CN106994966A - A kind of Retarder control device and method - Google Patents
A kind of Retarder control device and method Download PDFInfo
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- CN106994966A CN106994966A CN201710007850.8A CN201710007850A CN106994966A CN 106994966 A CN106994966 A CN 106994966A CN 201710007850 A CN201710007850 A CN 201710007850A CN 106994966 A CN106994966 A CN 106994966A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T10/00—Control or regulation for continuous braking making use of fluid or powdered medium, e.g. for use when descending a long slope
- B60T10/02—Control or regulation for continuous braking making use of fluid or powdered medium, e.g. for use when descending a long slope with hydrodynamic brake
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T5/00—Vehicle modifications to facilitate cooling of brakes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Fluid Mechanics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of Retarder control device and method, this method includes obtaining the reference picture in front of vehicle movement, the pixel characteristic that the similar pixel of the pixel characteristic of reference picture is constituted into pixel in a similar set, any two similar set is dissimilar；The operating rate and the working hydraulic pressure of Retarder of rotor in the working oil temperature of Retarder in fluid power control process, work water temperature, Retarder are monitored, alarm is sent when wherein any one exceedes preset security value.The device includes MCU control unit, gear position detecting unit, power control unit, heat exchanger, fan, indicator lamp, brake lamp.The present invention can combine according to road conditions feature, ramp feature and running car situation, control to reduce the speed of automobile by hydrodynamic retarding, substantially increase the security of running car.
Description
Technical field
The invention belongs to Retarder control device technical field, more particularly to a kind of Retarder control device and
Method.
Background technology
Retarder is responsible for controlling Retarder, is the core component of retarder, current existing Retarder
Controller standby current in 100mA or so, its stand-by power consumption is too high and does not also meet the policy guidance of national energy-saving emission reduction；
In addition the chip that existing buffer controller is used also uses the other single-chip microcomputer of technical grade mostly, and its anti-interference is poor；It is existing
The rate signal of some controllers uses original velocity sensor pattern, and signal is weaker, easily by outer signals
Interference.
In summary, current Retarder to vehicle when carrying out slow, if the brake system of vehicle is not opened
Dynamic, then the brake lamp of vehicle tail will not be bright, then the front vehicle of the vehicle can not learn that the vehicle is being carried out slowly so that after
The driver of square vehicle can not be slowed down in time, easily occur vehicle rear-end collision accident；And it is high for a long time in Retarder
During load operation, the coolant in hydraulic oil and heat exchanger in Retarder is easily overheated, and easily makes Retarder
Damaged due to high temperature.
The content of the invention
Save, stablize simultaneously there is provided one kind it is an object of the invention to provide a kind of Retarder control device and method
And the controller of the Retarder of strong interference immunity, it is intended to current Retarder is solved when carrying out slow to vehicle,
If the brake system of vehicle does not start, the brake lamp of vehicle tail will not be bright, easily occurs vehicle rear-end collision accident, fluid power
During retarder long-time heavy-duty service, the coolant in hydraulic oil and heat exchanger in Retarder is easily overheated, and is held
Easily make the problem of Retarder is damaged due to high temperature.
The present invention is achieved in that a kind of Retarder control method, including：
Step 1: the reference picture in front of vehicle movement is obtained, by the similar pixel composition one of the pixel characteristic of reference picture
The pixel characteristic of pixel is dissimilar in individual similar set, any two similar set；
Step 2: judging whether the quantity of road sample described in each similar set is more than the number of non-rice habitats sample respectively
Amount, roadway characteristic is determined according to the relation between the quantity of road sample and the quantity of non-rice habitats sample；
Step 3: obtaining the steering angle of vehicle steering and judging whether the steering angle of the steering wheel turns to model in default
Enclose；
Step 4: obtaining the road grade of automobile institute travel and judging whether road grade is less than gradient threshold value；
Step 5: based on it is being travelled at present relative to vehicle or soon will travel in roadway characteristic thereon, determine decelerator
Working range it is interval；
Step 6: when the travel speed of automobile reaches pre-set velocity threshold value, light automobile tail light and detect automobile with above most
The distance of nearly automobile, when the distance is less than default safe distance, hydrodynamic retarding control reduction automobile is passed through according to preset algorithm
Speed；
Step 7: based on it is being travelled at present relative to vehicle or soon by travel road thereon gradient, positioned at described
Road inclination change will be crossed in front of travel, the change of the road inclination that will be crossed is equivalent to relative institute
The descending for stating travel is tilted, and changes the threshold value for being applied to and being used in the control of the hydrodynamic retarding of vehicle；
Step 8: the virtual controlling inputted by user is instructed, front-wheel pivot angle, throttle amount in detection hydrodynamic retarding control process
With one kind in braking amount, according to the driving trace line of the virtual controlling branch prediction vehicle；
Step 9: monitoring rotor in the working oil temperature of Retarder in fluid power control process, work water temperature, Retarder
The working hydraulic pressure of operating rate and Retarder, wherein any one send alarm when exceeding preset security value.
Further, the method for the reference picture in front of acquisition vehicle movement is：Using signal acquisition module to picture signal
It is acquired, picture signal acquisition method includes：
To collection signalNonlinear transformation is carried out, is carried out as follows：
；
Wherein,The amplitude of signal is represented,Represent signal
Symbol,Represent shaping function,The carrier frequency of signal is represented,The phase of signal is represented, it is non-by this
Obtained after linear transformation：
。
Further, the picture signal acquisition method of signal acquisition module also includes：Obtain what is obtained after nonlinear transformationSignal, and carry out enhanced processing；
Signal carries out segment processing；Average, variance, the accumulated value of signal and peak value 4 are extracted in every segment signal basic
Time domain parameter, the first layer that the situation of doubtful leakage occurs is determined whether by the difference of 4 parameter values of adjacent segment signal
Decision-making judges：Step wavelet packet denoising is down performed if having, no person jumps to execution and obtains signal；
Wavelet packet denoising；Denoising is carried out to the signal of collection using improving Wavelet Packet Algorithm；
WAVELET PACKET DECOMPOSITION and reconstruct；I.e. using signal progress WAVELET PACKET DECOMPOSITION and reconstruct of the Wavelet Packet Algorithm to collection is improved, obtain
To list band reconstruction signal；
Extract signal characteristic parameter；Extracted i.e. in the list band signal of reconstruct：Time domain energy, time domain peak, frequency domain energy, frequency
Domain peak value, coefficient of kurtosis, variance, the parameter of 8 expression signal characteristics of frequency spectrum and coefficient skewness；
Composition characteristic vector, i.e., using principal component analytical method, selected from above-mentioned 8 parameters 3 to 8 can obvious expression sound
The parameter composition characteristic vector of transmission signal feature, and these characteristic vectors are input to SVMs progress decision-making judgement,
I.e. second layer decision-making judges, leakage is determined whether according to the output of SVMs.
Further, obtained using signal acquisition module after the reference picture in front of vehicle movement, also need to carry out using fuzzy
Degree evaluates submodule, fuzziness adjustment submodule and image blur is evaluated；
Image blur progress evaluation method is included using ambiguity evaluation submodule, fuzziness adjustment submodule：
Step one, image is obtained, and image to be evaluated is obtained by IMAQ submodule；
Step 2, image gray processing, for convenience of the edge extracting of image, R, G, B using RGB image in Digital Image Processing are each
Coloured image is converted into gray level image by the pixel value of individual passage with the transformational relation of gray level image pixel value, and formula is as follows：
Gray=R*0.3+G*0.59+B*0.11；
Step 3, Edge extraction, using the Roberts operator edge detections technical role in digital image processing method in
Gray level image obtains the edge of image, and different detective operators have different edge detection templates, according to specific formwork calculation
Intersect the difference of pixel as current pixel value, it is as follows using template：
；
Step 4, image procossing is filtered processing to gray level image to construct image to be evaluated using high pass/low pass filter
Reference picture, using 3*3 mean filters, using each pixel of Filtering Template traversing graph picture, template center is placed in every time
Current pixel, the average value of all pixels is newly worth as current pixel using in template, and template is as follows：
；
Step 5, image border statistical information is calculated, and respective edge half-tone information, filtering process before and after image filtering are calculated respectively
Preceding image F statistical informations to be evaluated are that the reference picture F2 statistical informations after sum_orig, filtering process are sum_
Filter, specific formula for calculation is as follows：
,
,
Wherein, w1 and w2 is according to from the weights set with a distance from center pixel, w1=1, w2=1/3；
Step 6, image blur index is calculated, the ratio for the image filtering front and rear edges grey-level statistics that step 5 is drawn
Value is as fuzziness index, for convenience of evaluating, and takes larger for denominator, and less is molecule, keep the value between（0,1）It
Between；
Step 7, a corresponding fuzziness indication range [min, max] is drawn according to the DMOS scopes of the best visual effect；
Step 8, image blur adjustment, if image blur index is less than min, according to step 6, before and after judging image filtering
Change is very big, and original image is excessively sharpened, then is filtered adjustment using low pass filter；If more than max, judging before image filtering
After vary less, original image excessively obscure, then adjustment is filtered using high-pass filter, to reach more preferably visual effect；
Step 9, draws final image and the image blur evaluation index, is transferred to singlechip controller.
Further, in step 7, corresponding fuzziness index model is drawn according to the DMOS scopes of the best visual effect
[min, max] is enclosed, is specially：
Fuzziness adjusting range is drawn, 174 width in LIVE2 are evaluated using ambiguity evaluation method of the step one into step 6
Gaussian Blur image, calculates their own ambiguity evaluation value, then sets up evaluation of estimate value using fitting tool plot
Mapping relations between DMOS, corresponding fuzzy evaluation value model is drawn according to the corresponding DMOS scopes of the best visual effect
Enclose [min, max].
Another object of the present invention is to provide a kind of Retarder control device, and Retarder control device includes
MCU control unit, gear position detecting unit, power control unit, heat exchanger, fan, indicator lamp, brake lamp,
The first temperature sensor on the oil inlet of heat exchanger is arranged on, first temperature sensor is used to detect that flowing into heat to hand over
The temperature of the hydraulic oil of the oil inlet of parallel operation, the output end of first temperature sensor and the input phase coupling of MCU control unit
Close；
The second temperature sensor on the cooling liquid outlet of heat exchanger is arranged on, the second temperature sensor, which is used to detect, to flow out
The temperature of the coolant of the cooling liquid outlet of heat exchanger, the output end of the second temperature sensor and MCU control unit it is defeated
Enter end to be coupled；
The indicator lamp on vehicle console is arranged on, the output end of MCU control unit is coupled with the input of the indicator lamp；With
And the brake lamp of vehicle tail is arranged on, the output end of MCU control unit is coupled with the input of the brake lamp.
Further, the MCU control unit, is responsible for receiving multiple detection signals, and according to the program set to multiple
Detection signal is handled；
Gear position detecting unit, is connected between MCU control unit and a gear control switch；
Power control unit, is connected between MCU control unit and power input, and power control unit is according to MCU control unit
The power switch sent instructs to switch Retarder controller power source；
The multiple detection signal is provided by multiple detection units；The multiple detection unit includes water temperature detection unit, described
Water temperature detection unit provides water temperature information to the MCU controllers；
The Retarder control device, when Retarder works, indicator lamp Chang Liang, brake lamp Chang Liang；
When the temperature that the first temperature sensor detects the hydraulic oil of the oil inlet of inflow heat exchanger reaches A degree, or when the
When the temperature that two temperature sensors detect the coolant of the cooling liquid outlet of outflow heat exchanger reaches that B spends, indicator lamp flicker
Alarm, wherein 150<A<180,95<B<115.
Further, fan is installed on vehicle, makes the outlet air surface of fan just to radiator, radiator and hydrodynamic retarding
Fluid loop is formed between the heat exchanger of device；
When the temperature that second temperature sensor detects the coolant of the cooling liquid outlet of outflow heat exchanger is constantly rising, and
When the temperature that second temperature sensor detects coolant, which rises to C, to be spent, fan is opened, wherein 89<C<93；
When the temperature that second temperature sensor detects the coolant of the cooling liquid outlet of outflow heat exchanger is constantly declining, and
When dropping to D at a temperature of second temperature sensor detects coolant and spending, fan is stopped, wherein 85<D<89.
Further, the MCU control unit includes signal acquisition module；Image information collecting processing module and controller；
The signal acquisition module；Image information collecting processing module is connected by signal wire with controller；The signal acquisition mould
Block includes camera, and the camera through signal wire is connected with image information collecting processing module；
Image information collecting processing module includes IMAQ submodule, image blur and evaluates submodule, fuzziness adjustment
Module；Described image collection submodule is used for the image information that acquisition camera is shot；
The ambiguity evaluation submodule is used for the image for obtaining the transmission of IMAQ submodule, and calculates image system before and after filtering
Count information ratio；
The fuzziness adjustment submodule is connected with ambiguity evaluation submodule, and final figure is drawn for adjusting original image fuzziness
Picture and image blur evaluation index.
Another object of the present invention is to provide a kind of automobile for installing above-mentioned Retarder control device.
Compared with prior art, the beneficial effects of the invention are as follows：By the way that MCU is handled with a program set
Computing, excludes manual intervention, improves the speed of processing computing.When Retarder long-time high load capacity works, if liquid
Force feed or coolant overheat, it indicates that lamp flashes alarm in time, to point out driver to close Retarder, it is to avoid hydrodynamic retarding
Device is damaged due to high temperature and power input is controlled using power control unit, and the mesh of energy-saving and emission-reduction is reached with this
Mark, roadway characteristic is determined according to the relation between the quantity of road sample and the quantity of non-rice habitats sample, obtains vehicle steering
Steering angle and judge the steering wheel steering angle whether in default steering range, obtain the road of automobile institute travel
The gradient simultaneously judges whether road grade is less than gradient threshold value, determines that the working range of decelerator is interval；Road conditions feature, ramp is special
Levy and running car situation combines, control to reduce the speed of automobile by hydrodynamic retarding, substantially increase running car
Security；Front vehicle can be warned when Retarder carries out slow to vehicle, and can be in Retarder liquid
Coolant in force feed and heat exchanger informs driver in time when overheating.
The picture appraisal of the present invention is different from traditional evaluation method, and the present invention sets up special in image self structure to be evaluated
On the basis of point, from the angle of relative evaluation, the reference picture of image to be evaluated is constructed using wave filter, change is calculated front and rear
The ratio of image border statistical information is used as evaluation index；The principle of the present invention is simple, realizes the interior of image blur evaluation
Hold independence and real-time, can quick and precisely compare the fuzziness between any image.So as to obtain clearly final image,
The accuracy and definition of favourable guarantee capture images, this is the innovative point of the present invention.
The signal acquisition module of the present invention can gather the letters such as audio, the video in the every running status of vehicle mounted multimedia in real time
Number, and by signal acquisition method accurate acquisition information, and image acquisition and processing module and controller are transferred in time, so as to have
The accuracy of the signal that ensure that collection of profit.
Brief description of the drawings
Fig. 1 is Retarder control method flow chart provided in an embodiment of the present invention.
Fig. 2 is Retarder control device structural representation provided in an embodiment of the present invention.
In figure：1st, MCU control unit；2nd, gear position detecting unit；3rd, power control unit；4th, the first temperature sensor；5、
Second temperature sensor；6th, fan；7th, indicator lamp；8th, brake lamp.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The application principle of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in figure 1, Retarder control method provided in an embodiment of the present invention includes：
S101：The reference picture in front of vehicle movement is obtained, the similar pixel of the pixel characteristic of reference picture is constituted one
The pixel characteristic of pixel is dissimilar in similar set, any two similar set.
S102：Judge whether the quantity of road sample described in each similar set is more than the number of non-rice habitats sample respectively
Amount, roadway characteristic is determined according to the relation between the quantity of road sample and the quantity of non-rice habitats sample.
S103：Obtain the steering angle of vehicle steering and judge whether the steering angle of the steering wheel turns to model in default
Enclose.
S104：Obtain the road grade of automobile institute travel and judge whether road grade is less than gradient threshold value.
S105：Based on it is being travelled at present relative to vehicle or soon will travel in roadway characteristic thereon, determine decelerator
Working range it is interval.
S106：When the travel speed of automobile reaches pre-set velocity threshold value, light automobile tail light and detect automobile with above
The distance of nearest automobile, when the distance is less than default safe distance, hydrodynamic retarding control reduction vapour is passed through according to preset algorithm
The speed of car.
S107：Based on it is being travelled at present relative to vehicle or soon by travel road thereon gradient, positioned at institute
The road inclination that will the be crossed change in front of travel is stated, the change of the road inclination that will be crossed is equivalent to phase
The descending of the travel is tilted, changes the threshold value for being applied to and being used in the control of the hydrodynamic retarding of vehicle.
S108：The virtual controlling inputted by user is instructed, front-wheel pivot angle, throttle in detection hydrodynamic retarding control process
One kind in amount and braking amount, according to the driving trace line of the virtual controlling branch prediction vehicle.
S109：Monitor rotor in the working oil temperature of Retarder in fluid power control process, work water temperature, Retarder
Operating rate and Retarder working hydraulic pressure, wherein any one exceed preset security value when send alarm.
Obtaining the method for reference picture in front of vehicle movement is：Picture signal is adopted using signal acquisition module
Collection, picture signal acquisition method includes：
To collection signalNonlinear transformation is carried out, is carried out as follows：
；
Wherein,The amplitude of signal is represented,Represent signal
Symbol,Represent shaping function,The carrier frequency of signal is represented,The phase of signal is represented, it is non-by this
Obtained after linear transformation：
。
Further, the picture signal acquisition method of signal acquisition module also includes：Obtain what is obtained after nonlinear transformationSignal, and carry out enhanced processing；
Signal carries out segment processing；Average, variance, the accumulated value of signal and peak value 4 are extracted in every segment signal basic
Time domain parameter, the first layer that the situation of doubtful leakage occurs is determined whether by the difference of 4 parameter values of adjacent segment signal
Decision-making judges：Step wavelet packet denoising is down performed if having, no person jumps to execution and obtains signal；
Wavelet packet denoising；Denoising is carried out to the signal of collection using improving Wavelet Packet Algorithm；
WAVELET PACKET DECOMPOSITION and reconstruct；I.e. using signal progress WAVELET PACKET DECOMPOSITION and reconstruct of the Wavelet Packet Algorithm to collection is improved, obtain
To list band reconstruction signal；
Extract signal characteristic parameter；Extracted i.e. in the list band signal of reconstruct：Time domain energy, time domain peak, frequency domain energy, frequency
Domain peak value, coefficient of kurtosis, variance, the parameter of 8 expression signal characteristics of frequency spectrum and coefficient skewness；
Composition characteristic vector, i.e., using principal component analytical method, selected from above-mentioned 8 parameters 3 to 8 can obvious expression sound
The parameter composition characteristic vector of transmission signal feature, and these characteristic vectors are input to SVMs progress decision-making judgement,
I.e. second layer decision-making judges, leakage is determined whether according to the output of SVMs.
Further, obtained using signal acquisition module after the reference picture in front of vehicle movement, also need to carry out using fuzzy
Degree evaluates submodule, fuzziness adjustment submodule and image blur is evaluated；
Image blur progress evaluation method is included using ambiguity evaluation submodule, fuzziness adjustment submodule：
Step one, image is obtained, and image to be evaluated is obtained by IMAQ submodule；
Step 2, image gray processing, for convenience of the edge extracting of image, R, G, B using RGB image in Digital Image Processing are each
Coloured image is converted into gray level image by the pixel value of individual passage with the transformational relation of gray level image pixel value, and formula is as follows：
Gray=R*0.3+G*0.59+B*0.11；
Step 3, Edge extraction, using the Roberts operator edge detections technical role in digital image processing method in
Gray level image obtains the edge of image, and different detective operators have different edge detection templates, according to specific formwork calculation
Intersect the difference of pixel as current pixel value, it is as follows using template：
；
Step 4, image procossing is filtered processing to gray level image to construct image to be evaluated using high pass/low pass filter
Reference picture, using 3*3 mean filters, using each pixel of Filtering Template traversing graph picture, template center is placed in every time
Current pixel, the average value of all pixels is newly worth as current pixel using in template, and template is as follows：
；
Step 5, image border statistical information is calculated, and respective edge half-tone information, filtering process before and after image filtering are calculated respectively
Preceding image F statistical informations to be evaluated are that the reference picture F2 statistical informations after sum_orig, filtering process are sum_
Filter, specific formula for calculation is as follows：
,
,
Wherein, w1 and w2 is according to from the weights set with a distance from center pixel, w1=1, w2=1/3；
Step 6, image blur index is calculated, the ratio for the image filtering front and rear edges grey-level statistics that step 5 is drawn
Value is as fuzziness index, for convenience of evaluating, and takes larger for denominator, and less is molecule, keep the value between（0,1）It
Between；
Step 7, a corresponding fuzziness indication range [min, max] is drawn according to the DMOS scopes of the best visual effect；
Step 8, image blur adjustment, if image blur index is less than min, according to step 6, before and after judging image filtering
Change is very big, and original image is excessively sharpened, then is filtered adjustment using low pass filter；If more than max, judging before image filtering
After vary less, original image excessively obscure, then adjustment is filtered using high-pass filter, to reach more preferably visual effect；
Step 9, draws final image and the image blur evaluation index, is transferred to singlechip controller.
Further, in step 7, corresponding fuzziness index model is drawn according to the DMOS scopes of the best visual effect
[min, max] is enclosed, is specially：
Fuzziness adjusting range is drawn, 174 width in LIVE2 are evaluated using ambiguity evaluation method of the step one into step 6
Gaussian Blur image, calculates their own ambiguity evaluation value, then sets up evaluation of estimate value using fitting tool plot
Mapping relations between DMOS, corresponding fuzzy evaluation value model is drawn according to the corresponding DMOS scopes of the best visual effect
Enclose [min, max].
As shown in Fig. 2 Retarder control device provided in an embodiment of the present invention, including MCU control unit 1, gear
Detection unit 2, power control unit 3, heat exchanger, fan 6, indicator lamp 7, brake lamp 8；
The first temperature sensor 4 on the oil inlet of heat exchanger is arranged on, first temperature sensor 4, which is used to detect, flows into heat
The temperature of the hydraulic oil of the oil inlet of exchanger, the output end of first temperature sensor 4 and the input of MCU control unit 1
It is coupled；
The second temperature sensor 5 on the cooling liquid outlet of heat exchanger is arranged on, the second temperature sensor 5 is used for detection stream
Go out the temperature of the coolant of the cooling liquid outlet of heat exchanger, output end and the MCU control unit 1 of the second temperature sensor 5
Input be coupled；
It is arranged on the indicator lamp 7 on vehicle console, the output end of MCU control unit 1 and the input phase coupling of the indicator lamp 7
Close；And the brake lamp 8 of vehicle tail is arranged on, the output end of MCU control unit 1 and the input of the brake lamp 8 are coupled.
Further, the MCU control unit 1, is responsible for receiving multiple detection signals, and according to the program set to multiple
Detection signal is handled；
Gear position detecting unit, is connected between MCU control unit and a gear control switch；
Power control unit, is connected between MCU control unit and power input, and power control unit is according to MCU control unit
The power switch sent instructs to switch Retarder controller power source.
Further, the multiple detection signal is provided by multiple detection units；The multiple detection unit is examined including water temperature
Unit is surveyed, the water temperature detection unit provides water temperature information to the MCU controllers.
Further, the Retarder control device, when Retarder works, indicator lamp Chang Liang, brake lamp Chang Liang；
When the temperature that the first temperature sensor detects the hydraulic oil of the oil inlet of inflow heat exchanger reaches A degree, or when the
When the temperature that two temperature sensors detect the coolant of the cooling liquid outlet of outflow heat exchanger reaches that B spends, indicator lamp flicker
Alarm, wherein 150<A<180,95<B<115.
Further, fan is installed on vehicle, makes the outlet air surface of fan just to radiator, radiator and hydrodynamic retarding
Fluid loop is formed between the heat exchanger of device；
When the temperature that second temperature sensor detects the coolant of the cooling liquid outlet of outflow heat exchanger is constantly rising, and
When the temperature that second temperature sensor detects coolant, which rises to C, to be spent, fan is opened, wherein 89<C<93；
When the temperature that second temperature sensor detects the coolant of the cooling liquid outlet of outflow heat exchanger is constantly declining, and
When dropping to D at a temperature of second temperature sensor detects coolant and spending, fan is stopped, wherein 85<D<89.
Further, the MCU control unit includes signal acquisition module；Image information collecting processing module and controller；
The signal acquisition module；Image information collecting processing module is connected by signal wire with controller；The signal acquisition mould
Block includes camera, and the camera through signal wire is connected with image information collecting processing module；
Image information collecting processing module includes IMAQ submodule, image blur and evaluates submodule, fuzziness adjustment
Module；Described image collection submodule is used for the image information that acquisition camera is shot；
The ambiguity evaluation submodule is used for the image for obtaining the transmission of IMAQ submodule, and calculates image system before and after filtering
Count information ratio；
The fuzziness adjustment submodule is connected with ambiguity evaluation submodule, and final figure is drawn for adjusting original image fuzziness
Picture and image blur evaluation index.
The application of the present invention is further described with reference to operation principle.
The gear that the gear position detecting unit part is used for retarder is set, and retarder can be divided into 6 gears, and 0 grade (does not produce
Torque, retarder is stopped), 1 grade (constant speed shelves), 2 grades (torque for producing 25%), 3 grades (torque for producing 50%), 4 grades
It is connected outside (torque for producing 75%), 5 grades (torque for producing 100%), the unit with bat-handle switch or Foot-controlled switch, it is internal
It is connected with MCU detection unit.
Indicator lamp display unit is used for the working condition and message code for showing retarder, indicator lamp when retarder works
Bright, otherwise indicator lamp goes out, while indicator lamp can also show failure code；The unit one end is connected the other end with MCU control unit
It is connected with indicator lamp.
The function of power control unit is in stand-by mode to close the power supply of other units, reduces the work(of power supply
Consumption, it is ensured that the electric current of controller is less than 3mA in stand-by mode；Set when MCU detects gear in 0 grade and retention time more than one
Fixed time span (such as 2 minutes), MCU sends closing power command to power control unit, closes the power supply of other units
Power supply, MCU is carried out into park mode；When gear signal changes, MCU is waken up from park mode, is sent power-on and is referred to
Make to power control unit, this when controller be in mode of operation.
When Retarder works, indicator lamp Chang Liang, brake lamp Chang Liang, indicator lamp are used to point out vehicle driver fluid power
Retarder is in normal work, and brake lamp is used to point out the driver of the front vehicle vehicle carrying out slowly.
When the temperature that the first temperature sensor detects the hydraulic oil of the oil inlet of inflow heat exchanger reaches 160 degree, or
Person refers to when the temperature that second temperature sensor detects the coolant of the cooling liquid outlet of outflow heat exchanger reaches 100 degree
Show lamp flicker alarm.
Fan is installed on vehicle, makes the outlet air surface of fan just to radiator, the heat of radiator and Retarder
Fluid loop is formed between exchanger.
When second temperature sensor detects the temperature of the coolant of the cooling liquid outlet of outflow heat exchanger on constantly
Rise, and when the temperature that second temperature sensor detects coolant rises to 90 degree, fan is opened.
When second temperature sensor detects the temperature of the coolant of the cooling liquid outlet of outflow heat exchanger under constantly
Drop, and when dropping to 86 degree at a temperature of second temperature sensor detects coolant, fan is stopped.
The present invention determines roadway characteristic according to the relation between the quantity of road sample and the quantity of non-rice habitats sample, obtains
The steering angle of vehicle steering simultaneously judges whether the steering angle of the steering wheel is in default steering range, obtains automobile and is travelled
The road grade of road simultaneously judges whether road grade is less than gradient threshold value, determines that the working range of decelerator is interval；By road
Condition feature, ramp feature and running car situation combine, and control to reduce the speed of automobile by hydrodynamic retarding, greatly improve
The security of running car；Front vehicle can be warned when Retarder carries out slow to vehicle, and can be in fluid power
Coolant in hydraulic oil and heat exchanger in retarder informs driver in time when overheating.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of Retarder control method, it is characterised in that the Retarder control method includes：
Step 1: the reference picture in front of vehicle movement is obtained, by the similar pixel composition one of the pixel characteristic of reference picture
The pixel characteristic of pixel is dissimilar in individual similar set, any two similar set；
Step 2: judging whether the quantity of road sample described in each similar set is more than the number of non-rice habitats sample respectively
Amount, roadway characteristic is determined according to the relation between the quantity of road sample and the quantity of non-rice habitats sample；
Step 3: obtaining the steering angle of vehicle steering and judging whether the steering angle of the steering wheel turns to model in default
Enclose；
Step 4: obtaining the road grade of automobile institute travel and judging whether road grade is less than gradient threshold value；
Step 5: based on it is being travelled at present relative to vehicle or soon will travel in roadway characteristic thereon, determine decelerator
Working range is interval；
Step 6: when the travel speed of automobile reaches pre-set velocity threshold value, light automobile tail light and detect automobile with above most
The distance of nearly automobile, when the distance is less than default safe distance, hydrodynamic retarding control reduction automobile is passed through according to preset algorithm
Speed；
Step 7: based on it is being travelled at present relative to vehicle or soon by travel road thereon gradient, positioned at described
The road inclination that will be crossed change in front of travel, the change of the road inclination that will be crossed is equivalent to relative
The descending of the travel is tilted, and changes the threshold value for being applied to and being used in the control of the hydrodynamic retarding of vehicle；
Step 8: the virtual controlling inputted by user is instructed, front-wheel pivot angle, throttle amount in detection hydrodynamic retarding control process
With one kind in braking amount, according to the driving trace line of the virtual controlling branch prediction vehicle；
Step 9: monitoring rotor in the working oil temperature of Retarder in fluid power control process, work water temperature, Retarder
The working hydraulic pressure of operating rate and Retarder, wherein any one send alarm when exceeding preset security value.
2. Retarder control method as claimed in claim 1, it is characterised in that obtain in front of vehicle movement with reference to figure
The method of picture is：Picture signal is acquired using signal acquisition module, picture signal acquisition method includes：
To collection signalNonlinear transformation is carried out, is carried out as follows：
；
Wherein,The amplitude of signal is represented,Represent signal
Symbol,Represent shaping function,The carrier frequency of signal is represented,The phase of signal is represented, it is non-by this
Obtained after linear transformation：
。
3. Retarder control method as claimed in claim 2, it is characterised in that the picture signal of signal acquisition module is adopted
Diversity method also includes：Obtain what is obtained after nonlinear transformationSignal, and carry out enhanced processing；
Signal carries out segment processing；Average, variance, the accumulated value of signal and peak value 4 are extracted in every segment signal basic
Time domain parameter, the first layer that the situation of doubtful leakage occurs is determined whether by the difference of 4 parameter values of adjacent segment signal
Decision-making judges：Step wavelet packet denoising is down performed if having, no person jumps to execution and obtains signal；
Wavelet packet denoising；Denoising is carried out to the signal of collection using improving Wavelet Packet Algorithm；
WAVELET PACKET DECOMPOSITION and reconstruct；I.e. using signal progress WAVELET PACKET DECOMPOSITION and reconstruct of the Wavelet Packet Algorithm to collection is improved, obtain
To list band reconstruction signal；
Extract signal characteristic parameter；Extracted i.e. in the list band signal of reconstruct：Time domain energy, time domain peak, frequency domain energy, frequency
Domain peak value, coefficient of kurtosis, variance, the parameter of 8 expression signal characteristics of frequency spectrum and coefficient skewness；
Composition characteristic vector, i.e., using principal component analytical method, selected from above-mentioned 8 parameters 3 to 8 can obvious expression sound
The parameter composition characteristic vector of transmission signal feature, and these characteristic vectors are input to SVMs progress decision-making judgement,
I.e. second layer decision-making judges, leakage is determined whether according to the output of SVMs.
4. Retarder control method as claimed in claim 2, it is characterised in that obtain vehicle using signal acquisition module
After reference picture in front of motion, also need to carry out to adjust submodule to image blurring using ambiguity evaluation submodule, fuzziness
Degree is evaluated；
Image blur progress evaluation method is included using ambiguity evaluation submodule, fuzziness adjustment submodule：
Step one, image is obtained, and image to be evaluated is obtained by IMAQ submodule；
Step 2, image gray processing, for convenience of the edge extracting of image, R, G, B using RGB image in Digital Image Processing are each
Coloured image is converted into gray level image by the pixel value of individual passage with the transformational relation of gray level image pixel value, and formula is as follows：
Gray=R*0.3+G*0.59+B*0.11；
Step 3, Edge extraction, using the Roberts operator edge detections technical role in digital image processing method in
Gray level image obtains the edge of image, and different detective operators have different edge detection templates, according to specific formwork calculation
Intersect the difference of pixel as current pixel value, it is as follows using template：
；
Step 4, image procossing is filtered processing to gray level image to construct image to be evaluated using high pass/low pass filter
Reference picture, using 3*3 mean filters, using each pixel of Filtering Template traversing graph picture, template center is placed in every time
Current pixel, the average value of all pixels is newly worth as current pixel using in template, and template is as follows：
；
Step 5, image border statistical information is calculated, and respective edge half-tone information, filtering process before and after image filtering are calculated respectively
Preceding image F statistical informations to be evaluated are that the reference picture F2 statistical informations after sum_orig, filtering process are sum_
Filter, specific formula for calculation is as follows：
,
,
Wherein, w1 and w2 is according to from the weights set with a distance from center pixel, w1=1, w2=1/3；
Step 6, image blur index is calculated, the ratio for the image filtering front and rear edges grey-level statistics that step 5 is drawn
Value is as fuzziness index, for convenience of evaluating, and takes larger for denominator, and less is molecule, keep the value between（0,1）It
Between；
Step 7, a corresponding fuzziness indication range [min, max] is drawn according to the DMOS scopes of the best visual effect；
Step 8, image blur adjustment, if image blur index is less than min, according to step 6, before and after judging image filtering
Change is very big, and original image is excessively sharpened, then is filtered adjustment using low pass filter；If more than max, judging before image filtering
After vary less, original image excessively obscure, then adjustment is filtered using high-pass filter, to reach more preferably visual effect；
Step 9, draws final image and the image blur evaluation index, is transferred to singlechip controller.
5. Retarder control method as claimed in claim 4, it is characterised in that in step 7, imitated according to optimum visual
The DMOS scopes of fruit draw a corresponding fuzziness indication range [min, max], are specially：
Fuzziness adjusting range is drawn, 174 width in LIVE2 are evaluated using ambiguity evaluation method of the step one into step 6
Gaussian Blur image, calculates their own ambiguity evaluation value, then sets up evaluation of estimate value using fitting tool plot
Mapping relations between DMOS, corresponding fuzzy evaluation value model is drawn according to the corresponding DMOS scopes of the best visual effect
Enclose [min, max].
6. a kind of Retarder control device of Retarder control method as claimed in claim 1, it is characterised in that
Retarder control device includes MCU control unit, gear position detecting unit, power control unit, heat exchanger, fan, referred to
Show lamp, brake lamp；
The first temperature sensor on the oil inlet of heat exchanger is arranged on, first temperature sensor is used to detect that flowing into heat to hand over
The temperature of the hydraulic oil of the oil inlet of parallel operation, the output end of first temperature sensor and the input phase coupling of MCU control unit
Close；
The second temperature sensor on the cooling liquid outlet of heat exchanger is arranged on, the second temperature sensor, which is used to detect, to flow out
The temperature of the coolant of the cooling liquid outlet of heat exchanger, the output end of the second temperature sensor and MCU control unit it is defeated
Enter end to be coupled；
The indicator lamp on vehicle console is arranged on, the output end of MCU control unit is coupled with the input of the indicator lamp；With
And the brake lamp of vehicle tail is arranged on, the output end of MCU control unit is coupled with the input of the brake lamp.
7. Retarder control device as claimed in claim 6, it is characterised in that the MCU control unit, is responsible for receiving
Multiple detection signals, and multiple detection signals are handled according to the program set；
Gear position detecting unit, is connected between MCU control unit and a gear control switch；
Power control unit, is connected between MCU control unit and power input, and power control unit is according to MCU control unit
The power switch sent instructs to switch Retarder controller power source；
The multiple detection signal is provided by multiple detection units；The multiple detection unit includes water temperature detection unit, described
Water temperature detection unit provides water temperature information to the MCU controllers；
The Retarder control device, when Retarder works, indicator lamp Chang Liang, brake lamp Chang Liang；
When the temperature that the first temperature sensor detects the hydraulic oil of the oil inlet of inflow heat exchanger reaches A degree, or when the
When the temperature that two temperature sensors detect the coolant of the cooling liquid outlet of outflow heat exchanger reaches that B spends, indicator lamp flicker
Alarm, wherein 150<A<180,95<B<115.
8. Retarder control device as claimed in claim 6, it is characterised in that fan is installed on vehicle, makes fan
Outlet air surface just to radiator, form fluid loop between radiator and the heat exchanger of Retarder；
When the temperature that second temperature sensor detects the coolant of the cooling liquid outlet of outflow heat exchanger is constantly rising, and
When the temperature that second temperature sensor detects coolant, which rises to C, to be spent, fan is opened, wherein 89<C<93；
When the temperature that second temperature sensor detects the coolant of the cooling liquid outlet of outflow heat exchanger is constantly declining, and
When dropping to D at a temperature of second temperature sensor detects coolant and spending, fan is stopped, wherein 85<D<89.
9. Retarder control device as claimed in claim 1, it is characterised in that the MCU control unit includes signal
Acquisition module；Image information collecting processing module and controller；The signal acquisition module；Image information collecting processing module
It is connected by signal wire with controller；The signal acquisition module includes camera, the camera through signal wire and figure
As the connection of Information Collecting ＆ Processing module；
Image information collecting processing module includes IMAQ submodule, image blur and evaluates submodule, fuzziness adjustment
Module；Described image collection submodule is used for the image information that acquisition camera is shot；
The ambiguity evaluation submodule is used for the image for obtaining the transmission of IMAQ submodule, and calculates image system before and after filtering
Count information ratio；
The fuzziness adjustment submodule is connected with ambiguity evaluation submodule, and final figure is drawn for adjusting original image fuzziness
Picture and image blur evaluation index.
10. a kind of automobile for being provided with Retarder control device as claimed in claim 6.
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