CN108072342A - A kind of automatic testing method and device of manual gear gear level of vehicle - Google Patents
A kind of automatic testing method and device of manual gear gear level of vehicle Download PDFInfo
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- CN108072342A CN108072342A CN201711190041.1A CN201711190041A CN108072342A CN 108072342 A CN108072342 A CN 108072342A CN 201711190041 A CN201711190041 A CN 201711190041A CN 108072342 A CN108072342 A CN 108072342A
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- gear
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
Abstract
The present invention provides a kind of automatic testing method and device of manual gear gear level of vehicle, including being demarcated to gear level of vehicle space posture maximum distribution scope and gear detects, first gathers the spatial attitude of motor vehicle, then gathers the spatial attitude of control stick；Subtract each other to obtain the preliminary spatial attitude numerical value of gear at this time after carry out condition sliding window filtering process；Compared with space posture maximum distribution scope of the control stick of step calibration in each gear, the detected value of range state is obtained；It is assessed to obtain range state assessed value；It shows and is sent to simultaneously in host computer, then complete the detection of a range state.The interference being likely to occur and noise are rejected by algorithm by the present invention and filtering process, improves the reliability of gear testing result；The free travel of control stick is taken into account when detecting, and secondary evaluation is carried out to gear detected value, improves the accuracy of gear detection, is allowed to the influence from the new and old abrasion of motor vehicle.
Description
Technical field
The present invention relates to state of motor vehicle automatic measurement technique fields, and in particular to a kind of vehicle driver driving efficiency
The automatic testing method and device of the manual gear gear level of vehicle of training and examination.
Background technology
Can gear be the key that motor vehicle speed control executing agency, rationally be controlled according to the actual state of road traffic
Gear, and then reasonable regulation speed are an important contents in motor vehicle driving technical ability.So in motor vehicle driving technical ability
Standardized training and automation examination in, for driving efficiency that is accurate, scientifically evaluating driver, to gear level of vehicle
Automatic detection becomes an important premise and basis.
Traditionally, it is to make a set of coarse, bulky mechanical structured member to be sleeved on gear to the detection method of gear level of vehicle
On control stick, structural member is equipped with Hall sensor or photoelectric sensor in each gear positions of correspondence, using mounted on behaviour
The occlusion effect of magnet or control stick on vertical pole detects range state；This structural member makes complexity, and installation workload is big,
Mounted configuration part and sensor easily come off and damage；And after operating automobile bar is using a period of time, each gear
There are larger gaps, control stick between state to be just provided with certain free travel, and rolling is present with during motor-driven vehicle going
It is dynamic, gear detection is caused to be misjudged.With the improvement of motor vehicle processing technology, control mechanism of gear shifting precision is higher and higher,
The space for leaving gear detecting mechanism installation for is less and less so that this method is increasingly difficult to the requirement for meeting gear detection.
Erroneous judgement is detected in the above method caused by control stick rocks in order to overcome, the method for another gear detection is
Gearbox is dismantled, is inlayed in the gear shift fork axle of shift mechanism and installs permanent magnet, while shift fork axle is kept off in each gear
Corresponding box location inlays installation Hall sensor, and the reliable detection of range state is realized with this；But this method erector
Work amount bigger, and due to being disassembled and changed to gearbox, be susceptible to motor vehicle power and transfer failure, in motor line
It may cause traffic accident because of vehicle trouble when sailing, hidden danger has been buried for traffic safety.
Also a kind of gearratio using motor vehicle detects the method for range state, i.e., by detecting motor car engine
Rotating speed and vehicle running speed calculate the gearratio of motor vehicle with software, and are examined indirectly according to the numerical values recited of gearratio
Measure gear level of vehicle state；This method is easily influenced in release or semi-linkage state by clutch and makes gearratio
Change, gear detection is made mistake occur when clutch is stepped on, so there are significant limitations when in use.
The content of the invention
In order to solve the problem in above-mentioned background technology, it is an object of the invention to provide a kind of manual gear motor vehicles
The automatic testing method and device of gear.
To achieve the above object, the present invention provides following technical solution：
A kind of automatic testing method of manual gear level of vehicle, comprises the following steps：
(1) gear level of vehicle space posture maximum distribution scope is demarcated：
Control stick is gathered respectively in 1 grade, 2 grades, 3 grades, 4 grades, 5 grades, reverse gear or neutral gear, and control stick is in the gear
Spatial attitude during the maximum free travel of front, rear, left and right four direction；While the space appearance by gathering motor vehicle at this time
State；Then the spatial attitude of control stick is subtracted to the spatial attitude of motor vehicle, so as to calculate control stick before this gear,
Afterwards, space posture during the maximum free travel of left and right four direction；Then control stick is calibrated at this using it as border
Space posture maximum distribution scope in gear；According to the method, space of the control stick in each gear is marked successively
Posture is maximally distributed scope；
(2) gear detects：
A. the spatial attitude of motor vehicle is first gathered, then gathers the spatial attitude of control stick；
B. the spatial attitude numerical value of the spatial attitude of the motor vehicle collected in step a and control stick is subjected to condition respectively
Sliding window filtering process, to eliminate the influence of external disturbance and noise in gatherer process；
C. by the motor vehicle spatial attitude number that subtracts that treated of the spatial attitude numerical value through step b treated control sticks
Value, obtains the preliminary spatial attitude numerical value of gear at this time；
D. the space appearance the preliminary spatial attitude numerical value of gear and the control stick of step (1) calibration in each gear
State maximum distribution scope is compared, and obtains the detected value of range state；
E. the detected value of the step d range states drawn is assessed, to eliminate overlapping range between adjacent gear positions
It influences, obtains range state assessed value；
F. show using range state assessed value as virtual condition, and be sent to simultaneously in host computer, then complete once
The detection of range state.
Further scheme, the acquisition of spatial attitude is gathered by gyroscope in step (1), (2).
Further scheme, spatial attitude is represented using the coordinate (α, beta, gamma) of northeast day coordinate system in step (1), the seat
Mark is to be directed toward the reference axis in positive east as X-axis, to be directed toward positive northern reference axis as Y-axis, using reference axis vertically upward as Z
Axis；When object generation is deflected around X-axis, deflection angle is known as pitch angle, is represented with α；When being deflected around Y-axis, deflection angle is known as
Roll angle is represented with β；When deflecting about the z axis, deflection angle is known as yaw angle, is represented with γ.
Further scheme, condition sliding window filtering process described in step b be the spatial attitude of motor vehicle to collecting and
The spatial attitude numerical value of control stick carries out average value checking computations by formula below respectively：
The average value of preceding n times detection numerical value：
The absolute error of current detection numerical value：
σi=| xi-av(xi)|
The average value of preceding n times detection error：
Then spatial attitude numerical value is：
When
X in formulaiFor the numerical value that current detection obtains, xi+1For the numerical value that preceding one-time detection obtains, xi+2For front for the second time
Obtained numerical value ... ... is detected, and so on, xi+NThe data value detected for front n-th.
Further scheme is assessed the detected value of range state in step e, and its step are as follows：
(1) the obtained detected value of current gear state will be detected compared with the detected value of a upper range state,
If the two is equal, show no gear-change operation, be gear assessed value by the detected value output of the range state；If the two
It is unequal, then show to have carried out gear-change operation, then by the detected value of the range state and neutral gear space posture maximum point
Cloth scope is compared, to judge whether it is neutral gear
(2) if the detected value of the range state is in the range of neutral gear space posture maximum distribution, regard as current
Gear is neutral gear and exports, while it is also neutral gear to update a range state；Otherwise, then whether a upper range state is judged
For neutral gear
(3) if a upper range state is neutral gear, using the detected value of current gear state as gear assessed value and defeated
Go out, while update the detected value that a range state is current gear state；If a upper range state is not neutral gear, need
Judge whether current detection range state is reverse gear
(4) if the detected value of current gear state is needed in the range of reverse gear space posture maximum distribution in judgement
Whether one range state is 1 grade；If a upper range state is 1 grade, the detected value of current gear state is evaluated as down
Shelves simultaneously export, while update a range state for reverse gear；If a upper range state is not 1 grade, gearshift mistake is reported,
The detected value of the range state is evaluated as reverse gear again and is exported, while updates a range state for reverse gear；
(5) if the detected value of current gear state needs to judge not in the range of reverse gear space posture maximum distribution
Whether a upper gear is reverse gearIf a upper gear is reverse gear, need to judge whether the detection gear is 1 grade；It if so, will
Current gear state is evaluated as 1 grade of output, while updates a gear for 1 grade；If it is not, then report gearshift mistake, then will
The detected value of current gear state is evaluated as reverse gear and exports, while updates the detection that a gear is also current gear state
Value；
(6) if a upper gear is not reverse gear, need to judge whether that trip stop occursIf generation trip stop, report gearshift mistake,
And directly export the detected value of current gear state, while update the detection that a range state is also current gear state
Value；If trip stop does not occur, the detected value of current gear state is directly exported, while updates a range state and is also
The detected value of current gear state.
Another goal of the invention of the present invention is to provide the automatic detection side for realizing a kind of above-mentioned manual gear gear level of vehicle
The detection device of method, including detection box control stick and installation in the car；Fastener, the fastening are arranged on the control stick
The inner horizontal of part is installed with the second gyroscope, Y-axis and the vehicle body central axes keeping parallelism of second gyroscope；The detection
The first gyroscope, Y-axis and the vehicle body central axes keeping parallelism of first gyroscope are horizontally installed in box；Second gyro
Instrument is connected by cable with detection box interactive mode, and the detection box is communicated with host computer.
Further scheme, it is described detection box in be equipped with microcontroller, the microcontroller respectively with the first gyroscope, the second gyro
Instrument, memory interact formula connection, and the output terminal of microcontroller is connected to show with charactron by serial/parallel conversion circuit.
Further scheme, the microcontroller pass sequentially through serial ports/USB port converter, USB socket and host computer communication or
Level shifting circuit, serial ports socket and host computer is passed sequentially through to communicate.
Preferably, first gyroscope and the second gyroscope select MPU6050 gyroscopes, and the CPU of microcontroller is selected
STM32F103, memory selection Flash chip W25Q64, serial/parallel conversion circuit selection 74HC164 shift registers, serial ports/
USB port converter selects CH340G, and level shifting circuit selects universal serial port circuit chip SP3232E as TTL serial ports and RS
The level shifting circuit of 232 serial ports is used to implement the serial communication of microcontroller and host computer.
The control stick of motor vehicle is as rigid objects, and when switching between each gear, spatial attitude is also sent out therewith
Changing, and corresponding spatial attitude numerical value is constant in the ideal situation in each gear, as long as detecting control stick
Spatial attitude, it is possible to detect the range state of motor vehicle.
Since the carrier of control stick is motor vehicle, motor vehicle is the object that can be moved, even if control stick disposed thereon
Itself is motionless, and spatial attitude can also change with the movement of motor vehicle；But control stick is once installed on motor vehicle, opposite
It is fixed in the position of motor vehicle, will not changes with motor vehicle motion；Therefore each range state is compared with the sky of motor vehicle
Between posture be also fixed, will not change with motor vehicle motion；If carrying out gear shift operation, change range state, then manipulate
Space posture becomes another numerical value from a numerical value between bar and motor vehicle, and this numerical value will not be with motor vehicle
It moves and changes.
In this way, just it is changed into the inspection to space attitudes vibration amount between control stick and motor vehicle to the detection of gear
It surveys, in actual work, first detects the spatial attitude of control stick and motor vehicle, then motor vehicle is subtracted with the spatial attitude of control stick
Spatial attitude, obtain gear operating lever space posture, each shelves that the space posture and measuring in advance is obtained
The space posture of position state is compared, and identical or immediate numerical value is the corresponding range state of gear operating lever,
Namely detect the range state of motor vehicle.
So apparatus and method using the present invention are detected gear level of vehicle state, there is following obvious advantage：
(1) versatility is good, and detection method of the invention can be adapted for the gear detection of any manual gear motor vehicle, without
Different sensor fixing structures is designed for different automobile types；
(2) it is easy for installation, gyroscope need to be only sleeved on by fastener on control stick, then detection box is screwed
Onboard, without being dismantled to motor vehicle, the original performance and security of motor vehicle are not influenced；
(3) reliability is high, the interference being likely to occur and noise is rejected by algorithm and filtering process, real work
When the difference of reliability can be required according to system design regularization condition filter relevant parameter, with this improve gear detection knot
The reliability of fruit；
(4) detect False Rate it is low, gear detect when the free travel of control stick is taken into account, and to gear detected value into
Row secondary evaluation improves the accuracy of gear detection, is allowed to the influence from the new and old abrasion of motor vehicle；
(5) real-time is good, and all working circuit used in the present invention all has higher working frequency, data acquisition
Refresh rate reaches 100HZ, has good real-time.
Description of the drawings
Fig. 1 is the structure diagram of detection device of the present invention；
Fig. 2 is the circuit diagram of the present invention；
Fig. 3 is the gear schematic diagram of manual gear motor vehicle；
Fig. 4 is apertured gear level of vehicle schematic diagram；
Fig. 5 is gear testing result estimation flow figure；
Fig. 6 is microcontroller in the present invention, memory and serial/parallel conversion circuit diagram；
Fig. 7 is the circuit diagram of serial ports in the present invention/USB port converter；
Fig. 8 is the circuit diagram of level shifting circuit in the present invention；
The distribution map of gathered data when Fig. 9 is control stick attitude detection.
In figure：11- control sticks, 12- fasteners, the first gyroscopes of 13.1-, the second gyroscopes of 13.2-, 14- host computers,
15- detection boxes, 15.1- microcontrollers, 15.2- memories, 15.3- serial/parallel conversion circuits, 15.4- charactrons, 15.5- serial ports/
USB port converter, 15.6-USB sockets, 15.7- level shifting circuits, 15.8- serial ports sockets.
Specific embodiment
Embodiment 1：
As shown in Figure 1, 2, a kind of automatic detection device of manual gear gear level of vehicle, including control stick 11 and mounted on vehicle
Interior detection box 15；Fastener 12 is arranged on the control stick 11, the inner horizontal of the fastener 12 is installed with second
Gyroscope 13.2, Y-axis and the vehicle body central axes keeping parallelism of second gyroscope 13.2；It is horizontally mounted in the detection box 15
There are the first gyroscope 13.1, Y-axis and the vehicle body central axes keeping parallelism of first gyroscope 13.1；Second gyroscope
13.2 are connected by cable with 15 interactive mode of detection box, and the detection box 15 is communicated with host computer 14.
It is described detection box 15 in be equipped with microcontroller 15.1, the microcontroller 15.1 respectively with the first gyroscope 13.1, second
Gyroscope 13.2, memory 15.2 interact formula connection, the output terminal of microcontroller 15.1 by serial/parallel conversion circuit 15.3 with
Charactron 15.4 connects to show.
The microcontroller 15.1 passes sequentially through serial ports/USB port converter 15.5, USB socket 15.6 and host computer 14 and communicates,
Or it passes sequentially through level shifting circuit 15.7, serial ports socket 15.8 and host computer 14 and communicates.
First gyroscope, 13.1 and second gyroscope 13.2 selects MPU6050 gyroscopes, the CPU choosings of microcontroller 15.1
With STM32F103, memory 15.2 selects Flash chip W25Q64, and serial/parallel conversion circuit 15.3 selects 74HC164 displacements to post
Storage, serial ports/USB port converter 15.5 select CH340G, and level shifting circuit 15.7 selects universal serial port circuit chip
Level shifting circuits of the SP3232E as TTL serial ports and 232 serial ports of RS is used to implement the string of microcontroller 15.1 and host computer 14
Mouth communication.
The CPU of microcontroller 15.1 selects STM32F103 to complete gear data sampling and processing and communication function, STM32F103
CPU frequency be up to 72MHz, inside has 20KRAM, 2 SPI mouthfuls, 2 I2C mouthfuls, 3 asynchronous serial ports and 1 USB port, it is single
The detailed operation circuit of piece machine is as shown in Figure 6.
Memory 15.2 selects a piece of Flash chip W25Q64 as program and gear nominal data memory, W25Q64
Memory capacity with 8M bytes, reading and writing data speed reach 40MB/S, and W25Q64 is connected by SPI mouthfuls with STM32F103,
Detailed operation circuit is as shown in Figure 6.
Serial/parallel conversion circuit 15.3 selects a piece of 74HC164 shift registers for receiving microcontroller STM32F103 outputs
8 Bits Serial data, be reconverted into 8 bit parallel datas output, while using this 8 bit parallel data latch as 8 segment numeral pipes
15.4 display control circuit, for the display of gear detection state, 74HC164 inputs the general purpose I/O end phase with STM32F103
Even, output is connected with 8 segment numeral pipes, and detailed operation circuit is as shown in Figure 6.
Serial ports/USB port converter 15.5 selects a piece of CH340G to be realized as serial ports/USB port conversion circuit in the present invention
Communication between microcontroller and host computer, wherein the microcontroller in the present invention, using serial ports, the host computer being attached thereto uses USB
Mouthful；The input of CH340G is connected with the asynchronous serial port UART ends of STM32F103, and output is connected with a general MiniUSB socket,
It is connected during work with a USB cable bundle of lines host computer with gear detector, detailed operation circuit is as shown in Figure 7；
The present invention also provides another methods with host computer communication, that is, select a piece of universal serial port circuit chip
Level shifting circuits 15.7 of the SP3232E as TTL serial ports and 232 serial ports of RS, is used to implement the serial communication with host computer,
The input of SP3232E is connected with the asynchronous serial port UART ends of STM32F103, and output data is connected to by a 3 pin connectors
The DB9 plugs of one general RS 232, DB9 plugs are operatively coupled to host computer, and detailed operation circuit is as shown in Figure 8.
Gyroscope selects MPU6050 chips, for the detection of spatial attitude, and using " northeast day coordinate system " to target
Spatial attitude is detected.
Embodiment 2：
A kind of automatic testing method of manual gear level of vehicle, comprises the following steps：
(1) gear level of vehicle space posture maximum distribution scope is demarcated：
Control stick is gathered respectively by the second gyroscope 13.2 in 1 grade, 2 grades, 3 grades, 4 grades, 5 grades, reverse gear or neutral gear, is grasped
Vertical pole is in spatial attitude during the maximum free travel of the front, rear, left and right four direction of the gear；Pass through the first top simultaneously
Spiral shell instrument 13.1 gathers the spatial attitude of motor vehicle at this time；Then the spatial attitude of control stick is subtracted to the spatial attitude of motor vehicle,
So as to calculate space posture of the control stick in the maximum free travel of the front, rear, left and right four direction of this gear；
Space posture of the control stick in the gear is then calibrated as border using it and is maximally distributed scope；According to the method, according to
Deutero-albumose goes out control stick and is maximally distributed scope in the space posture of each gear；
(2) gear detects：
A. the spatial attitude of motor vehicle is gathered by the first gyroscope 13.1, control stick is gathered by the second gyroscope 13.2
Spatial attitude；
B. the spatial attitude numerical value of the spatial attitude of the motor vehicle collected in step a and control stick is subjected to condition respectively
Sliding window filtering process, to eliminate the influence of external disturbance and noise in gatherer process；
C. by the motor vehicle spatial attitude number that subtracts that treated of the spatial attitude numerical value through step b treated control sticks
Value, obtains the preliminary spatial attitude numerical value of gear at this time；
D. the space appearance the preliminary spatial attitude numerical value of gear and the control stick of step (1) calibration in each gear
State maximum distribution scope is compared, and obtains the detected value of range state；
E. the detected value of the step d range states drawn is assessed, to eliminate overlapping range between adjacent gear positions
It influences, obtains range state assessed value；
F. show, and be sent to simultaneously in host computer 14 using range state assessed value as virtual condition, then complete one
The detection of secondary range state.
Further scheme, spatial attitude is represented using the coordinate (α, beta, gamma) of northeast day coordinate system in step (1), the seat
Mark is to be directed toward the reference axis in positive east as X-axis, to be directed toward positive northern reference axis as Y-axis, using reference axis vertically upward as Z
Axis；When object generation is deflected around X-axis, deflection angle is known as pitch angle, is represented with α；When being deflected around Y-axis, deflection angle is known as
Roll angle is represented with β；When deflecting about the z axis, deflection angle is known as yaw angle, is represented with γ.
Further scheme, condition sliding window filtering process described in step b be the spatial attitude of motor vehicle to collecting and
The spatial attitude numerical value of control stick carries out average value checking computations by formula below respectively：
The average value of preceding n times detection numerical value：
The absolute error of current detection numerical value：
σi=| xi-av(xi)|
The average value of preceding n times detection error：
Then spatial attitude numerical value is：
When
X in formulaiFor the numerical value that current detection obtains, xi+1For the numerical value that preceding one-time detection obtains, xi+2For front for the second time
Obtained numerical value ... ... is detected, and so on, xi+NThe data value detected for front n-th.
Further scheme is assessed the detected value of range state in step e, as shown in figure 5, its step are as follows：
(1) the obtained detected value of current gear state will be detected compared with the detected value of a upper range state,
If the two is equal, show no gear-change operation, be gear assessed value by the detected value output of the range state；If the two
It is unequal, then show to have carried out gear-change operation, then by the detected value of the range state and neutral gear space posture maximum point
Cloth scope is compared, to judge whether it is neutral gear
(2) if the detected value of the range state is in the range of neutral gear space posture maximum distribution, regard as current
Gear is neutral gear and exports, while it is also neutral gear to update a range state；Otherwise, then whether a upper range state is judged
For neutral gear
(3) if a upper range state is neutral gear, using the detected value of current gear state as gear assessed value and defeated
Go out, while update the detected value that a range state is current gear state；If a upper range state is not neutral gear, need
Judge whether current detection range state is reverse gear
(4) if the detected value of current gear state is needed in the range of reverse gear space posture maximum distribution in judgement
Whether one range state is 1 grade；If a upper range state is 1 grade, the detected value of current gear state is evaluated as down
Shelves simultaneously export, while update a range state for reverse gear；If a upper range state is not 1 grade, gearshift mistake is reported,
The detected value of the range state is evaluated as reverse gear again and is exported, while updates a range state for reverse gear；
(5) if the detected value of current gear state needs to judge not in the range of reverse gear space posture maximum distribution
Whether a upper gear is reverse gearIf a upper gear is reverse gear, need to judge whether the detection gear is 1 grade；It if so, will
Current gear state is evaluated as 1 grade of output, while updates a gear for 1 grade；If it is not, then report gearshift mistake, then will
The detected value of current gear state is evaluated as reverse gear and exports, while updates the detection that a gear is also current gear state
Value；
(6) if a upper gear is not reverse gear, need to judge whether that trip stop occursIf generation trip stop, report gearshift mistake,
And directly export the detected value of current gear state, while update the detection that a range state is also current gear state
Value；If trip stop does not occur, the detected value of current gear state is directly exported, while updates a range state and is also
The detected value of current gear state.
The gear of manual gear motor vehicle is divided into drive shift, reverse gear and neutral gear, drive shift be divided into for 1 grade, 2 grades, 3 grades, 4 grades, 5
Shelves, as shown in Figure 3；Here, with character 1,2,3,4,5, R, N represent respectively 1 grade, 2 grades, 3 grades, 4 grades, 5 grades, reverse gear, neutral gear；With
Coding 1,2,3,4,5,7,0 respectively represent 1 grade, 2 grades, 3 grades, 4 grades, 5 grades, reverse gear, neutral gear.Further, since in shift process
The position of control stick is random, therefore state is designated as transition shelves when control stick is not on a fixed gear, is represented with 8.
The present invention represents the spatial attitude of object with " northeast day coordinate system ", and the coordinate system is to be directed toward the coordinate in positive east
Axis is X-axis, to be directed toward positive northern reference axis as Y-axis, using reference axis vertically upward as Z axis；Occur to deflect around X-axis in object
When, deflection angle is known as pitch angle, is represented with α；When being deflected around Y-axis, deflection angle is known as roll angle, is represented with β；About the z axis partially
When turning, deflection angle is known as yaw angle, is represented with γ；So the spatial attitude of an object can with one group of coordinate (α, β,
γ) represent.
So the spatial attitude of motor vehicle coordinate (αCAR, βCAR, γCAR) represent, the spatial attitude coordinate of control stick
(α i, β i, γ i) is represented, wherein i=0,1,2,3,4,5,7,8, respectively respective notch control stick be located at neutral gear, 1 grade, 2 grades, 3
Shelves, 4 grades, 5 grades, reverse gear, the spatial attitude of transition shelves.Ideally, control stick be in 1 grade, 2 grades, 3 grades, 4 grades, 5 grades, fall
It is fixed value relatively to the space posture coordinate (△ α i, △ β i, △ γ i) of motor vehicle when shelves, neutral position, it can be with thing
First measurement obtains, the space posture coordinate (△ α i, △ β i, △ γ i) of control stick, Yi Jicao when i=0,1,2,3,4,5,7
Space posture of the vertical pole in each gear during the maximum free travel of front, rear, left and right four direction；Then using it as border
And calibrate space posture maximum distribution scope of the control stick in the gear.
Wherein：
△ α i=α i-αCAR
△ β i=β i-βCAR
△ γ i=γ i-γCAR
Wherein space posture maximum distribution scope scaling method illustrated so that control stick is at neutral gear as an example as
Under：It is repeated several times and rocks control stick, control stick is made to the left, to the right, forwardly and rearwardly to be moved respectively in the free travel of neutral gear
Maximum free travel during to neutral gear；Gyroscope is respectively acquired the spatial attitude of each position of control stick at this time, and
The spatial attitude of motor vehicle is reduced to get to control stick at neutral gear and compared with the space attitude data value of motor vehicle；
Neutral gear attitude data is acquired with the Refresh Data rate of 100Hz, by the comparison to gathered data, is then respectively obtained in sky
At shelves, the front, rear, left and right free travel maximum S of control stickNFMax、SNBMax、SNLMax、SNRMax, finally preserve, and with
SNFMax、SNBMax、SNLMax、SNRMaxIt is that control stick is maximally distributed scope, such as Fig. 9 in the space posture of neutral gear for boundary demarcation
It is shown.
Control stick can equally be calibrated and be maximally distributed model in 1 grade, 2 grades, 3 grades, 4 grades, 5 grades, the space posture of reverse gear
It encloses.
The present invention detects control stick respectively using two minisize gyroscopes in actual work as attitude detecting sensor
Spatial attitude (α i, β i, γ i) and motor vehicle spatial attitude (αCAR, βCAR, γCAR).(△ α i, △ β i, △ are calculated again
γi)；Then (△ α i, △ β i, △ γ i) and measure in advance obtain result (△ α 0, △ β 0, △ γ 0), (△ α 1, △ β 1,
△ γ 1), (△ α 2, △ β 2, △ γ 2), (△ α 3, △ β 3, △ γ 3), (△ α 4, △ β 4, △ γ 4), (△ α 5, △ β 5, △ γ
5), the space posture maximum distribution scope of the control stick of (△ α 7, △ β 7, △ γ 7) and gear is compared, with which
Group coordinate is identical or the space posture maximum distribution of control stick in which gear in the range of, it is corresponding just to obtain the coordinate
Which gear range state namely gear operating lever are in；It is all different from these coordinates if comparative result, then define (△ α
I, △ β i, △ γ i)=(△ α 8, △ β 8, △ γ 8), in transition shelves, i.e. control stick is in shift process.
To inhibit the influence of external disturbance and noise in range state detection process, filtered using condition sliding window to testing number
According to being handled；Condition sliding window filtering process has the advantages of computing is simple, and inhibition is good, and concrete processing procedure is as follows：
xiFor the data value that current detection obtains, xi+1For the data value that preceding one-time detection obtains, xi+2For front for the second time
Obtained data value is detected, and so on, xi+NThe data value detected for front n-th；It is obtained by calculation：
The average value of preceding n times testing result
The absolute error of current detection result
σi=| xi-av(xi)|
The average value of preceding n times detection error
Testing result exports
In actual work, three coordinate components △ α i, △ β i, △ γ i of the spatial attitude obtained to detection are carried out respectively
Condition sliding window filtering process presented hereinbefore, the coordinate value then measured in advance with each gear again and each gear of calibration it is opposite
Spatial attitude maximum distribution scope is compared, and obtains corresponding range state, the detection of gear is completed with this.
Due to motor vehicle in use for some time, gap is will appear between control stick and each gear mechanism, control stick has
Free travel, the corresponding spatial attitude of each range state is no longer a fixed numerical value, but a numberical range, and
The numberical range of each range state is likely to occur overlapping, as shown in figure 4, being all control stick in the box of gear periphery in the shelves
It position may location.Such as：At 1 grade, control stick deviation the right may be mistaken for 3 grades；If at 3 grades, control stick inclined left
Side may be mistaken for 1 grade, and deviation the right may then be mistaken for 5 grades；Etc.；Handle it is bad, will give range state detection band
Seriously judge by accident.
In order to avoid there is the erroneous judgement of gear detection, range state is assessed according to the characteristics of gear shift operation.Gearshift
When, control stick is first exited from current gear, returns to neutral gear, then by neutral gear into new gear, and be unable to trip stop during gearshift, i.e., it is new
Gear is with old gear change no more than 1；If 1 grade transforms to 3 grades, it can only first enter 2 grades and enter 3 grades again；5 grades transform to 3 grades,
4 grades can only first be fallen back on and fall back on 3 grades again；Etc..According to the characteristics of this gear shift operation, appraisal procedure as shown in Figure 5 is to gear
It detects obtained result to be assessed, assessment output detects end value as gear.
Above example is not limited only to protection scope of the present invention, all to be repaiied based on basic thoughts of the invention
Change or what is changed belongs to protection scope of the present invention.
Claims (9)
1. a kind of automatic testing method of manual gear gear level of vehicle, it is characterised in that：Comprise the following steps：
(1) gear level of vehicle space posture maximum distribution scope is demarcated：
Respectively gather control stick in 1 grade, 2 grades, 3 grades, 4 grades, 5 grades, reverse gear or neutral gear, control stick be in the gear it is forward and backward,
Spatial attitude during the maximum free travel of left and right four direction；The spatial attitude of motor vehicle at this time is gathered simultaneously；It then will behaviour
The spatial attitude of vertical pole subtracts the spatial attitude of motor vehicle, so as to calculate control stick front, rear, left and right of this gear four
Space posture during the maximum free travel in direction；It is opposite in the gear then control stick to be calibrated using it as border
Spatial attitude is maximally distributed scope；According to the method, the space posture for marking control stick successively in each gear is maximally distributed
Scope；
(2) gear detects：
A. the spatial attitude of motor vehicle is first gathered, then gathers the spatial attitude of control stick；
B. the spatial attitude numerical value of the spatial attitude of the motor vehicle collected in step a and control stick is subjected to condition sliding window respectively
Filtering process, to eliminate the influence of external disturbance and noise in gatherer process；
C. by the motor vehicle spatial attitude numerical value that subtracts that treated of the spatial attitude numerical value through step b treated control sticks, obtain
To the preliminary spatial attitude numerical value of gear at this time；
D. space posture of the control stick preliminary spatial attitude numerical value of gear demarcated with step (1) in each gear is most
Big distribution is compared, and obtains the detected value of range state；
E. the detected value of the step d range states drawn is assessed, to eliminate the influence of overlapping range between adjacent gear positions,
Obtain range state assessed value；
F. show using range state assessed value as virtual condition, and be sent to simultaneously in host computer, then complete a gear
The detection of state.
2. automatic testing method according to claim 1, it is characterised in that：The acquisition of spatial attitude in step (1), (2)
All it is to be gathered by gyroscope.
3. automatic testing method according to claim 1, it is characterised in that：Spatial attitude is using northeast day in step (1)
The coordinate (α, beta, gamma) of coordinate system represents, the coordinate system is to be directed toward the reference axis in positive east as X-axis, to be directed toward the seat in the positive north
Parameter is Y-axis, using reference axis vertically upward as Z axis；When object generation is deflected around X-axis, deflection angle is known as pitch angle, uses
α is represented；When being deflected around Y-axis, deflection angle is known as roll angle, is represented with β；When deflecting about the z axis, deflection angle is known as yaw angle,
It is represented with γ.
4. automatic testing method according to claim 1, it is characterised in that：Condition sliding window filtering process described in step b
It is to carry out average value by formula below respectively to the spatial attitude of motor vehicle and the spatial attitude numerical value of control stick that collect to test
It calculates：
The average value of preceding n times detection numerical value：
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</mrow>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mi>N</mi>
</mfrac>
<munderover>
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<mo>=</mo>
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</mrow>
<mi>N</mi>
</munderover>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
</mrow>
The absolute error of current detection numerical value：
σi=| xi-av(xi)|
The average value of preceding n times detection error：
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<mi>a</mi>
<mi>v</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&sigma;</mi>
<mi>i</mi>
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</mrow>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mi>N</mi>
</mfrac>
<munderover>
<mo>&Sigma;</mo>
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<msub>
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<mi>i</mi>
</msub>
</mrow>
Then spatial attitude numerical value is：
When
X in formulaiFor the numerical value that current detection obtains, xi+1For the numerical value that preceding one-time detection obtains, xi+2It is detected for the second time for front
The numerical value ... ... arrived, and so on, xi+NThe data value detected for front n-th.
5. automatic testing method according to claim 1, it is characterised in that：In step e to the detected value of range state into
Row assessment, its step are as follows：
(1) the obtained detected value of current gear state will be detected compared with the detected value of a upper range state, if
The two is equal, then shows no gear-change operation, is gear assessed value by the detected value output of the range state；If the two not phase
Deng then showing to have carried out gear-change operation, the detected value of the range state and neutral gear space posture then be maximally distributed model
It encloses and is compared, to judge whether it is neutral gear
(2) if the detected value of the range state regards as current gear in the range of neutral gear space posture maximum distribution
It for neutral gear and exports, while it is also neutral gear to update a range state；Otherwise, then judge whether a upper range state is empty
Shelves
(3) if a upper range state is neutral gear, the detected value of current gear state as gear assessed value and is exported, together
The upper range state of Shi Gengxin is the detected value of current gear state；If a upper range state is not neutral gear, need to judge
Whether current detection range state is reverse gear
(4) if the detected value of current gear state needs to judge upper one in the range of reverse gear space posture maximum distribution
Whether range state is 1 grade；If a upper range state is 1 grade, the detected value of current gear state is evaluated as reverse gear simultaneously
Output, while a range state is updated for reverse gear；If a upper range state is not 1 grade, gearshift mistake is reported, then will
The detected value of the range state is evaluated as reverse gear and exports, while updates a range state for reverse gear；
(5) if the detected value of current gear state needs to judge upper one not in the range of reverse gear space posture maximum distribution
Whether a gear is reverse gearIf a upper gear is reverse gear, need to judge whether the detection gear is 1 grade；It if so, will be current
Range state is evaluated as 1 grade of output, while updates a gear for 1 grade；If it is not, then report gearshift mistake, then will be current
The detected value of range state is evaluated as reverse gear and exports, while updates the detected value that a gear is also current gear state；
(6) if a upper gear is not reverse gear, need to judge whether that trip stop occursIf generation trip stop, report gearshift mistake, and will
The detected value of current gear state directly exports, while updates the detected value that a range state is also current gear state；
If trip stop does not occur, the detected value of current gear state is directly exported, while it is also to work as to update a range state
The detected value of preceding range state.
6. a kind of detection device for realizing automatic testing method as described in claim 1 including control stick (11) and is mounted on
Interior detection box (15)；It is characterized in that：Fastener (12) is arranged on the control stick (11), the fastener (12)
Inner horizontal is installed with the second gyroscope (13.2), Y-axis and the vehicle body central axes keeping parallelism of second gyroscope (13.2)；
The detection box (15) is inner to be horizontally installed with the first gyroscope (13.1), in the Y-axis and vehicle body of first gyroscope (13.1)
Axis keeping parallelism；Second gyroscope (13.2) is connected by cable with detection box (15) interactive mode, the detection box
(15) communicated with host computer (14).
7. automatic detection device according to claim 5, it is characterised in that：Microcontroller is equipped in the detection box (15)
(15.1), the microcontroller (15.1) respectively with the first gyroscope (13.1), the second gyroscope (13.2), memory (15.2) into
The interactive connection of row, the output terminal of microcontroller (15.1) are connected use by serial/parallel conversion circuit (15.3) with charactron (15.4)
In display.
8. automatic detection device according to claim 5, it is characterised in that：The microcontroller (15.1) passes sequentially through string
Mouth/USB port converter (15.5), USB socket (15.6) communicate or pass sequentially through level shifting circuit with host computer (14)
(15.7), serial ports socket (15.8) is communicated with host computer (14).
9. the automatic detection device according to claim 7 or 8, it is characterised in that：First gyroscope (13.1) and
Two gyroscopes (13.2) select MPU6050 gyroscopes, and the CPU of microcontroller (15.1) selects STM32F103, memory (15.2) choosing
With Flash chip W25Q64, serial/parallel conversion circuit (15.3) selects 74HC164 shift registers, serial ports/USB port converter
(15.5) CH340G chips are selected, level shifting circuit (15.7) selects universal serial port circuit chip SP3232E as TTL serial ports
With the level shifting circuit of 232 serial ports of RS, the serial communication of microcontroller (15.1) and host computer (14) is used to implement.
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| CN111828628A (en) * | 2019-04-18 | 2020-10-27 | 南京库尔卡传感科技有限公司 | Gear detection, identification, display and transmission system of manual transmission automobile |
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