09-23 | Speed calculation method |
Applications Claiming Priority (1)
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|---|---|---|---|
| CN201510611403.4A CN106546763B (en) | 2015-09-23 | 2015-09-23 | Speed calculation method |
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| CN106546763A true CN106546763A (en) | 2017-03-29 |
| CN106546763B CN106546763B (en) | 2019-05-21 |
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Citations (7)
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| US20060278022A1 (en) * | 2003-09-11 | 2006-12-14 | Nsk Ltd | Rotation speed detection device and rolling bearing unit load measurement device |
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| CN102289600A (en) * | 2011-08-24 | 2011-12-21 | 厦门雅迅网络股份有限公司 | Software filtering method of vehicle mileage pulse |
| CN102568208A (en) * | 2012-02-07 | 2012-07-11 | 福建工程学院 | Road section speed limit information identification method based on floating vehicle technology |
| CN103033640A (en) * | 2012-12-04 | 2013-04-10 | 中国北方车辆研究所 | Vehicle speed real-time detection method with field programmable gate array (FPGA) |
| CN104537255A (en) * | 2015-01-08 | 2015-04-22 | 中国航空无线电电子研究所 | Method for calculating lifting speed of special task aircraft platform |
| CN106153975A (en) * | 2016-07-05 | 2016-11-23 | 北汽福田汽车股份有限公司 | A kind of method, system and vehicle exporting vehicle speed pulse |
-
2015
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060278022A1 (en) * | 2003-09-11 | 2006-12-14 | Nsk Ltd | Rotation speed detection device and rolling bearing unit load measurement device |
| CN101419679A (en) * | 2008-12-11 | 2009-04-29 | 北京交通大学 | Intelligent identification Method for running state of hybrid electric automobile |
| CN102289600A (en) * | 2011-08-24 | 2011-12-21 | 厦门雅迅网络股份有限公司 | Software filtering method of vehicle mileage pulse |
| CN102568208A (en) * | 2012-02-07 | 2012-07-11 | 福建工程学院 | Road section speed limit information identification method based on floating vehicle technology |
| CN103033640A (en) * | 2012-12-04 | 2013-04-10 | 中国北方车辆研究所 | Vehicle speed real-time detection method with field programmable gate array (FPGA) |
| CN104537255A (en) * | 2015-01-08 | 2015-04-22 | 中国航空无线电电子研究所 | Method for calculating lifting speed of special task aircraft platform |
| CN106153975A (en) * | 2016-07-05 | 2016-11-23 | 北汽福田汽车股份有限公司 | A kind of method, system and vehicle exporting vehicle speed pulse |
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| CN106546763B (en) | 2019-05-21 |
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