CN108860152A - One kind being based on the modified road roughness identification system of damped coefficient and method - Google Patents
One kind being based on the modified road roughness identification system of damped coefficient and method Download PDFInfo
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- CN108860152A CN108860152A CN201810642373.7A CN201810642373A CN108860152A CN 108860152 A CN108860152 A CN 108860152A CN 201810642373 A CN201810642373 A CN 201810642373A CN 108860152 A CN108860152 A CN 108860152A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/22—Suspension systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- Engineering & Computer Science (AREA)
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- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention discloses one of vehicle safe driving field and is based on the modified road roughness identification system of damped coefficient and method, and acceleration transducer is mounted on sample car, is Gq in road roughness Coefficient Mean0(n0)=16 × 10‑6m3Road surface on carry out actual road test, calculate different damping coefficient CjUnder ADV value and mean valueFittingData obtain curvilinear equation and update equation, then calculate other road roughness Coefficient Mean Gq (n0) under mean value correction valueAnd according toWith mean value Gq (n0) make the road roughness coefficient range mapping table of the vehicle；In vehicle actual travel, practical ADV value is modified to obtain correction value according to update equation, current road irregularity coefficient location is obtained according to correction value and road roughness coefficient range mapping table, the present invention has the advantages that index variation not dampened influences, especially suitable for the road roughness coefficient estimate on the frequent semi-active suspension vehicle of damped coefficient change.
Description
Technical field
It is specifically a kind of for recognizing the identification system of road roughness the present invention relates to vehicle safe driving field.
Background technique
Pavement behavior is to influence the immediate cause of vehicle driving ride comfort, and existing vehicle driving ride comfort is using master
Dynamic, semi-active suspension control strategy reduces the influence of pavement behavior, to improve adaptability of the vehicle under different operating conditions.Road
Face unevenness is foundation important in many control strategies, how to obtain the road roughness coefficient under current working, Cheng Liao
The key link in each control strategy.
In traditional road roughness identification system, there is the pavement detection method based on laser emitter, is based on camera shooting
The detection method etc. of system, job costs are high, and processing information content is larger；Stroke, spring charge material are moved based on tyre dynamic load lotus, suspension
The pavement detection method of acceleration information is measured, though easily realize closed-loop control, it is quicker to suspension rate, damped coefficient change
Sense.A kind of road roughness identification system is proposed in the document that Chinese patent notification number is CN104309435A, the system packet
The acceleration sensing system for including acquisition unsprung mass acceleration, carries out signal at the vehicle speed information acquisition system for acquiring vehicle speed information
Pretreated signal and processing module and the road roughness computing system for carrying out road roughness calculating, this method first have to
Actual road test is carried out to sample car on two kinds of different brackets roads, demarcates the vehicle unsprung mass vertical acceleration mean-square value and vehicle
The linear relationship for being between the quotient and road roughness coefficient of speed；Each unsprung mass acceleration and speed are acquired when vehicle driving
Information is calculated, calculated result and the vehicle sample car calibration result are compared, and obtains road roughness coefficient with this, this is
Operation of uniting is convenient, portable good, but more frequent in vehicle damped coefficient change, when variation range is larger, can not obtain compared with
For accurate road roughness coefficient.
Summary of the invention
It is modified not by the change of vehicle damped coefficient based on damped coefficient that in view of the deficiencies of the prior art, the present invention provides one kind
Change the road roughness identification system influenced and its discrimination method.
It is of the invention a kind of be based on the modified road roughness identification system of damped coefficient the technical solution adopted is that：Including adopting
Collect the acceleration transducer of unsprung mass acceleration, the acceleration transducer sends unsprung mass acceleration information to
ADV value computing module；The ADV value calculates the vehicle speed information in acquisition CAN bus, calculates the equal of unsprung mass acceleration
Root value divided by speed ADV value and be sent to ADV value correction module；The ADV value correction module utilizes current damping system
Several pairs of ADV values are modified and are sent to road roughness coefficient discrimination module；The road roughness coefficient discrimination module
Determine the range where current road irregularity coefficient.
The technical side that a kind of discrimination method based on the modified road roughness identification system of damped coefficient uses
Case is with following steps：
Step 1：Acceleration transducer is mounted on sample car, sample car damped coefficient is set gradually as Cj, road surface not
Pingdu Coefficient Mean is Gq0(n0)=16 × 10-6m3Road surface on carry out actual road test, acquire each unsprung mass acceleration aji
(n) and speed vj(n), j is positive integer, j ∈ [1,30], i=1,2,3,4；N is n-th of sampling instant；
Step 2：ADV value computing module calculates different damping coefficient CjADV value and ADV value when down-sampling in a length of L
Mean value
Step 3：The fitting of ADV value correction moduleData obtain curvilinear equation E, and are repaired to E is inverted
Positive formula E-1, further according to mean valueWith correction formula E-1Obtain update equation；
Step 4：ADV value correction module calculates other road roughness Coefficient Mean Gq (n0) under mean value correction valueAnd according to mean value correction valueWith other road surfaces road roughness Coefficient Mean Gq (n0) make the vehicle
Road roughness coefficient range mapping table；
Step 5：In vehicle actual travel, ADV value correction module is modified practical ADV value according to update equation
To correction value, road roughness coefficient discrimination module obtains current road according to correction value and road roughness coefficient range mapping table
Face irregularity coefficient location.
When the vehicle is running, each unsprung mass acceleration and vehicle speed information are acquired using this system, calculates ADV value, and press
ADV value is modified according to the damped coefficient correction formula obtained offline, finally according to off-line calibration when the road ADV Zhi Yu that obtains
Face irregularity coefficient scope map table obtains the current road roughness coefficient range of vehicle.This system compares other similar road surfaces
Unevenness identification technique has the advantages that index variation not dampened influences, especially suitable for frequent in damped coefficient change
Road roughness coefficient estimate on semi-active suspension vehicle.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram based on the modified road roughness identification system of damped coefficient of the present invention；
Fig. 2 is the work flow diagram of system shown in Figure 1.
Specific embodiment
As shown in Figure 1, present system includes power module, acceleration transducer, ADV value computing module, the amendment of ADV value
Module, road roughness coefficient discrimination module and CAN bus module.ADV in ADV value computing module and ADV value correction module
Value is an introducing for estimating the parameter of road roughness, is the root-mean-square value of vehicle unsprung mass acceleration divided by speed
Obtained value.
Acceleration transducer sends ADV value for unsprung mass acceleration information for acquiring unsprung mass acceleration
Computing module.
ADV value computing module receives acceleration transducer signals, and acquires the speed v information in CAN bus, according to calculating
Formula calculates ADV value, then ADV value is sent to ADV value correction module.
ADV value correction module receives the ADV value that ADV value computing module is sent, and connects from the existing damping system of vehicle
Number regulating devices in read current damped coefficient (damped coefficient regulating device with reference to Authorization Notice No. be CN203172385U,
A kind of device in entitled " automotive suspension damped coefficient regulating device "), using reading current damped coefficient to ADV value into
Row amendment, then ADV correction value is sent to road roughness coefficient discrimination module.
Road roughness coefficient discrimination module receives ADV correction value, determines the model where current road irregularity coefficient
It encloses, and is sent in CAN bus.
Power module is for providing electric energy.
As shown in Fig. 2, carrying out off-line calibration first when present system works, ADV is obtained by off-line calibration link and is repaired
Positive equation, ADV mean value correction value and road roughness coefficient range mapping table, then in vehicle driving link, ADV value corrects mould
Root tuber is modified according to current damped coefficient ADV value of the ADV update equation to reading, road roughness coefficient discrimination module root
The model where current road irregularity coefficient is differentiated according to the ADV mean value correction value and the road roughness coefficient range mapping table
It encloses.Specific step is as follows：
Off-line calibration link：
Step 1：The acceleration transducer for being used to acquire unsprung mass acceleration is mounted on sample car, sample car is damped into system
Number sets gradually as Cj, j is positive integer, and j ∈ [1,30] is Gq in road roughness Coefficient Mean0(n0)=16 × 10-6m3's
Actual road test, n are carried out on road surface0For reference frequency, n0=0.1m-1.When carrying out actual road test, with sample frequency f (f=
1000Hz) acquire each unsprung mass acceleration aji(n), a length of L when sampling, and speed v is obtained from CAN busj(n) believe
Breath.ajiIt (n) be damped coefficient is CjWhen i-th of spring under at position n-th of sampling instant unsprung mass acceleration, i=1,2,
3,4；N is positive integer, vjIt (n) be damped coefficient is CjWhen n-th of sampling instant vehicle speed information.By matter under each spring of acquisition
Measure acceleration aji(n) and obtain speed vj(n) information is sent in ADV value computing module.
Step 2：ADV value computing module is according to formulaOff-line calculation is different
Damped coefficient CjADV value when down-sampling in a length of L.ADV value computing module calculates different damping coefficient C further according to ADV valuej
The mean value of all ADV values in down-sampling duration LIn formula, K is the total number of the unsprung mass acceleration information of acquisition；
F is sample frequency, f=1000Hz；T is time slip-window length, t=3s；N is the total number of sampling instant.
ADV value computing module is by the mean value of all ADV valuesIt is sent to ADV value correction module.
Step 3：ADV value correction module is according to the mean values of all ADV valuesIt is fitted using MATLAB softwareData obtain curvilinear equation E, and obtain correction formula E to E is inverted-1。
ADV value correction module is further according to mean valueWith correction formula E-1Become after amendment is calculated with damped coefficient
Dissolve the ADV mean value correction value of couplingUpdate equation is as follows：
Wherein,C is set as damped coefficient in step 11, i.e. mean value that when j=1 is calculated
Step 4：ADV value correction module is according to ADV mean value correction valueWith road roughness Coefficient Mean Gq0
(n0)=16 × 10-6m3Other road roughness Coefficient Mean Gq (n is calculated0) under mean value correction value
ADV value correction module is according to mean value correction valueWith road roughness Coefficient Mean Gq (n0) make the vehicle
Road roughness coefficient range mapping table such as the following table 1 of type, and the road roughness coefficient range mapping table is sent to road surface
Irregularity coefficient discrimination module.
Table 1
Vehicle driving link：
Step 1：In vehicle actual travel, acquired under each spring with sample frequency f (f=1000Hz) by acceleration transducer
Mass acceleration ai(n) (i=1,2,3,4；N is positive integer), and speed v (n) information is obtained from CAN bus.ai(n) it is i-th
The unsprung mass acceleration of n-th of sampling instant under spring at position, v (n) are the speed of n-th of sampling instant.Acceleration passes
Sensor is by the unsprung mass acceleration a of acquisitioni(n) it is sent in ADV value computing module with speed v (n) information.
Step 2：ADV value computing module is according to formulaCalculate practical ADV value, formula
In, K is the total number of the unsprung mass acceleration of acquisition；F is sample frequency, f=1000Hz；T is time slip-window length, t
=3s；N is sampling instant total number.ADV value computing module sends ADV value in ADV value correction module.
Step 3：ADV value correction module reads current vehicle damped coefficient from damped coefficient regulating device, utilizes reality
ADV value, the update equation obtained according to off-line calibration linkPractical ADV value is repaired
Just obtaining correction value ADVmod, eliminate influence of the damped coefficient to this road roughness identification system.And by correction value ADVmodHair
Give road roughness coefficient discrimination module.
Step 4：Road roughness coefficient discrimination module is according to the correction value ADV of acquisitionmodWith 1 road roughness coefficient of table
In scope map tableValue carry out size comparison, determine correction value ADVmodPositioned range, further according toWith road roughness Coefficient Mean Gq (n0) range mapping relations obtain model where current road irregularity coefficient
It encloses, and is sent in CAN bus.
Claims (6)
1. one kind is based on the modified road roughness identification system of damped coefficient, the acceleration including acquiring unsprung mass acceleration
Sensor, it is characterized in that：
Unsprung mass acceleration information is sent ADV value computing module by the acceleration transducer；
The ADV value calculates the vehicle speed information in acquisition CAN bus, calculate the root-mean-square value of unsprung mass acceleration divided by
The ADV value of speed is simultaneously sent to ADV value correction module；
The ADV value correction module is modified ADV value using current damped coefficient and is sent to road roughness coefficient
Discrimination module；
The road roughness coefficient discrimination module determines the range where current road irregularity coefficient.
2. a kind of discrimination method of road roughness identification system described in claim 1, it is characterized in that having following steps：
Step 1：Acceleration transducer is mounted on sample car, sample car damped coefficient is set gradually as Cj, in road roughness system
Number mean value is Gq0(n0)=16 × 10-6m3Road surface on carry out actual road test, acquire each unsprung mass acceleration aji(n) and
Speed vj(n), j is positive integer, j ∈ [1,30], i=1,2,3,4；N is n-th of sampling instant；
Step 2：ADV value computing module calculates different damping coefficient CjThe mean value of ADV value and ADV value when down-sampling in a length of L
Step 3：The fitting of ADV value correction moduleData obtain curvilinear equation E, and obtain amendment public affairs to E is inverted
Formula E-1, further according to mean valueWith correction formula E-1Obtain update equation；
Step 4：ADV value correction module calculates other road roughness Coefficient Mean Gq (n0) under mean value correction valueAnd according to mean value correction valueWith other road surfaces road roughness Coefficient Mean Gq (n0) make the vehicle
Road roughness coefficient range mapping table；
Step 5：In vehicle actual travel, ADV value correction module is modified practical ADV value according to update equation and is repaired
Positive value, road roughness coefficient discrimination module obtain current road not according to correction value and road roughness coefficient range mapping table
Pingdu coefficient location.
3. discrimination method according to claim 2, it is characterized in that：In step 2, ADV value computing module is according to formulaCalculate different damping coefficient CjADV value when down-sampling in a length of L
With the mean value of ADV valueK is the total number of the unsprung mass acceleration information of acquisition；F is sample frequency；T is sliding
Time window length；N is the total number of sampling instant.
4. discrimination method according to claim 3, it is characterized in that：In step 3, update equation is： C is set as damped coefficient1When the mean value that is calculated
5. discrimination method according to claim 4, it is characterized in that：In step 4, ADV value correction module is according to formulaOther road roughness Coefficient Mean Gq (n is calculated0) under mean value correction value
6. discrimination method according to claim 5, it is characterized in that：In step 5, road roughness coefficient discrimination module will work as
Preceding road roughness coefficient location is sent in CAN bus.
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| CN201810642373.7A CN108860152B (en) | 2018-06-21 | 2018-06-21 | Road surface unevenness identification system and method based on damping coefficient correction |
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| CN201810642373.7A CN108860152B (en) | 2018-06-21 | 2018-06-21 | Road surface unevenness identification system and method based on damping coefficient correction |
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Effective date of registration: 20210728 Address after: No. 159, Chengjiang Middle Road, Jiangyin City, Wuxi City, Jiangsu Province Patentee after: Jiangyin Intellectual Property Operation Co., Ltd Address before: Zhenjiang City, Jiangsu Province, 212013 Jingkou District Road No. 301 Patentee before: JIANGSU University |