CN107842604A - The method that Vehicular turn parameter is calculated using acceleration transducer - Google Patents
The method that Vehicular turn parameter is calculated using acceleration transducer Download PDFInfo
- Publication number
- CN107842604A CN107842604A CN201710853547.XA CN201710853547A CN107842604A CN 107842604 A CN107842604 A CN 107842604A CN 201710853547 A CN201710853547 A CN 201710853547A CN 107842604 A CN107842604 A CN 107842604A
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- vehicle
- turn
- acceleration
- centripetal
- parameter
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
- F16H2061/0223—Generating of new shift maps, i.e. methods for determining shift points for a schedule by taking into account driveline and vehicle conditions
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Transmission Device (AREA)
Abstract
The present invention relates to the method that Vehicular turn parameter is calculated by using acceleration transducer, vehicle lateral acceleration sensor is arranged on vehicle's center of gravity position, vehicle can perceive the size of the centripetal acceleration of the effect by ground centripetal force in turning brief acceleration sensor, the steering direction of vehicle is obtained according to the direction of centripetal acceleration, the radius of turn of vehicle can be back-calculated to obtain by the centripetal formula of known vehicle speed, according to time parameter and radius of turn, the parameters such as the intrinsic size of vehicle obtain the angle that vehicle turns over, control unit for automatic shift uses most rational Shifting according to the turn around parameters and power performance parameter recognized.The Shifting during Vehicular turn equipped with automatic transmission is improved, can be shifted gears with more precise control.
Description
Technical field
The present invention relates to the vehicle equipped with automatic transmission and its control technology field, and acceleration is utilized more particularly to one kind
Spend the method that sensor calculates Vehicular turn parameter.
Background technology
Vehicle equipped with automatic transmission, because having the advantages that easy to operate, starting is steady, ride comfort, increasingly
Favored.Vehicle especially heavy semi-trailer towing vehicle is when turning to because curve resistance makes vehicle resistance become big and consider to turn
The requirement such as dynamic property during, irrational Shifting can influence the dynamic property of vehicle, can even be stopped when serious.
In order to improve the Shifting during Vehicular turn that automatic transmission is housed, employ and such as turned using wheel speed calculation
To schemes such as angles, computational methods complexity precision is low, adds the unstability of system again.
In fact, traditional hand-propelled vehicle is changed when turning to by driver according to judgements such as steering angle, road conditions, dynamic property
Gear opportunity.As electronically controlled automatic speed-changing system, if it is known that the parameter such as steering angle, load, can be with more precise control
Gearshift.
The content of the invention
In order to improve the Shifting during Vehicular turn that automatic transmission is housed, the present invention propose it is a kind of by using
The method that vehicle lateral acceleration sensor calculates Vehicular turn parameter.
The technical proposal of the invention is realized in this way：
The method that Vehicular turn parameter is calculated by using acceleration transducer, vehicle lateral acceleration sensor is installed
In vehicle's center of gravity position, vehicle can perceive the centripetal acceleration of the effect by ground centripetal force in turning brief acceleration sensor
Size, the steering direction of vehicle is obtained according to the direction of centripetal acceleration, it is centripetal by known vehicle speed
Formula can be back-calculated to obtain the radius of turn of vehicle, be obtained according to the parameter such as time parameter and radius of turn, the intrinsic size of vehicle
The angle that vehicle turns over, control unit for automatic shift (abbreviation TCU) is according to the turn around parameters and power performance recognized
Parameter uses most rational Shifting.
Beneficial effects of the present invention are as follows：
The essence of the present invention is to calculate the selection of Vehicular turn parameter by vehicle lateral acceleration sensor most reasonably to change
Gear strategy, is improved the Shifting during Vehicular turn equipped with automatic transmission, can be shifted gears with more precise control.
Brief description of the drawings
Vehicle and acceleration transducer signals installation direction when Fig. 1 is stationary vehicle；
Fig. 2 is stress diagram of the vehicle during turning；
Fig. 3 is the flow chart that Vehicular turn identification and application are carried out using acceleration transducer.
Embodiment
The principle and specific control process of the present invention will be described in detail by embodiment and with reference to accompanying drawing.
The present invention provides a kind of method that Vehicular turn parameter is calculated by using acceleration transducer, by lateral direction of car plus
Velocity sensor is arranged on vehicle's center of gravity position, and vehicle can perceive in turning brief acceleration sensor to be made by ground centripetal force
The size of centripetal acceleration, the steering direction of vehicle is obtained according to the direction of centripetal acceleration, pass through known vehicle car
The centripetal formula of speed can be back-calculated to obtain the radius of turn of vehicle, according to time parameter and radius of turn, vehicle it is intrinsic
The parameters such as size obtain the angle that vehicle turns over, and control unit for automatic shift (abbreviation TCU) is according to the steering ginseng recognized
Number and power performance parameter use most rational Shifting.
Vehicle lateral acceleration sensor is arranged on vehicle's center of gravity position, vehicle acceleration sensor during stationary vehicle
Direction is as shown in figure 1, during stationary vehicle, because by centripetal force, lateral direction of car does not have acceleration, in theory transverse acceleration just
Initial value should be 0, but be influenceed by parameters such as installation accuracies that initial value may be not zero, so taking laterally accelerating now
Spend zero point of the initial value of sensor as transverse acceleration.
During Vehicular turn, stress of the vehicle during turning is as shown in Fig. 2 because the effect of centripetal force is produced
The difference of raw centripetal acceleration, acceleration transducer and initial value is exactly the centripetal acceleration of vehicle.According to shown in Fig. 2 laterally plus
Speed left-hand is installed as positive direction, when the value of acceleration transducer is more than initial value is vehicle just in left steering, less than initial
During value for vehicle just in right turn.
The calculating process of radius of turn, according to centripetal force calculation formula Fn=mV2/ R and Fn=man, radius of turn can be obtained
Calculation formula R=V2/an, unit is rice.Wherein F in formulanFor vehicle centripetal force, m is vehicle mass, and V vehicle speeds, R is turning
Radius, anFor centripetal acceleration, that is, the difference of acceleration transducer and initial value.
The accumulative calculating process for turning over angle of vehicle, is first calculated vehicle angular speed according to formula ω=V/R, then to car
180 ω of angular speed integration θ=∫/π d (t), it can obtain the accumulative angle turned over of vehicle, unit degree of being.ω is car wherein in formula
Steering angular velocity, θ are the accumulative angle turned over of vehicle.
TCU is according to the turn around parameters of calculating, the rational gear strategy of engagement Current vehicle operational factor selection.
Whether it is zero to sentence first according to vehicle speed as shown in figure 3, carrying out Vehicular turn identification using acceleration transducer
Whether disconnected vehicle is static, and zero point of the sensor initial value as transverse acceleration signal is recorded when static.If vehicle speed is believed
Number it is not zero, it is specified that direction is pointed into vehicle left side when acceleration signal is installed, compares whether acceleration signal is more than just
Initial value, more than then representing vehicle just in left steering, less than then representing vehicle just in right turn.Utilize formula R=V2/anCalculate and turn
To radius, calculate vehicle using 180 ω of formula θ=∫/π d (t) and turn over angle.The calculated steering relevant parameters of TCU,
Select rational Shifting.
Claims (1)
1. the method for Vehicular turn parameter is calculated by using acceleration transducer, it is characterised in that：By vehicle lateral acceleration
Sensor is arranged on vehicle's center of gravity position, and vehicle can perceive the effect by ground centripetal force in turning brief acceleration sensor
The size of centripetal acceleration, the steering direction of vehicle is obtained according to the direction of centripetal acceleration, pass through known vehicle speed profit
The radius of turn of vehicle can be back-calculated to obtain with the formula of centripetal force, according to time parameter and radius of turn, the intrinsic size of vehicle
The angle that vehicle turns over is obtained etc. parameter, control unit for automatic shift is according to the turn around parameters and power performance recognized
Parameter uses most rational Shifting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710853547.XA CN107842604A (en) | 2017-09-20 | 2017-09-20 | The method that Vehicular turn parameter is calculated using acceleration transducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710853547.XA CN107842604A (en) | 2017-09-20 | 2017-09-20 | The method that Vehicular turn parameter is calculated using acceleration transducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107842604A true CN107842604A (en) | 2018-03-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710853547.XA Pending CN107842604A (en) | 2017-09-20 | 2017-09-20 | The method that Vehicular turn parameter is calculated using acceleration transducer |
Country Status (1)
| Country | Link |
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| CN (1) | CN107842604A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528274A (en) * | 2018-05-08 | 2018-09-14 | 昆明理工大学 | A method of automotive electronics differential is calculated based on Raspberry Pi and centripetal acceleration |
| CN110632611A (en) * | 2019-08-30 | 2019-12-31 | 中国南方电网有限责任公司超高压输电公司贵阳局 | Turning filtering method for fixed wing unmanned aerial vehicle laser radar system |
| CN112728068A (en) * | 2020-12-21 | 2021-04-30 | 厦门雅迅网络股份有限公司 | Vehicle energy-saving control method, storage medium, vehicle control system and vehicle |
Citations (3)
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| CN1616271A (en) * | 2003-11-13 | 2005-05-18 | 日产自动车株式会社 | Turning control apparatus and method for automotive vehicle |
| CN101038181A (en) * | 2006-03-15 | 2007-09-19 | 日产自动车株式会社 | Curving tendency detection device in vehicle, and vehicle response control apparatus using same |
| DE102012211385A1 (en) * | 2012-06-29 | 2014-01-02 | Bayerische Motoren Werke Aktiengesellschaft | Method for determining target gear for e.g. motor car, involves setting target torque of optimal gear as target gear during start time of internal combustion engine, if defined start time for connecting phase is not exceeded |
-
2017
- 2017-09-20 CN CN201710853547.XA patent/CN107842604A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1616271A (en) * | 2003-11-13 | 2005-05-18 | 日产自动车株式会社 | Turning control apparatus and method for automotive vehicle |
| CN101038181A (en) * | 2006-03-15 | 2007-09-19 | 日产自动车株式会社 | Curving tendency detection device in vehicle, and vehicle response control apparatus using same |
| DE102012211385A1 (en) * | 2012-06-29 | 2014-01-02 | Bayerische Motoren Werke Aktiengesellschaft | Method for determining target gear for e.g. motor car, involves setting target torque of optimal gear as target gear during start time of internal combustion engine, if defined start time for connecting phase is not exceeded |
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| 丛晓妍等: "AMT车辆弯道行驶换挡策略", 《浙江大学学报工学版》 * |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528274A (en) * | 2018-05-08 | 2018-09-14 | 昆明理工大学 | A method of automotive electronics differential is calculated based on Raspberry Pi and centripetal acceleration |
| CN108528274B (en) * | 2018-05-08 | 2021-05-14 | 昆明理工大学 | Method for calculating electronic differential speed of automobile based on raspberry pi and centripetal acceleration |
| CN110632611A (en) * | 2019-08-30 | 2019-12-31 | 中国南方电网有限责任公司超高压输电公司贵阳局 | Turning filtering method for fixed wing unmanned aerial vehicle laser radar system |
| CN110632611B (en) * | 2019-08-30 | 2021-12-14 | 中国南方电网有限责任公司超高压输电公司贵阳局 | Turning filtering method for fixed wing unmanned aerial vehicle laser radar system |
| CN112728068A (en) * | 2020-12-21 | 2021-04-30 | 厦门雅迅网络股份有限公司 | Vehicle energy-saving control method, storage medium, vehicle control system and vehicle |
| US11982347B2 (en) | 2020-12-21 | 2024-05-14 | Xiamen Yaxon Network Co., Ltd. | Vehicle energy saving control method, storage medium, vehicle control system, and vehicle |
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Application publication date: 20180327 |