CN108844758A - A kind of four-wheel aligner deviation alarm method and system - Google Patents
A kind of four-wheel aligner deviation alarm method and system Download PDFInfo
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- CN108844758A CN108844758A CN201810556199.4A CN201810556199A CN108844758A CN 108844758 A CN108844758 A CN 108844758A CN 201810556199 A CN201810556199 A CN 201810556199A CN 108844758 A CN108844758 A CN 108844758A
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- yaw velocity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/013—Wheels
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of four-wheel aligner deviation alarm methods and system, method to include：First yaw velocity mean value of the vehicle in default mileage is obtained from Inertial Measurement Unit；Second yaw velocity mean value of the vehicle in default mileage is calculated according to steering wheel angle and speed；Judge whether four-wheel aligner has deviation according to the first yaw velocity mean value of acquisition and the second yaw velocity mean value calculated, and carries out alarm prompt when four-wheel aligner has deviation.The present invention determines whether four-wheel aligner has deviation by the relative size of the first yaw velocity mean value for obtaining from Inertial Measurement Unit and second yaw velocity mean value the two values calculated according to steering wheel angle and speed, to help user to find that four-wheel positions extremely and reminds user maintenance in advance, it can prevent four-wheel aligner deviation bring tire additional wear, steering wheel is avoided simultaneously and does not just bring uncomfortable experience to user, much sooner and effectively.It the composite can be widely applied to intelligent driving field.
Description
Technical field
The present invention relates to intelligent driving field, especially a kind of four-wheel aligner deviation alarm method and system.
Background technique
With the development of society, automobile has become the essential vehicles of people, so automobile is kept normally to transport
Make, it is particularly important to the personal safety for ensureing user.
Four-wheel aligner refers to using the four-wheel parameter of vehicle as foundation, by adjusting to ensure the good driving performance of vehicle simultaneously
Has certain reliability.Vehicle can be worn or be deformed using mechanical structure over time, and four-wheel aligner is caused to be likely to occur partially
Difference, one of performance is in steering wheel return but what vehicle walked is not straight line, equally can also aggravate tire wear in this way.This mistake
Journey is slow (unless living through collision), and when deviation is less big, driver is difficult to find that four-wheel aligner is abnormal, cannot be effective
Prevent four-wheel aligner deviation bring tire additional wear.
Summary of the invention
In order to solve the above technical problems, it is an object of the invention to：A kind of timely and effective four-wheel aligner deviation is provided
Alarm method and system.
First technical solution adopted by the present invention is：
A kind of four-wheel aligner deviation alarm method, includes the following steps：
First yaw velocity mean value of the vehicle in default mileage is obtained from Inertial Measurement Unit；
Second yaw velocity mean value of the vehicle in default mileage is calculated according to steering wheel angle and speed；
Judge that four-wheel aligner is with the second yaw velocity mean value calculated according to the first yaw velocity mean value of acquisition
It is no to have deviation, and alarm prompt is carried out when four-wheel aligner has deviation.
Further, it is described from Inertial Measurement Unit obtain first yaw velocity mean value of the vehicle in default mileage this
Step specifically includes：
The first yaw velocity of vehicle is obtained from Inertial Measurement Unit；
Judge whether vehicle is keeping straight on according to the first yaw velocity of speed and vehicle, if so, perform the next step suddenly,
Conversely, the step for then returning to the first yaw velocity for obtaining vehicle from Inertial Measurement Unit；
First yaw angle speed of the vehicle in default mileage is obtained according to the first yaw velocity of default mileage and vehicle
Spend mean value.
Further, first yaw velocity according to speed and vehicle judges whether vehicle is keeping straight on, if so, holding
Row next step, conversely, the step for then returning to the first yaw velocity for obtaining vehicle from Inertial Measurement Unit, specific to wrap
It includes：
Zero bias are carried out to the first yaw velocity of acquisition to handle, and obtain zero bias treated the first yaw angle speed
Degree；
According to speed and zero bias are gone treated that the first yaw velocity judges whether to meet preset condition, if so, sentencing
Determine vehicle keeping straight on, perform the next step at this time rapid；Otherwise determines that vehicle is not being kept straight on, return obtained from Inertial Measurement Unit at this time
The step for first yaw velocity of vehicle, wherein preset condition is：Go zero bias treated that the first yaw velocity is less than
It presets yaw velocity threshold value and speed is greater than preset vehicle speed threshold value.
Further, described equal according to the second yaw velocity of steering wheel angle and speed calculating vehicle in default mileage
The step for value, specifically includes：
Front wheel angle is calculated according to steering wheel angle and steering wheel angle front wheel angle coefficient；
The second yaw velocity of vehicle is calculated according to front wheel angle and with speed；
Second yaw angle speed of the vehicle in default mileage is obtained according to the second yaw velocity of default mileage and vehicle
Spend mean value.
Further, the calculation formula of the front wheel angle is：αF=θ k, wherein αFFor front wheel angle, θ turns for steering wheel
Angle, k are steering wheel angle front wheel angle coefficient；Second yaw velocity calculation formula of the vehicle is：Wherein, ws2For the second yaw velocity of vehicle, vRFor speed, bRFor rear track.
Further, the first yaw velocity mean value according to acquisition and the second yaw velocity mean value calculated judge
Whether four-wheel aligner has deviation, and specifically includes the step for progress alarm prompt when four-wheel aligner has deviation：
Calculate the absolute value of the difference of the first yaw velocity mean value obtained and the second yaw velocity mean value of calculating；
Judge whether the absolute value of the difference calculated is greater than preset threshold value, if so, determining that four-wheel aligner has deviation, at this time
Alarm prompt is carried out, reminds user's four-wheel aligner that there may be deviation, needs to overhaul；Conversely, then determine four-wheel aligner zero deflection, not into
Row alarm prompt.
Second technical solution adopted by the present invention is：
A kind of four-wheel aligner deviation warning system, including：
Module is obtained, for obtaining first yaw velocity mean value of the vehicle in default mileage from Inertial Measurement Unit；
Computing module, for calculating second yaw velocity of the vehicle in default mileage according to steering wheel angle and speed
Mean value；
Deviation judgement and alarm module, for according to the first yaw velocity mean value of acquisition and the second yaw angle of calculating
Speed mean value judges whether four-wheel aligner has deviation, and alarm prompt is carried out when four-wheel aligner has deviation.
Further, the acquisition module includes：
First yaw velocity acquiring unit, for obtaining the first yaw velocity of vehicle from Inertial Measurement Unit；
Straight trip judging unit, for judging whether vehicle is keeping straight on according to the first yaw velocity of speed and vehicle, if
It is then to go to the first yaw velocity mean value acquiring unit, conversely, then returning to the first yaw velocity acquiring unit；
First yaw velocity mean value acquiring unit, for being obtained according to the first yaw velocity for presetting mileage and vehicle
First yaw velocity mean value of the vehicle in default mileage.
Further, the computing module includes：
Front wheel angle computing unit, for rotation before being calculated according to steering wheel angle and steering wheel angle front wheel angle coefficient
Angle；
Second yaw velocity computing unit, for calculating the second yaw angle speed of vehicle according to front wheel angle and with speed
Degree；
Second yaw angle speed of the vehicle in default mileage is obtained according to the second yaw velocity of default mileage and vehicle
Spend mean value.
Third technical solution adopted by the present invention is：
A kind of four-wheel aligner deviation warning system, including：
Memory, for storing program；
Processor, for loading described program to execute the four-wheel aligner deviation alarm side as described in the first technical solution
Method.
The beneficial effects of the invention are as follows：A kind of four-wheel aligner deviation alarm method of the present invention and system, by being surveyed from inertia
Measure the first yaw velocity mean value that unit obtains and the second yaw velocity mean value calculated according to steering wheel angle and speed
The relative size of the two values determines whether four-wheel aligner has deviation, so that user be helped to find four-wheel positioning extremely simultaneously in advance
User maintenance is reminded, four-wheel aligner deviation bring tire additional wear can be prevented, while avoiding steering wheel not just to user
Uncomfortable experience is brought, much sooner and effectively.
Detailed description of the invention
Fig. 1 is a kind of step flow chart of four-wheel aligner deviation alarm method of the present invention；
Fig. 2 is the preferred embodiment realization principle figure that four-wheel aligner deviation of the present invention alerts scheme.
Specific embodiment
Referring to Fig.1, a kind of four-wheel aligner deviation alarm method of the present invention, includes the following steps：
First yaw velocity mean value of the vehicle in default mileage is obtained from Inertial Measurement Unit；
Second yaw velocity mean value of the vehicle in default mileage is calculated according to steering wheel angle and speed；
Judge that four-wheel aligner is with the second yaw velocity mean value calculated according to the first yaw velocity mean value of acquisition
It is no to have deviation, and alarm prompt is carried out when four-wheel aligner has deviation.
The operation principle of the present invention is that：Inertial Measurement Unit IMU obtain practical yaw velocity mean value with according to direction
The difference of both theoretical yaw velocity mean values that disk corner and speed calculate, under normal circumstances without departing from preset threshold value；
The difference of the two shows that four-wheel aligner has deviation beyond preset threshold value, needs to overhaul.The present invention can be aware of direction in user
Disk, which has, reminds user maintenance before deviation, avoids steering wheel and does not just bring uncomfortable experience to user, while can prevent four-wheel
Deviations bring tire additional wear.
For ease of calculation with reduce turning etc. influence of the non-straight market condition to yaw velocity, preset mileage preferred vehicle
The mileage of straight trip.The acousto-optics alerting pattern such as voice, flashing light, buzzer can be used in alarm prompt mode, very flexibly.
It is further used as preferred embodiment, it is described to obtain first of vehicle in default mileage from Inertial Measurement Unit
It the step for yaw velocity mean value, specifically includes：
The first yaw velocity of vehicle is obtained from Inertial Measurement Unit；
Judge whether vehicle is keeping straight on according to the first yaw velocity of speed and vehicle, if so, perform the next step suddenly,
Conversely, the step for then returning to the first yaw velocity for obtaining vehicle from Inertial Measurement Unit；
First yaw angle speed of the vehicle in default mileage is obtained according to the first yaw velocity of default mileage and vehicle
Spend mean value.
Wherein, after getting the first yaw velocity of vehicle, the first yaw angle of the vehicle to different moments can be passed through
The mode that speed is averaged obtains first yaw velocity mean value of the vehicle in default mileage.
It is further used as preferred embodiment, first yaw velocity according to speed and vehicle judges that vehicle is
It is no to keep straight on, if so, performing the next step suddenly, conversely, then returning to the first yaw angle speed for obtaining vehicle from Inertial Measurement Unit
The step for spending specifically includes：
Zero bias are carried out to the first yaw velocity of acquisition to handle, and obtain zero bias treated the first yaw angle speed
Degree；
According to speed and zero bias are gone treated that the first yaw velocity judges whether to meet preset condition, if so, sentencing
Determine vehicle keeping straight on, perform the next step at this time rapid；Otherwise determines that vehicle is not being kept straight on, return obtained from Inertial Measurement Unit at this time
The step for first yaw velocity of vehicle, wherein preset condition is：Go zero bias treated that the first yaw velocity is less than
It presets yaw velocity threshold value and speed is greater than preset vehicle speed threshold value.
It is further used as preferred embodiment, it is described that vehicle is calculated in default mileage according to steering wheel angle and speed
The second yaw velocity mean value the step for, specifically include：
Front wheel angle is calculated according to steering wheel angle and steering wheel angle front wheel angle coefficient；
The second yaw velocity of vehicle is calculated according to front wheel angle and with speed；
Second yaw angle speed of the vehicle in default mileage is obtained according to the second yaw velocity of default mileage and vehicle
Spend mean value.
Wherein, after the second yaw velocity for calculating vehicle, the second yaw angle of the vehicle to different moments can be passed through
The mode that speed is averaged obtains second yaw velocity mean value of the vehicle in default mileage.
It is further used as preferred embodiment, the calculation formula of the front wheel angle is：αF=θ k, wherein αFIt is preceding
Corner is taken turns, θ is steering wheel angle, and k is steering wheel angle front wheel angle coefficient；Second yaw velocity of the vehicle calculates public
Formula is：Wherein, ws2For the second yaw velocity of vehicle, vRFor speed, bRFor rear track.
It is further used as preferred embodiment, the first yaw velocity mean value according to acquisition and the second of calculating
Yaw velocity mean value judges whether four-wheel aligner has deviation, and this step of alarm prompt is carried out when four-wheel aligner has deviation
Suddenly, it specifically includes：
Calculate the absolute value of the difference of the first yaw velocity mean value obtained and the second yaw velocity mean value of calculating；
Judge whether the absolute value of the difference calculated is greater than preset threshold value, if so, determining that four-wheel aligner has deviation, at this time
Alarm prompt is carried out, reminds user's four-wheel aligner that there may be deviation, needs to overhaul；Conversely, then determine four-wheel aligner zero deflection, not into
Row alarm prompt.
It is corresponding with the method for Fig. 1, a kind of four-wheel aligner deviation warning system of the present invention, including：
Module is obtained, for obtaining first yaw velocity mean value of the vehicle in default mileage from Inertial Measurement Unit；
Computing module, for calculating second yaw velocity of the vehicle in default mileage according to steering wheel angle and speed
Mean value；
Deviation judgement and alarm module, for according to the first yaw velocity mean value of acquisition and the second yaw angle of calculating
Speed mean value judges whether four-wheel aligner has deviation, and alarm prompt is carried out when four-wheel aligner has deviation.
It is further used as preferred embodiment, the acquisition module includes：
First yaw velocity acquiring unit, for obtaining the first yaw velocity of vehicle from Inertial Measurement Unit；
Straight trip judging unit, for judging whether vehicle is keeping straight on according to the first yaw velocity of speed and vehicle, if
It is then to go to the first yaw velocity mean value acquiring unit, conversely, then returning to the first yaw velocity acquiring unit；
First yaw velocity mean value acquiring unit, for being obtained according to the first yaw velocity for presetting mileage and vehicle
First yaw velocity mean value of the vehicle in default mileage.
It is further used as preferred embodiment, the computing module includes：
Front wheel angle computing unit, for rotation before being calculated according to steering wheel angle and steering wheel angle front wheel angle coefficient
Angle；
Second yaw velocity computing unit, for calculating the second yaw angle speed of vehicle according to front wheel angle and with speed
Degree；
Second yaw angle speed of the vehicle in default mileage is obtained according to the second yaw velocity of default mileage and vehicle
Spend mean value.
It is corresponding with the method for Fig. 1, a kind of four-wheel aligner deviation warning system of the present invention, including：
Memory, for storing program；
Processor executes four-wheel aligner deviation alarm method as described in the present invention for loading described program.
The present invention is further explained and is illustrated with specific embodiment with reference to the accompanying drawings of the specification.
As shown in Fig. 2, the present embodiment four-wheel aligner deviation alarm scheme specifically includes following steps：
S11, the first yaw velocity w is obtained from IMUs1；
S12, to the first yaw velocity ws1Zero bias are carried out to handle；
S13, when meeting preset condition speed vR>Preset vehicle speed threshold value and ws1<When default yaw velocity threshold value, show vehicle
It is keeping straight on, is executing step S14 and S15 at this time；
S14, pass through steering wheel angle θ and steering wheel angle front wheel angle coefficient k, calculating front wheel angle αF=θ k；
S15, pass through front wheel angle αFWith speed vRCalculate the second yaw velocityWherein bRIt is rear
Take turns wheelspan；
S16, record meet the accumulative mileage of preset condition in S13, continuous updating ws1And ws2Mean value wavg1And wavg2, when
Mileage reaches default fare register, calculates their absolute value of the difference D=| wavg1-wavg2|；
If the D in S17, step S16 is more than preset threshold value σ, reminds user's four-wheel aligner that there may be deviation, need to examine
It repairs.
In conclusion a kind of four-wheel aligner deviation alarm method of the present invention and system, first calculate in default mileage by direction
The difference of disk corner and the counted second yaw rate mean value of speed and the first yaw velocity mean value of IMU measurement,
Alarm prompt is carried out at this time if it exceeds the threshold, illustrating four-wheel aligner deviation with preset threshold value comparison again, reminds user four
Wheel positioning may have deviation, need to overhaul.The solution of the present invention can be aware of before steering wheel has deviation in user, remind user
Maintenance avoids steering wheel and does not just bring uncomfortable experience to user, while can prevent four-wheel aligner deviation bring tire volume
Outer abrasion.The solution of the present invention has broad application prospects in Vehicular intelligent control loop etc..
It is to be illustrated to preferable implementation of the invention, but the present invention is not limited to the embodiment above, it is ripe
Various equivalent deformation or replacement can also be made on the premise of without prejudice to spirit of the invention by knowing those skilled in the art, this
Equivalent deformation or replacement are all included in the scope defined by the claims of the present application a bit.
Claims (10)
1. a kind of four-wheel aligner deviation alarm method, it is characterised in that：Include the following steps：
First yaw velocity mean value of the vehicle in default mileage is obtained from Inertial Measurement Unit；
Second yaw velocity mean value of the vehicle in default mileage is calculated according to steering wheel angle and speed；
Judge whether four-wheel aligner has with the second yaw velocity mean value calculated according to the first yaw velocity mean value of acquisition
Deviation, and alarm prompt is carried out when four-wheel aligner has deviation.
2. a kind of four-wheel aligner deviation alarm method according to claim 1, it is characterised in that：It is described from inertia measurement list
Member obtains the step for the first yaw velocity mean value of the vehicle in default mileage, specifically includes：
The first yaw velocity of vehicle is obtained from Inertial Measurement Unit；
Judge whether vehicle is keeping straight on according to the first yaw velocity of speed and vehicle, if so, performing the next step suddenly, instead
It, then return from Inertial Measurement Unit obtain vehicle the first yaw velocity the step for；
It is equal that first yaw velocity of the vehicle in default mileage is obtained according to the first yaw velocity of default mileage and vehicle
Value.
3. a kind of four-wheel aligner deviation alarm method according to claim 2, it is characterised in that：It is described according to speed and vehicle
The first yaw velocity judge whether vehicle is keeping straight on, if so, performing the next step rapid, surveyed conversely, then returning from inertia
The step for unit obtains the first yaw velocity of vehicle is measured, is specifically included：
Zero bias are carried out to the first yaw velocity of acquisition to handle, and obtain zero bias treated the first yaw velocity；
According to speed and zero bias are gone treated that the first yaw velocity judges whether to meet preset condition, if so, determining vehicle
It is keeping straight on, is performing the next step at this time rapid；Otherwise determines that vehicle is not being kept straight on, returned at this time from Inertial Measurement Unit and obtain vehicle
The first yaw velocity the step for, wherein preset condition is：Go zero bias treated the first yaw velocity to be less than default
Yaw velocity threshold value and speed are greater than preset vehicle speed threshold value.
4. a kind of four-wheel aligner deviation alarm method according to claim 1, it is characterised in that：It is described to be turned according to steering wheel
Angle and speed calculate the step for the second yaw velocity mean value of the vehicle in default mileage, specifically include：
Front wheel angle is calculated according to steering wheel angle and steering wheel angle front wheel angle coefficient；
The second yaw velocity of vehicle is calculated according to front wheel angle and with speed；
It is equal that second yaw velocity of the vehicle in default mileage is obtained according to the second yaw velocity of default mileage and vehicle
Value.
5. a kind of four-wheel aligner deviation alarm method according to claim 4, it is characterised in that：The meter of the front wheel angle
Calculating formula is：αF=θ k, wherein αFFor front wheel angle, θ is steering wheel angle, and k is steering wheel angle front wheel angle coefficient；Institute
The the second yaw velocity calculation formula for stating vehicle is：Wherein, ws2For the second yaw angle speed of vehicle
Degree, vRFor speed, bRFor rear track.
6. a kind of four-wheel aligner deviation alarm method according to claim 1, it is characterised in that：It is described according to the of acquisition
One yaw velocity mean value and the second yaw velocity mean value calculated judge whether four-wheel aligner has deviation, and in four-wheel aligner
The step for carrying out alarm prompt when having deviation, specifically includes：
Calculate the absolute value of the difference of the first yaw velocity mean value obtained and the second yaw velocity mean value of calculating；
Judge whether the absolute value of the difference calculated is greater than preset threshold value, if so, determining that four-wheel aligner has deviation, carries out at this time
Alarm prompt reminds user's four-wheel aligner that may have deviation, needs to overhaul；Conversely, four-wheel aligner zero deflection is then determined, without accusing
Alert prompt.
7. a kind of four-wheel aligner deviation warning system, it is characterised in that：Including：
Module is obtained, for obtaining first yaw velocity mean value of the vehicle in default mileage from Inertial Measurement Unit；
Computing module, it is equal for calculating second yaw velocity of the vehicle in default mileage according to steering wheel angle and speed
Value；
Deviation judgement and alarm module, for according to the first yaw velocity mean value of acquisition and the second yaw velocity of calculating
Mean value judges whether four-wheel aligner has deviation, and alarm prompt is carried out when four-wheel aligner has deviation.
8. a kind of four-wheel aligner deviation warning system according to claim 7, it is characterised in that：The acquisition module packet
It includes：
First yaw velocity acquiring unit, for obtaining the first yaw velocity of vehicle from Inertial Measurement Unit；
Straight trip judging unit, for judging whether vehicle is keeping straight on according to the first yaw velocity of speed and vehicle, if so,
The first yaw velocity mean value acquiring unit is gone to, conversely, then returning to the first yaw velocity acquiring unit；
First yaw velocity mean value acquiring unit, for obtaining vehicle according to the first yaw velocity for presetting mileage and vehicle
The first yaw velocity mean value in default mileage.
9. a kind of four-wheel aligner deviation warning system according to claim 7, it is characterised in that：The computing module packet
It includes：
Front wheel angle computing unit, for calculating front wheel angle according to steering wheel angle and steering wheel angle front wheel angle coefficient；
Second yaw velocity computing unit, for calculating the second yaw velocity of vehicle according to front wheel angle and with speed；
It is equal that second yaw velocity of the vehicle in default mileage is obtained according to the second yaw velocity of default mileage and vehicle
Value.
10. a kind of four-wheel aligner deviation warning system, it is characterised in that：Including：
Memory, for storing program；
Processor executes four-wheel aligner deviation as claimed in any one of claims 1 to 6 alarm side for loading described program
Method.
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| CN110873575A (en) * | 2020-01-17 | 2020-03-10 | 立得空间信息技术股份有限公司 | Mileage measurement method based on inertial sensor |
| CN110873575B (en) * | 2020-01-17 | 2020-06-23 | 立得空间信息技术股份有限公司 | Mileage measurement method based on inertial sensor |
| CN113291314A (en) * | 2020-02-21 | 2021-08-24 | 湖北亿咖通科技有限公司 | Method and system for calculating vehicle course information |
| CN114619949A (en) * | 2020-12-09 | 2022-06-14 | 博泰车联网科技(上海)股份有限公司 | Expressway lane change prompting method and device, vehicle, electronic equipment and medium |
| CN114619949B (en) * | 2020-12-09 | 2023-11-03 | 博泰车联网科技(上海)股份有限公司 | Highway lane change prompting method and device, vehicle, electronic equipment and medium |
| CN113291294A (en) * | 2021-07-27 | 2021-08-24 | 国汽智控(北京)科技有限公司 | Vehicle lateral control method and device and vehicle |
| CN113291294B (en) * | 2021-07-27 | 2021-10-08 | 国汽智控(北京)科技有限公司 | Vehicle lateral control method and device and vehicle |
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