CN108288313A - Method, apparatus for monitoring vehicle running state and vehicle - Google Patents
Method, apparatus for monitoring vehicle running state and vehicle Download PDFInfo
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- CN108288313A CN108288313A CN201810075144.1A CN201810075144A CN108288313A CN 108288313 A CN108288313 A CN 108288313A CN 201810075144 A CN201810075144 A CN 201810075144A CN 108288313 A CN108288313 A CN 108288313A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0808—Diagnosing performance data
Abstract
The invention discloses a kind of method, apparatus and vehicle for monitoring vehicle running state, method therein includes：It obtains current running state information and generates road spectrum information, it will be compared with current running state information with the corresponding transport condition reference information of road spectrum information, it determines whether the current running state of vehicle meets safety requirements based on comparison result and according to preset decision rule, and is handled accordingly.The method, apparatus and vehicle of the present invention, the identification to traveling road spectrum is realized using mobile unit, improve road spectrum discrimination precision and accuracy, different prompt settings is set for spectrum of not going the same way, be conducive to the dangerous transport condition that driver knows vehicle in advance, help to improve the comfortableness and security of traveling；It is reminded by road spectrum information and transport condition, improves the normalization of driver's operation, the fatigue damage of structural member can be effectively reduced, and can be with the transport condition of adjust automatically vehicle.
Description
Technical field
The present invention relates to technical field of vehicle more particularly to a kind of method, apparatus for monitoring vehicle running state.
Background technology
Wheeled crane can be in highway pavement high speed traveling over long distances and in rugged and rough or muddy place.
For different tracks, the degree of the jolting when unevenness on road surface can influence crane running, to influence its traveling
The dynamic stress of quality, the dynamic property of vehicle and body structural member.Since crane itself is from great, when track rises
It lies prostrate larger or rugged and rough, when vehicle is travelled with higher speed or steering angle is excessive, is likely to cause crane knot
The prodigious dynamic stress of component.If crane travels on this kind of state for a long time, the fatigue damage of structural member can be accelerated, very
The stress of structural member may be extremely caused to be broken.
Invention content
In view of this, the invention solves a technical problem be to provide it is a kind of for monitoring the side of vehicle running state
Method, device and vehicle.
According to one aspect of the disclosure, a kind of method for monitoring vehicle running state is provided, including：Obtain vehicle
Current running state information；Road spectrum information is generated based on the current running state information；It obtains and the road spectrum information phase
The transport condition reference information is compared corresponding transport condition reference information with the current running state information；
It determines whether the current running state of vehicle meets safety requirements based on comparison result and according to preset decision rule, and carries out
Corresponding processing.
Optionally, pass through current running state information described in state collecting device timing acquiring；Wherein, the transport condition
The state parameter in state parameter and the current running state information in reference information includes speed, suspension pressure, suspension
At least one of rigidity, suspension travel, wheel steering angle, car body obliqueness parameter.
Optionally, described to include based on current running state information generation road spectrum information：It is true based on suspension pressure value
Car weight value before settled；Determine suspension pressure, the variance values of suspension travel and car body obliqueness in the unit interval；It is based on
The vehicle speed value, the car weight value, the variance values generate the road spectrum information.
Optionally, described to generate the road spectrum information packet based on the vehicle speed value, the car weight value, the variance values
It includes：It is obtained by preset algorithm corresponding with the suspension pressure, suspension travel and the variance values of car body obliqueness respectively
Wavy curve；Computation model is composed using preset road and according to the car weight value, the vehicle speed value and the wavy curve
Amplitude change rate generates power spectral density plot corresponding with pavement of road unevenness, determines the power spectral density plot
Longitudinal amplitude change rate obtains the road spectrum information.
Optionally, described the current running state information is acquired by state collecting device to include：It is sensed by speed
Device acquires current vehicle speed value in real time；Suspension pressure value is acquired by suspension pressure sensor；It is obtained by suspension travel sensor
Suspension travel value；Suspension rate value is obtained by suspension rate detection device；Driving process is acquired by tire rotary angle transmitter
In wheel steering angle value；Car body obliqueness value is obtained by car body obliqueness sensor.
Optionally, it is described based on comparison result and according to preset decision rule determine vehicle current running state whether
Meet safety requirements, and carries out corresponding processing and include：Obtain traveling shape corresponding with the road spectrum information and car weight value
State reference information, and obtain the numerical definiteness range of the state parameter in this transport condition reference information；Judge the current line
The numerical value of the state parameter in status information is sailed whether within the scope of the numerical definiteness corresponding with this state parameter；If
It is, it is determined that the current running state of vehicle meets safety requirements；If it is not, then judging in the current running state information
The numerical value of state parameter not the duration within the scope of the numerical definiteness corresponding with this state parameter whether be more than it is preset when
Long threshold value, if it is, determining that the current running state of vehicle is unsatisfactory for safety requirements.
Optionally, corresponding handle of the progress includes：If it is determined that the current running state of vehicle is unsatisfactory for wanting safely
It asks, it is determined that be more than the state parameter of the numerical definiteness range in the current running state information, be based on this state parameter
The transport condition of vehicle is adjusted, and prompting message is generated based on this state parameter and is reminded, wherein alerting pattern includes：Text
Word information reminding, acousto-optic alerting pattern；If it is determined that the current running state of vehicle meets safety requirements, then in a display device
Show the current running state information.
Optionally, determine whether vehicle is in transport condition based on vehicle speed value, if it is, being based on the current driving shape
State information generates road spectrum information.
According to another aspect of the present disclosure, a kind of device for monitoring vehicle running state is provided, including：Acquisition of information
Module, the current running state information for obtaining vehicle；Generation module is composed on road, for being based on the current running state information
Generate road spectrum information；State comparing module, for obtaining transport condition reference information corresponding with the road spectrum information, by institute
Transport condition reference information is stated to be compared with the current running state information；Decision process module, for based on comparison knot
Fruit simultaneously determines whether the current running state of vehicle meets safety requirements according to preset decision rule, and is located accordingly
Reason.
Optionally, described information acquisition module, for passing through current running state described in state collecting device timing acquiring
Information；Wherein, the state parameter in the state parameter and the current running state information in the transport condition reference information
Including at least one of speed, suspension pressure, suspension rate, suspension travel, wheel steering angle, car body obliqueness parameter.
Optionally, generation module is composed on the road, for determining current car weight value based on suspension pressure value；When determining unit
In suspension pressure, the variance values of suspension travel and car body obliqueness；Based on the vehicle speed value, the car weight value, institute
It states variance values and generates the road spectrum information.
Optionally, generation module is composed on the road, for by preset algorithm acquisition respectively with the suspension pressure, suspension row
Journey and the corresponding wavy curve of the variance values of car body obliqueness；Computation model is composed using preset road and according to the vehicle
The amplitude change rate of weight values, the vehicle speed value and the wavy curve generates power spectrum corresponding with pavement of road unevenness
It writes music line, determines longitudinal amplitude change rate of the power spectral density plot, obtain the road spectrum information.
Optionally, described information acquisition module acquires current vehicle speed value in real time for passing through vehicle speed sensor；Pass through suspension
Pressure sensor acquires suspension pressure value；Suspension travel value is obtained by suspension travel sensor；It is detected and is filled by suspension rate
It sets and obtains suspension rate value；The wheel steering angle value in driving process is acquired by tire rotary angle transmitter；It is passed by car body obliqueness
Sensor obtains car body obliqueness value.
Optionally, the state comparing module, for obtaining traveling corresponding with the road spectrum information and car weight value
State reference information, and obtain the numerical definiteness range of the state parameter in this transport condition reference information；The decision process
Module, for judging the numerical value of the state parameter in the current running state information whether in institute corresponding with this state parameter
It states within the scope of numerical definiteness；If it is, determining that the current running state of vehicle meets safety requirements；If it is not, then judging institute
The numerical value of the state parameter in current running state information is stated not within the scope of the numerical definiteness corresponding with this state parameter
Duration whether be more than preset duration threshold value, if it is, determine vehicle current running state be unsatisfactory for safety requirements.
Optionally, the decision process module, for if it is determined that the current running state of vehicle is unsatisfactory for safety requirements,
It then determines the state parameter in the current running state information more than the numerical definiteness range, is adjusted based on this state parameter
The transport condition of vehicle, and prompting message is generated based on this state parameter and is reminded, wherein alerting pattern includes：Word is believed
Breath prompting, acousto-optic alerting pattern；If it is determined that the current running state of vehicle meets safety requirements, then show in a display device
The current running state information.
Optionally, generation module is composed on the road, for determining whether vehicle is in transport condition based on vehicle speed value, if
It is then to be based on the current running state information and generate road spectrum information.
According to the another aspect of the disclosure, a kind of vehicle is provided, including：It is as described above to be used to monitor vehicle running state
Device.
Optionally, the vehicle includes：Wheeled crane.
According to the another aspect of the disclosure, a kind of device for monitoring vehicle running state is provided, including：Memory；
And it is coupled to the processor of the memory, the processor is configured as based on the instruction being stored in the memory,
Execute method of any one of them as above for monitoring vehicle running state.
According to the another further aspect of the disclosure, a kind of computer readable storage medium, the computer-readable storage medium are provided
Matter is stored with computer instruction, realizes any one of them as above for monitoring vehicle traveling when described instruction is executed by processor
The method of state.
The method, apparatus and vehicle for monitoring vehicle running state of the disclosure, obtain current running state information
And road spectrum information is generated, transport condition reference information corresponding with road spectrum information is compared with current running state information
It is right, determine whether the current running state of vehicle meets safety requirements based on comparison result and according to preset decision rule, and
It is handled accordingly；It is realized to the identification of traveling road spectrum using mobile unit, improves road spectrum discrimination precision and accuracy, needle
Different prompt settings is set to spectrum of not going the same way, is conducive to the dangerous transport condition that driver knows vehicle in advance, helps to carry
The comfortableness and security of high traveling；It is reminded by road spectrum information and transport condition, improves the normalization of driver's operation, can have
Effect reduces the fatigue damage of structural member；When being prompted, not only there are the visual alerts of indicator light and word, and can be certainly
The transport condition of dynamic adjustment vehicle.
Description of the drawings
In order to illustrate more clearly of the embodiment of the present disclosure or technical solution in the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only
Some embodiments of the present disclosure, for those of ordinary skill in the art, without having to pay creative labor, also
It can be obtain other attached drawings according to these attached drawings.
Fig. 1 is the flow diagram according to one embodiment of the method for monitoring vehicle running state of the disclosure；
Fig. 2 is to be illustrated according to the flow of another embodiment of the method for monitoring vehicle running state of the disclosure
Figure；
Fig. 3 be according to the disclosure module of one embodiment of the device for monitoring vehicle running state and and its
The connection diagram of its device；
Fig. 4 is to be illustrated according to the module of another embodiment of the device for monitoring vehicle running state of the disclosure
Figure.
Specific implementation mode
The disclosure is described more fully with reference to the accompanying drawings, wherein illustrating the exemplary embodiment of the disclosure.Under
Face will combine the attached drawing in the embodiment of the present disclosure, and the technical solution in the embodiment of the present disclosure is clearly and completely described, and show
So, described embodiment is only disclosure a part of the embodiment, instead of all the embodiments.Based on the reality in the disclosure
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts all belongs to
In the range of disclosure protection.
Fig. 1 is the flow diagram of one embodiment of the method for monitoring vehicle running state according to the disclosure,
As shown in Figure 1：
Step 101, the current running state information of vehicle is obtained.
Step 102, it is based on current running state information and generates road spectrum information.
Road spectrum refers to pavement of road spectrum, and abbreviation road spectrum refers to the power spectral density plot of road roughness.It shakes as automobile
The road roughness of dynamic input, mainly describes its statistical property, the time history of road roughness using displacement power spectral density
It can be regarded as stationary random process processing.It can be with the pavement image information and flatness information in front of collection vehicle, flatness
Information can be as the update information of image recognition.
Step 103, obtain corresponding with road spectrum information transport condition reference information, by transport condition reference information with work as
Preceding running condition information is compared.
Prestore a variety of transport condition reference informations corresponding with a variety of road spectrum informations, transport condition reference information packet
Include the max speed of traveling, the steering locking angle degree etc. of suspension rate and an axis tire.
Step 104, determine whether the current running state of vehicle is full based on comparison result and according to preset decision rule
Sufficient safety requirements, and handled accordingly.
By state collecting device timing acquiring current running state information, the state parameter in transport condition reference information
Include speed, suspension pressure, suspension rate, suspension travel, wheel steering angle, vehicle with the state parameter in current running state information
Body inclination angle etc..Attachment device of the suspension between vehicle frame and vehicle bridge or wheel, for buffer by uneven road surface pass to vehicle frame or
The impact force of vehicle body, body vibrations caused by decaying thus.
State collecting device may include multiple sensors, detection device etc..For example, being acquired in real time by vehicle speed sensor
Current vehicle speed value；Suspension pressure value is acquired by suspension pressure sensor；Suspension travel value is obtained by suspension travel sensor；
Suspension rate value is obtained by suspension rate detection device；The wheel steering angle in driving process is acquired by tire rotary angle transmitter
Value；Car body obliqueness value is obtained by car body obliqueness sensor.
In one embodiment, determine whether vehicle is in transport condition based on vehicle speed value, if it is, being based on current line
It sails status information and generates road spectrum information.Running condition information is acquired by state collecting device, such as vehicle speed sensor, suspension pressure
Sensor, suspension travel sensor, obliquity sensor and rotary angle transmitter etc., are acquired the running condition information of vehicle
And the information of acquisition is subjected to data processing and analysis, obtain the current road spectrum information of vehicle when driving.
Road spectrum information is generated based on current running state information, and a variety of methods may be used.For example, being based on suspension pressure value
It determines current car weight value, determines suspension pressure, the variance values of suspension travel and car body obliqueness in the unit interval, base
Road spectrum information is generated in vehicle speed value, car weight value, variance values.Can be obtained by preset algorithm respectively with suspension pressure, outstanding
The corresponding wavy curve of the variance values of frame stroke and car body obliqueness composes computation model and according to vehicle using preset road
The amplitude change rate of weight values, vehicle speed value and wavy curve generates power spectral density plot corresponding with pavement of road unevenness,
It determines longitudinal amplitude change rate of power spectral density plot, obtains road spectrum information.
Generate road spectrum information mode can there are many, for example, the corresponding waveform of the variance values of car body obliqueness is bent
The amplitude change rate of line can reflect the unevenness on present road road surface.Computation model is composed using preset road and according to car weight
Value, the amplitude of vehicle speed value and wavy curve corresponding with the variance values of suspension pressure, suspension travel and car body obliqueness
Change rate generates power spectral density plot, obtains longitudinal amplitude change rate of power spectral density plot, i.e., according to corresponding control
Algorithm is converted into wavy curve, and longitudinal amplitude change rate of curve is then obtained road spectrum information.Obtain the default of wavy curve
Algorithm can be existing many algorithms, and preset road spectrum computation model can be existing a variety of computation models, and road spectrum calculates
The algorithm that model uses may include fast fourier algorithm etc..
In one embodiment, transport condition reference information corresponding with road spectrum information and car weight value is obtained, and is obtained
Take the numerical definiteness range of the state parameter in this transport condition reference information.Judge the state ginseng in current running state information
Whether several numerical value is within the scope of numerical definiteness corresponding with this state parameter, if it is, determining the current driving shape of vehicle
State meets safety requirements；If it is not, then judging that the numerical value of the state parameter in current running state information is not joined with this state
Duration within the scope of the corresponding numerical definiteness of number whether be more than preset duration threshold value (duration threshold value can be arranged, for example, 10
Second, 15 seconds etc.), if it is, determining that the current running state of vehicle is unsatisfactory for safety requirements.
If it is determined that the current running state of vehicle is unsatisfactory for safety requirements, it is determined that be more than in current running state information
The state parameter of numerical definiteness range is adjusted the transport condition of vehicle based on this state parameter, and is generated based on this state parameter
Prompting message is reminded, and alerting pattern includes：Text information prompting, acousto-optic alerting pattern etc.；If it is determined that vehicle is current
Transport condition meets safety requirements, then shows current running state information in a display device.
Such as, if it is determined that current running state deviates a reference value of state parameter, then is carried out by man-machine interactive system
Sound-light alarm and word are reminded, and inform that driver need to adjust transport condition, and driver can be instructed to adjust the transport condition of vehicle,
Such as reduce speed, reduce wheel steering angle, adjustment suspension rate etc..Vision can be carried out by Vehicular display device to driver to carry
It wakes up, corresponding indicator light is alarmed into line flicker, and has text prompt, vehicle-mounted aobvious to prevent driver to be not easy to observation text prompt
Show that device is carried out at the same time voice broadcast prompting.If it is determined that the current running state of vehicle meets safety requirements, then in display device
Middle display current running state information etc..
By by the lower vehicle running state information (such as speed, suspension rate, wheel steering angle etc.) of current road spectrum in advance
If correspond to this road spectrum transport condition reference information be compared, if current transport condition value be unsatisfactory for or more than row
When sailing the state value in state reference information and maintaining certain time, display can carry out corresponding sound-light alarm and word carries
Wake up, instruct driver adjust vehicle transport condition (such as reduce speed, reduce wheel steering angle, adjustment suspension rate etc.) or
Control system limits the max speed and vehicle corner of vehicle automatically, and composes adjust automatically suspension rate according to road.
In one embodiment, can be under different vehicle body configuring conditions preset in advance, the corresponding transport condition of spectrum of not going the same way
Reference information (safety traffic state), while safe early warning state threshold is set, the alarm in advance as critical condition.For example,
When car weight is M0, road composes 1 corresponding transport condition reference information and is：Max. speed v0, suspension rate g0, an axis steering locking angle
Spend a0；Safe early warning state threshold is：Max. speed v1, suspension rate g1, an axis steering locking angle degree a1；Road spectrum 2 is corresponding
Transport condition reference information is：Max. speed v2, suspension rate g2, an axis steering locking angle degree a2；Safe early warning state threshold
For：Max. speed v3, suspension rate g3, an axis steering locking angle degree a3)；And so on, the corresponding safety traffic states of n are composed on road
For：Max. speed vx, suspension rate gx, an axis steering locking angle degree ax, alert status are：Max. speed vy, suspension rate gy,
One axis steering locking angle degree ay.There are different transport condition reference informations, safe early warning state threshold for different car weight values.When
When preceding running condition information is unsatisfactory for safe early warning state threshold, display carries out acousto-optic prompting.
The method for monitoring vehicle running state in above-described embodiment, can be with the unevenness of automatic identification track
(road spectrum) monitors the transport condition that do not go the same way under spectrum in real time, and the transport condition benchmark of current running state and default road spectrum
Value is compared, if current vehicle running state is unsatisfactory for or beyond one timing of transport condition a reference value under the spectrum of default road
Between when, Vehicular display device can carry out sound-light alarm and word and remind, instruct driver adjust vehicle transport condition or system from
Dynamic adjustment transport condition improves driving safety to ensure that vehicle is travelled with optimum state, reduces knot caused by dynamic stress
Component fatigue damages.
Fig. 2 is to be illustrated according to the flow of another embodiment of the method for monitoring vehicle running state of the disclosure
Figure, as shown in Figure 2：
Step 201, judge whether speed is more than 0, if so, 202 are entered step, if it is not, then terminating.
Step 202, current running state information is acquired.
Current vehicle speed can be acquired in real time by vehicle speed sensor；By the suspension pressure sensing for being installed on different direction
Device obtains the pressure of suspension group；Each group suspension travel is obtained by suspension travel sensor；It is obtained by suspension rate detection current
The suspension rate of vehicle；Vehicle body front-rear direction angle of inclination and left and right directions angle of inclination are acquired by car body obliqueness sensor；
The current steering angle of tire in driving process is acquired by rotary angle transmitter.
Step 203, traveling shape body information is handled, generates road spectrum information.
The each group suspension pressure of acquisition can be converted to current car weight and corresponding each axis axle load, to know vehicle
Current driving configuring condition.According to current car weight, speed and suspension pressure, suspension travel, car body obliqueness in the unit interval
Amplitude of variation analyzed, and current road spectrum information is generated by the analysis result in certain period of time, (the reaction of road spectrum information
Road roughness) it is positively correlated with speed, it is positively correlated with suspension pressure, suspension travel and car body obliqueness amplitude of variation, with
Car weight is negatively correlated.
Step 204, preset transport condition reference information corresponding with road spectrum information is obtained.
Step 205, transport condition reference information is compared with current running state information.
Step 206, judge whether current state is in safety traffic state, if so, 207 are entered step, if not,
Enter step 208.
Step 207, transport condition is shown.
Step 208, display sound-light alarm go forward side by side style of writing word remind.
Step 209, adjust automatically transport condition.
When detecting that vehicle is in transport condition, then automatic collection current running state information and is handled, passed through
Control algolithm converts the amplitude of variation of suspension pressure in the unit interval, suspension travel, car body obliqueness to wavy curve, according to working as
Preceding car weight, speed and wavy curve amplitude change rate derive that current driving road is composed.
The preset transport condition reference information being arranged in the case where this road is composed is transferred automatically according to current traveling road spectrum, and right
Current running state is compared with preset transport condition reference information, transport condition reference information include alert status value,
Drive safely state value.When a certain transport condition value reaches alert status value, display has early warning indicator light and pre- poster
Sound word is reminded, for reminding driver to pay attention to the driving behavior of oneself.If meeting or exceeding preset safety traffic state
When value, the alarm lamp of display can carry out high frequency flicker alarm and alarm voice word is reminded.
Alarm free, only display be currently if current transport condition is satisfied by preset road spectrum lower state, if display
Compose the transport condition of situation and vehicle in road.If after alarm and prompting, vehicle-state (is, for example, 10 in preset time threshold
Second, 15 seconds etc.) in do not change yet, then limit the max speed, maximum wheel corner and tune of vehicle automatically according to road spectrum information
Whole suspension rate, to meet the comfort of safety and the driving of vehicle traveling.
It can be directed to the different weight configuration of vehicle and spectrum of not going the same way, corresponding transport condition reference information is set, is travelled
State reference information includes：Drive safely state value and safety traffic early warning value.In the case where vehicle weight is certain, road is composed not
Safety traffic state value and early warning value same then being arranged are different；Under composing all the way, vehicle varies in weight, the safety traffic of setting
State value and early warning value are also different.For being unsatisfactory for the transport condition of early warning value or safety value, alarm and voice prompt are carried out, is referred to
It leads driver and adjusts current running state.When being unsatisfactory for normally travel state, the indicator light flicker alarm of Vehicular display device and text
Word prompts, and realizes the visual alerts to driver.
In one embodiment, as shown in figure 3, the disclosure provides a kind of device 30 for monitoring vehicle running state,
Including：Data obtaining module 31, road spectrum generation module 32, state comparing module 33 and decision process module 34.
Data obtaining module 31 obtains the current running state information of vehicle.It composes generation module 32 and is based on current driving shape in road
State information generates road spectrum information.State comparing module 33 obtains transport condition reference information corresponding with road spectrum information, will go
State reference information is sailed to be compared with current running state information.Decision process module 34 is based on comparison result and according to default
Decision rule determine whether the current running state of vehicle meets safety requirements, and handled accordingly.
Data obtaining module 31 passes through state collecting device timing acquiring current running state information, transport condition benchmark letter
The state parameter in state parameter and current running state information in breath includes speed, suspension pressure, suspension rate, suspension row
The parameters such as journey, wheel steering angle, car body obliqueness.Data obtaining module 31 acquires current vehicle speed value in real time by vehicle speed sensor 361；
Data obtaining module 31 acquires suspension pressure value by suspension pressure sensor 362；Data obtaining module 31 passes through suspension travel
Sensor 363 obtains suspension travel value；Data obtaining module 31 obtains suspension rate value by suspension rate detection device 364；
Data obtaining module 31 acquires the wheel steering angle value in driving process by tire rotary angle transmitter 366；Data obtaining module 31
Car body obliqueness value is obtained by car body obliqueness sensor 365.
In one embodiment, road spectrum generation module 32 determines whether vehicle is in transport condition based on vehicle speed value, if
It is then to be based on current running state information and generate road spectrum information.It composes generation module 32 and is determined currently based on suspension pressure value in road
Car weight value determines suspension pressure, the variance values of suspension travel and car body obliqueness in the unit interval, based on vehicle speed value,
Car weight value, variance values generate road spectrum information.
Road compose generation module 32 can by preset algorithm obtain respectively with suspension pressure, suspension travel and car body obliqueness
The corresponding wavy curve of variance values.Generation module 32 is composed using preset road spectrum computation model and according to car weight in road
The amplitude change rate of value, vehicle speed value and wavy curve generates power spectral density plot corresponding with pavement of road unevenness, really
Determine longitudinal amplitude change rate of power spectral density plot, obtains road spectrum information.
Decision process module 34 obtains transport condition reference information corresponding with road spectrum information and car weight value, and obtains
The numerical definiteness range of state parameter in this transport condition reference information.Decision process module 34 judges that current running state is believed
Whether the numerical value of the state parameter in breath is within the scope of numerical definiteness corresponding with this state parameter, if it is, decision process
Module 34 determines that the current running state of vehicle meets safety requirements；If it is not, then decision process module 34 judges current driving
Whether duration of the numerical value of the state parameter in status information not within the scope of numerical definiteness corresponding with this state parameter is more than
Preset duration threshold value, if it is, decision process module 34 determines that the current running state of vehicle is unsatisfactory for safety requirements.
Decision process module 34 is if it is determined that the current running state of vehicle is unsatisfactory for safety requirements, it is determined that current driving
It is more than the state parameter of numerical definiteness range in status information, the transport condition of vehicle is adjusted based on this state parameter, and is based on
This state parameter generates prompting message and is reminded, and alerting pattern includes：Text information prompting, acousto-optic alerting pattern etc..If
Determine that the current running state of vehicle meets safety requirements, then decision process module 34 shows current driving shape in a display device
State information.Status display and adjustment unit 35 carry out text information prompting, acousto-optic is reminded, and can be with the traveling of adjust automatically vehicle
State, such as speed, corner, suspension rate etc..
In one embodiment, the disclosure provides a kind of vehicle, including is used to monitor vehicle in any embodiment as above
The device of transport condition.Vehicle includes wheeled crane etc..Wheeled crane is rotated using the swing arm of rubber-tyred chassis walking
Crane.
Fig. 4 is to be illustrated according to the module of another embodiment of the device for monitoring vehicle running state of the disclosure
Figure.As shown in figure 4, the device may include memory 41, processor 42, communication interface 43 and bus 44.Memory 41 is used for
Store instruction, processor 42 are coupled to memory 41, and it is real that processor 42 is configured as the instruction execution stored based on memory 41
The existing above-mentioned method for monitoring vehicle running state.
Memory 41 can be high-speed RAM memory, nonvolatile memory (NoN-volatile memory) etc., deposit
Reservoir 41 can also be memory array.Memory 41 is also possible to by piecemeal, and block can be combined into virtually by certain rule
Volume.Processor 42 can be central processor CPU or application-specific integrated circuit ASIC (Application Specific
Integrated Circuit), or be arranged to implement the one of the method for monitoring vehicle running state of the disclosure
A or multiple integrated circuits.
In one embodiment, the disclosure also provides a kind of computer readable storage medium, wherein computer-readable storage
Media storage has a computer instruction, instruction realize that any embodiment as above is related to when being executed by processor for monitoring vehicle row
The method for sailing state.It should be understood by those skilled in the art that, embodiment of the disclosure can be provided as method, apparatus or calculate
Machine program product.Therefore, the disclosure can be used complete hardware embodiment, complete software embodiment or combine software and hardware side
The form of the embodiment in face.Moreover, it wherein includes computer usable program code that the disclosure, which can be used in one or more,
Computer can be implemented on non-transient storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Computer program product form.
The disclosure is reference according to the method for the embodiment of the present disclosure, the flow chart of equipment (system) and computer program product
And/or block diagram describes.It should be understood that each flow in flowchart and/or the block diagram can be realized by computer program instructions
And/or the combination of the flow and/or box in box and flowchart and/or the block diagram.These computer programs can be provided to refer to
Enable the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to generate
One machine so that by the instruction that computer or the processor of other programmable data processing devices execute generate for realizing
The device for the function of being specified in one flow of flow chart or multiple flows and/or one box of block diagram or multiple boxes.
So far, the disclosure is described in detail.In order to avoid covering the design of the disclosure, it is public that this field institute is not described
Some details known.Those skilled in the art as described above, can be appreciated how to implement technology disclosed herein completely
Scheme.
The method, apparatus and vehicle for monitoring vehicle running state that above-described embodiment provides, obtain current driving
Status information simultaneously generates road spectrum information, will transport condition reference information corresponding with road spectrum information and current running state information
It is compared, determines whether the current running state of vehicle meets safety and want based on comparison result and according to preset decision rule
It asks, and is handled accordingly；The identification to traveling road spectrum is realized using mobile unit, improves road spectrum discrimination precision and accurate
Degree is arranged different prompts for spectrum of not going the same way and is arranged, is conducive to the dangerous transport condition that driver knows vehicle in advance, helps
In the comfortableness and security for improving traveling；It is reminded by road spectrum information and transport condition, improves the normalization of driver's operation,
The fatigue damage of structural member can be effectively reduced；When being prompted, not only there are the visual alerts of indicator light and word, also have
The audible prompts of voice increase the identification of prompting, and can be with the transport condition of adjust automatically vehicle.
Disclosed method and system may be achieved in many ways.For example, can by software, hardware, firmware or
Software, hardware, firmware any combinations realize disclosed method and system.The said sequence of the step of for method is only
In order to illustrate, the step of disclosed method, is not limited to sequence described in detail above, especially says unless otherwise
It is bright.In addition, in some embodiments, also the disclosure can be embodied as to record program in the recording medium, these programs include
For realizing according to the machine readable instructions of disclosed method.Thus, the disclosure also covers storage for executing according to this public affairs
The recording medium of the program for the method opened.
The description of the disclosure provides for the sake of example and description, and is not exhaustively or by the disclosure
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches
It states embodiment and is to more preferably illustrate the principle and practical application of the disclosure, and those skilled in the art is enable to manage
Solve various embodiments with various modifications of the disclosure to design suitable for special-purpose.
Claims (20)
1. a kind of method for monitoring vehicle running state, including：
Obtain the current running state information of vehicle；
Road spectrum information is generated based on the current running state information；
Transport condition reference information corresponding with the road spectrum information is obtained, the transport condition reference information is worked as with described
Preceding running condition information is compared；
Determine whether the current running state of vehicle meets safety requirements based on comparison result and according to preset decision rule, and
It is handled accordingly.
2. the method for claim 1, wherein the current running state information for obtaining vehicle includes：
Pass through current running state information described in state collecting device timing acquiring；
Wherein, the state parameter packet in the state parameter and the current running state information in the transport condition reference information
Include at least one of speed, suspension pressure, suspension rate, suspension travel, wheel steering angle, car body obliqueness parameter.
3. method as claimed in claim 2, wherein described to generate road spectrum information packet based on the current running state information
It includes：
Current car weight value is determined based on suspension pressure value；
Determine suspension pressure, the variance values of suspension travel and car body obliqueness in the unit interval；
The road spectrum information is generated based on the vehicle speed value, the car weight value, the variance values.
4. method as claimed in claim 3, wherein described based on the vehicle speed value, the car weight value, the variance values
Generating the road spectrum information includes：
It is obtained by preset algorithm corresponding with the suspension pressure, suspension travel and the variance values of car body obliqueness respectively
Wavy curve；
Computation model is composed using preset road and is changed according to the amplitude of the car weight value, the vehicle speed value and the wavy curve
Rate generates power spectral density plot corresponding with pavement of road unevenness, determines longitudinal amplitude of the power spectral density plot
Change rate obtains the road spectrum information.
5. method as claimed in claim 2, wherein described to acquire the current running state information by state collecting device
Including：
Acquire current vehicle speed value in real time by vehicle speed sensor；Suspension pressure value is acquired by suspension pressure sensor；By outstanding
Frame stroke sensor obtains suspension travel value；Suspension rate value is obtained by suspension rate detection device；It is passed by tire corner
Sensor acquires the wheel steering angle value in driving process；Car body obliqueness value is obtained by car body obliqueness sensor.
6. method as claimed in claim 2, wherein described to determine vehicle based on comparison result and according to preset decision rule
Current running state whether meet safety requirements, and carry out corresponding processing and include：
Transport condition reference information corresponding with the road spectrum information and car weight value is obtained, and obtains this transport condition benchmark
The numerical definiteness range of state parameter in information；
Judge the numerical value of the state parameter in the current running state information whether in the number corresponding with this state parameter
Value limits in range；
If it is, determining that the current running state of vehicle meets safety requirements；
If it is not, then judging the numerical value of the state parameter in the current running state information not corresponding with this state parameter
Whether the duration within the scope of the numerical definiteness is more than preset duration threshold value, if it is, determining the current driving shape of vehicle
State is unsatisfactory for safety requirements.
7. method as claimed in claim 6, wherein processing includes accordingly for the progress：
If it is determined that the current running state of vehicle is unsatisfactory for safety requirements, it is determined that be more than in the current running state information
The state parameter of the numerical definiteness range is adjusted the transport condition of vehicle based on this state parameter, and is based on this state parameter
It generates prompting message to be reminded, wherein alerting pattern includes：Text information prompting, acousto-optic alerting pattern；
If it is determined that the current running state of vehicle meets safety requirements, then the current running state is shown in a display device
Information.
8. method as claimed in claim 2, wherein further include：
Determine whether vehicle is in transport condition based on vehicle speed value, if it is, being generated based on the current running state information
Road spectrum information.
9. a kind of device for monitoring vehicle running state, including：
Data obtaining module, the current running state information for obtaining vehicle；
Generation module is composed on road, for generating road spectrum information based on the current running state information；
State comparing module, for obtaining transport condition reference information corresponding with the road spectrum information, by the traveling shape
State reference information is compared with the current running state information；
Decision process module, for determining that the current running state of vehicle is based on comparison result and according to preset decision rule
It is no to meet safety requirements, and handled accordingly.
10. device as claimed in claim 9, wherein
Described information acquisition module, for passing through current running state information described in state collecting device timing acquiring；
Wherein, the state parameter packet in the state parameter and the current running state information in the transport condition reference information
Include at least one of speed, suspension pressure, suspension rate, suspension travel, wheel steering angle, car body obliqueness parameter.
11. device as claimed in claim 10, wherein
Generation module is composed on the road, for determining current car weight value based on suspension pressure value；Determine the suspension in the unit interval
The variance values of pressure, suspension travel and car body obliqueness；Based on the vehicle speed value, the car weight value, the amplitude of variation
Value generates the road spectrum information.
12. device as claimed in claim 11, wherein
Generation module is composed on the road, for by preset algorithm acquisition respectively with the suspension pressure, suspension travel and vehicle body
The corresponding wavy curve of variance values at inclination angle；Computation model is composed using preset road and according to the car weight value, described
The amplitude change rate of vehicle speed value and the wavy curve generates power spectral density plot corresponding with pavement of road unevenness, really
Longitudinal amplitude change rate of the fixed power spectral density plot, obtains the road spectrum information.
13. device as claimed in claim 10, wherein
Described information acquisition module acquires current vehicle speed value in real time for passing through vehicle speed sensor；Pass through suspension pressure sensor
Acquire suspension pressure value；Suspension travel value is obtained by suspension travel sensor；Suspension is obtained by suspension rate detection device
Rigidity value；The wheel steering angle value in driving process is acquired by tire rotary angle transmitter；Vehicle is obtained by car body obliqueness sensor
Body inclination value.
14. device as claimed in claim 10, wherein
The state comparing module, for obtaining transport condition benchmark letter corresponding with the road spectrum information and car weight value
Breath, and obtain the numerical definiteness range of the state parameter in this transport condition reference information；
The decision process module, for judge the state parameter in the current running state information numerical value whether with this
Within the scope of the corresponding numerical definiteness of state parameter；If it is, determining that the current running state of vehicle meets safety requirements；
If it is not, then judging the numerical value of the state parameter in the current running state information not corresponding with this state parameter described
Whether the duration within the scope of numerical definiteness is more than preset duration threshold value, if it is, determining the current running state of vehicle not
Meet safety requirements.
15. device as claimed in claim 14, wherein
The decision process module, for if it is determined that the current running state of vehicle is unsatisfactory for safety requirements, it is determined that described
It is more than the state parameter of the numerical definiteness range in current running state information, the traveling of vehicle is adjusted based on this state parameter
State, and prompting message is generated based on this state parameter and is reminded, wherein alerting pattern includes：Text information prompting, acousto-optic
Alerting pattern；If it is determined that the current running state of vehicle meets safety requirements, then the current line is shown in a display device
Sail status information.
16. device as claimed in claim 10, wherein
Generation module is composed on the road, for determining whether vehicle is in transport condition based on vehicle speed value, if it is, based on described
Current running state information generates road spectrum information.
17. a kind of vehicle, wherein including：
As claim 8 to 16 any one of them is used to monitor the device of vehicle running state.
18. vehicle as claimed in claim 17, wherein
The vehicle includes：Wheeled crane.
19. a kind of device for monitoring vehicle running state, wherein including：
Memory；And it is coupled to the processor of the memory, the processor is configured as being based on being stored in the storage
Instruction in device executes such as the method described in any item of the claim 1 to 8 for monitoring vehicle running state.
20. a kind of computer readable storage medium, wherein the computer-readable recording medium storage has computer instruction, institute
It states and is realized when instruction is executed by processor such as the side described in any item of the claim 1 to 8 for monitoring vehicle running state
Method.
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