CN109334356A - A kind of tire pressure detection method, device and vehicle - Google Patents
A kind of tire pressure detection method, device and vehicle Download PDFInfo
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- CN109334356A CN109334356A CN201811481673.8A CN201811481673A CN109334356A CN 109334356 A CN109334356 A CN 109334356A CN 201811481673 A CN201811481673 A CN 201811481673A CN 109334356 A CN109334356 A CN 109334356A
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- tire pressure
- vehicle
- angle value
- wheel
- difference
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/02—Signalling devices actuated by tyre pressure
- B60C23/04—Signalling devices actuated by tyre pressure mounted on the wheel or tyre
- B60C23/0408—Signalling devices actuated by tyre pressure mounted on the wheel or tyre transmitting the signals by non-mechanical means from the wheel or tyre to a vehicle body mounted receiver
- B60C23/0422—Signalling devices actuated by tyre pressure mounted on the wheel or tyre transmitting the signals by non-mechanical means from the wheel or tyre to a vehicle body mounted receiver characterised by the type of signal transmission means
- B60C23/0433—Radio signals
Abstract
The embodiment of the invention discloses a kind of tire pressure detection method, device and vehicle, when vehicle on the reference plane when, it is possible, firstly, to obtain the actual angle value under the gyroscope three-dimensional system of coordinate collected on the vehicle；Then, tire pressure testing result can be obtained by being compared to the actual angle value and the reference planes are corresponding under the three-dimensional system of coordinate with reference to angle value.In this way, it no longer needs to as the corresponding installation tire pressure monitoring sensor of each tire, also the current tire pressure state of 4 tires of vehicle can be detected by adding the tire pressure detecting device including gyroscope on vehicle, so as to provide tire pressure testing result to patrol officer, tire of vehicle is safeguarded so that the patrol officer of vehicle is dependent on this, to improve the security performance of vehicle.
Description
Technical field
The present invention relates to technical field of vehicle, more particularly to a kind of tire pressure detection method, device and vehicle.
Background technique
With the continuous improvement of demand in terms of vehicle safety performance, weight of the tire pressure of vehicle tyre as vehicle safety performance
Considerations are wanted, tire pressure detection, which becomes, ensures the essential ring of vehicle safety.
Currently, generally carrying out the tire pressure detection of vehicle using tire pressure monitoring sensor, it specifically can be 4 wheels in vehicle
4 tire pressure monitoring sensors are installed, each tire pressure monitoring sensor directly measures the air pressure of corresponding tire, and will measurement on tire
To tire pressure numerical value be sent to the entire car controller (Vehicle Control Unit, referred to as: VCU) of vehicle, at this point, VCU can
With control by the collected tire pressure data real-time display of the tire pressure monitoring sensor to user, also, VCU can also judge it is each
Whether the tire pressure of tire normal, if there is abnormal (such as tire pressure is too low) phenomenon, can also to triggering vehicle automatic alarm, with
The tire pressure of user's tire is warned to occur abnormal.
It can monitor the situation of tire pressure, accurately really by tire pressure monitoring sensor so that user can be tire in time
Insufficient tire supplement air pressure is pressed, so that the safety coefficient of vehicle is improved, still, since tire pressure monitoring sensor is with high costs,
And one tire pressure monitoring sensor of corresponding installation on each tire is needed, therefore, so that using the tire pressure monitoring sensor pair
Tire pressure is monitored complex and higher cost.
Summary of the invention
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of tire pressure detection method, device and vehicle, with
So that even if being not the corresponding installation tire pressure monitoring sensor of each tire, it also can be by adding tire pressure detecting device on vehicle
Detect the current tire pressure state of 4 tires of vehicle, so as to provide current tire pressure testing result to patrol officer, so as to
The patrol officer of vehicle is dependent on this and safeguards to the tire of vehicle, to improve the security performance of vehicle.
In a first aspect, providing a kind of tire pressure detection method, comprising:
When vehicle on the reference plane when, obtain the reality under the gyroscope three-dimensional system of coordinate collected on the vehicle
Angle value；
By referring to angle value to the actual angle value and the reference planes are corresponding under the three-dimensional system of coordinate
It is compared, obtains tire pressure testing result.
Optionally, described by corresponding under the three-dimensional system of coordinate to the actual angle value and the reference planes
It is compared with reference to angle value, obtains tire pressure testing result, comprising:
Calculate the actual angle value and the corresponding difference angle value with reference between angle value；
By whether within a preset range to judge the difference angle value, tire pressure testing result is obtained；
Wherein, if the difference angle value is in the preset range, the tire pressure testing result is indicating tire pressure just
Often, if the difference angle value is more than the preset range, the tire pressure testing result indicates abnormal tyre pressure.
Optionally, described by corresponding under the three-dimensional system of coordinate to the actual angle value and the reference planes
It is compared with reference to angle value, obtains tire pressure testing result, comprising:
If the difference angle value is more than the preset range, the four of the vehicle are calculated according to the actual angle value
The corresponding height value of a tire；
Abnormal tyre pressure is set by the corresponding tire tag of height value the smallest in the height value；
The tire pressure testing result is generated based on the tire tag.
Optionally, the reference planes are horizontal plane.
Optionally, described by corresponding under the three-dimensional system of coordinate to the actual angle value and the reference planes
It is compared with reference to angle value, obtains tire pressure testing result, specifically include:
By referring to angle value to the actual angle value and the reference planes are corresponding under the three-dimensional system of coordinate
It is compared, obtains original tire pressure testing result；
Tire pressure state is determined based on wheel speed；
The original tire pressure testing result is modified using the tire pressure state, obtains the tire pressure testing result.
It is optionally, described that tire pressure state is determined based on wheel speed, comprising:
In the vehicle travel process, the corresponding actual speed of a wheel of four tires on the vehicle is obtained；
Actual speed of a wheel difference between four tires is obtained by comparing the corresponding actual speed of a wheel of four tires, and
The tire pressure state of the vehicle is determined according to the actual speed of a wheel difference；
Wherein, if the actual speed of a wheel difference is less than default discrepancy threshold, the tire pressure state is indicating tire pressure just
Often, if the actual speed of a wheel difference is more than the default discrepancy threshold, the tire pressure state indicates abnormal tyre pressure.
Optionally, the actual speed of a wheel difference is the actual speed of a wheel difference under straight line traveling.
Optionally, described to obtain actual speed of a wheel between four tires by comparing the corresponding wheel speed of four tires
Difference, comprising:
Obtain the corresponding steering angle of four tires of the vehicle；
The curve wheel speed that steering angle described in the accessed driving process is non-zero-degree part is removed, the vehicle is obtained
In the corresponding straight trip wheel speed in straight-line travelling part；
By comparing the corresponding straight trip wheel speed of four tires, straight trip difference in wheel is different between acquisition four tires,
It is denoted as actual speed of a wheel difference.
Optionally, described to obtain actual speed of a wheel between four tires by comparing the corresponding wheel speed of four tires
Difference, comprising:
Obtain the corresponding steering angle of four tires of the vehicle；
According to preset wheel speed steering angle corresponding with the conversion relation of steering angle and four tires, calculate described
Steering angle described in driving process is effective straight trip wheel speed of non-zero-degree part；
According to the vehicle in the corresponding straight trip wheel speed in straight-line travelling part and effective straight trip wheel speed, the vehicle is obtained
Effective wheel speed corresponding in the process of moving；
By comparing the corresponding effective wheel speed of four tires, effective wheel speed difference between four tires is obtained,
It is denoted as actual speed of a wheel difference.
Optionally, this method further include:
The tire pressure testing result is sent to monitoring service platform.
Optionally, if the tire pressure testing result indicates abnormal tyre pressure, the method also includes:
Abnormal tyre pressure prompt information is sent to the monitoring service plane, includes described in the abnormal tyre pressure prompt information
The mark and location information of vehicle, to trigger the monitoring service platform for the marking of cars as down state.
Optionally, the abnormal tyre pressure prompt information is also used to trigger the monitoring service platform and generates patrol task, and
The patrol task is remotely handed down to patrol officer, so that the patrol officer is according to the vehicle in the patrol task
Mark and location information to the vehicle carry out inspection.
Second aspect additionally provides a kind of tire pressure detecting device, comprising:
Obtain module, for when vehicle on the reference plane when, obtain the gyroscope three-dimensional collected on the vehicle
Actual angle value under coordinate system；
Comparison module, for by corresponding under the three-dimensional system of coordinate to the actual angle value and the reference planes
Reference angle value be compared, obtain tire pressure testing result.
Optionally, the comparison module, specifically includes:
First computational submodule, for calculating the actual angle value and the corresponding difference with reference between angle value
Angle value；
First detection sub-module, for obtaining tire pressure inspection by whether within a preset range to judge the difference angle value
Survey result；
If the difference angle value, in the preset range, the tire pressure testing result indicates that tire pressure is normal, such as
Difference angle value described in fruit is more than the preset range, then the tire pressure testing result indicates abnormal tyre pressure.
Optionally, the comparison module, specifically includes:
Second computational submodule, if being more than the preset range for the difference angle value, according to the actual corners
Angle value calculates the corresponding height value of four tires of the vehicle；
Submodule is marked, it is different for setting tire pressure for the corresponding tire tag of height value the smallest in the height value
Often；
Submodule is generated, for generating the tire pressure testing result based on the tire tag.
Optionally, the reference planes are horizontal plane.
Optionally, the comparison module, specifically includes:
First acquisition submodule, for by the actual angle value and the reference planes in the three-dimensional system of coordinate
Under it is corresponding be compared with reference to angle value, obtain original tire pressure testing result；
Submodule is determined, for determining tire pressure state based on wheel speed；
Second acquisition submodule is obtained for being modified using the tire pressure state to the original tire pressure testing result
Obtain the tire pressure testing result.
Optionally, the determining submodule, comprising:
First acquisition unit, for it is corresponding to obtain four tires on the vehicle in the electric vehicle driving process
Actual speed of a wheel；
First judging unit, for by comparing the corresponding actual speed of a wheel of four tires obtain four tires it
Between actual speed of a wheel difference, and the tire pressure state of the vehicle according to the actual speed of a wheel diversity judgement；
Wherein, if the actual speed of a wheel difference is less than default discrepancy threshold, the tire pressure state is indicating tire pressure just
Often, if the actual speed of a wheel difference is more than the default discrepancy threshold, the tire pressure state indicates abnormal tyre pressure.
Optionally, the actual speed of a wheel difference is the actual speed of a wheel difference under straight line traveling.
Optionally, first judging unit, comprising:
First obtains subelement, for obtaining the corresponding steering angle of four tires of the vehicle；
Subelement is removed, for removing the curve that steering angle described in the accessed driving process is non-zero-degree part
Wheel speed obtains the vehicle in the corresponding straight trip wheel speed in straight-line travelling part；
First comparing subunit, for obtaining four wheels by comparing the corresponding straight trip wheel speed of four tires
Difference in wheel of keeping straight between tire is different, is denoted as actual speed of a wheel difference.
Optionally, first judging unit, comprising:
Second obtains subelement, for obtaining the corresponding steering angle of four tires of the vehicle；
First computation subunit, for corresponding with the conversion relation of steering angle and four tires according to preset wheel speed
Steering angle, calculate steering angle described in the driving process be non-zero-degree part effective straight trip wheel speed；
Third obtains subelement, for according to the vehicle in the corresponding straight trip wheel speed in straight-line travelling part and described effective
Straight trip wheel speed, obtains the vehicle effective wheel speed corresponding in the process of moving；
Second comparing subunit, for obtaining four wheels by comparing the corresponding effective wheel speed of four tires
Effective wheel speed difference, is denoted as actual speed of a wheel difference between tire.
Optionally, the device further include:
First sending module, for the tire pressure testing result to be sent to monitoring service platform.
Optionally, if the tire pressure testing result indicates abnormal tyre pressure, described device further include:
Second sending module, for sending abnormal tyre pressure prompt information, the abnormal tyre pressure to the monitoring service plane
Include the mark and location information of the vehicle in prompt information, is to trigger the monitoring service platform for the marking of cars
Down state.
Optionally, the abnormal tyre pressure prompt information is also used to trigger the monitoring service platform and generates patrol task, and
The patrol task is remotely handed down to patrol officer, so that the patrol officer is according to the vehicle in the patrol task
Mark and location information to the vehicle carry out inspection.
The third aspect additionally provides a kind of vehicle, including tire pressure detecting device and gyroscope；
The gyroscope, for when vehicle on the reference plane when, acquire the corresponding reality of the vehicle under three-dimensional system of coordinate
Border angle value, and it is sent to the tire pressure detecting device；
The tire pressure detecting device, for executing the institute that first aspect provides according to the actual angle value received
Method is stated, completes to detect the tire pressure of the vehicle.
In embodiments of the present invention, when vehicle on the reference plane when, it is possible, firstly, to obtain the gyroscope on the vehicle
Actual angle value under three-dimensional system of coordinate collected；It then, can be by the actual angle value and the reference planes
It is corresponding under the three-dimensional system of coordinate to be compared with reference to angle value, obtain tire pressure testing result.In this way, it is each for no longer needing to
The corresponding installation tire pressure monitoring sensor of tire can also be detected by adding the tire pressure detecting device including gyroscope on vehicle
The current tire pressure state of 4 tires of vehicle out, so as to provide tire pressure testing result to patrol officer, so as to patrolling for vehicle
Inspection personnel are dependent on this and safeguard to the tire of vehicle, to improve the security performance of vehicle.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations recorded in the present invention
Example, for those of ordinary skill in the art, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow diagram of tire pressure detection method provided in an embodiment of the present invention；
Fig. 2 is a kind of flow diagram of implementation of step 102 in embodiment shown in FIG. 1；
Fig. 3 is the flow diagram of another implementation of step 102 in embodiment shown in FIG. 1；
Fig. 4 is the flow diagram of another tire pressure detection method provided in an embodiment of the present invention；
Fig. 5 is a kind of flow diagram of implementation of step 402 in embodiment shown in Fig. 4；
Fig. 6 is the flow diagram of another implementation of step 402 in embodiment shown in Fig. 4；
Fig. 7 is a kind of structural schematic diagram of tire pressure detecting device provided in an embodiment of the present invention；
Fig. 8 is a kind of structural schematic diagram of vehicle provided in an embodiment of the present invention.
Specific embodiment
In order to improve the safety coefficient of vehicle, it is also to have to be protected that the tire pressure of vehicle tyre is normally basic.
User can realize the detection to tire pressure, still, tire pressure monitoring passes to install tire pressure monitoring sensor on each tire of vehicle
Sensor needs are installed on each tire, cumbersome, moreover, tire pressure monitoring sensor higher cost, to improve
The cost of tire pressure detection.
Based on this, the embodiment of the invention provides a kind of tire pressure detection methods, without installing tire pressure for each tire is corresponding
Sensor is monitored, but by adding the tire pressure detecting device including gyroscope on vehicle, which can be in vehicle parking
In reference platform, it is corresponding with reference planes to compare the current actual angle value of vehicle that under three-dimensional system of coordinate gyroscope acquires
Reference angle value, detect the current tire pressure state of vehicle tyre, that is, tire pressure testing result, so as to give monitor supervision platform
Current tire pressure testing result is provided, so that the inspection of vehicle and maintenance personnel are dependent on this and safeguard to the tire of vehicle,
Further increase the safe operation of vehicle.
As an actual application scenarios, shared vehicle can use tire pressure detection method provided in an embodiment of the present invention
Carry out tire pressure detection, on the one hand, no longer need to that a large amount of tire pressure monitoring sensor is installed for a large amount of vehicle, saved tire pressure detection
Cost；On the other hand, shared vehicle generally requires the charging platform in unified charging station (charging platform is usually that standard is flat
Face) on charge, the plane of the charging platform can be used as reference planes, make to implement tire pressure inspection provided in an embodiment of the present invention
Checking method is possibly realized, and simultaneously, for the application scenarios, tire pressure detection is carried out in Vehicular charging, not only facilitates fortune
Monitoring of the battalion personnel to the vehicle performance, and patrol officer is facilitated to carry out inspection and maintenance.
It should be noted that the application scenarios of above-mentioned shared vehicle, are only tire pressure detection sides provided in an embodiment of the present invention
One applicable Sample Scenario of method, the embodiment of the present invention are not limited to this scene.
With reference to the accompanying drawing, by embodiment come tire pressure detection method a kind of in the present invention will be described in detail embodiment, device
With the specific implementation of vehicle.
It is a kind of flow diagram of tire pressure detection method provided in an embodiment of the present invention referring to Fig. 1.This method specifically may be used
To include:
Step 101, when vehicle on the reference plane when, obtain the gyroscope three-dimensional system of coordinate collected on the vehicle
Under actual angle value.
It is understood that reference planes can be any known plane, in a kind of situation, which be can be
Horizontal plane, such as: the plane where the charging platform of the charging station of shared vehicle is a horizontal plane, can be regarded as referring to
Plane；In another case, the reference planes are also possible to non-level arbitrary plane, as long as facilitating the plane of vehicle parking,
It can be used as reference planes.As a reference plane, the reference angle value under three-dimensional system of coordinate is the known ginseng being obtained ahead of time
Number.
Gyroscope is installed on vehicle, situations such as detecting the tilt angle of vehicle, such as can be six axis gyros
Instrument.In a kind of situation, which can be directly mounted on vehicle is connected with tire pressure detecting device, then, tire pressure detection dress
Set can get gyroscope actual angle value under collected three-dimensional system of coordinate；In another case, the gyroscope can
To be integrated in the tire pressure detecting device being installed on vehicle, then, tire pressure detecting device can pass through internal data interaction
Mode get gyroscope actual angle value under collected three-dimensional system of coordinate.
It should be noted that three-dimensional system of coordinate refers to by the X-axis in horizontal direction, Y vertical with X-axis in horizontal direction
The coordinate system for the fixation that Z axis on axis and vertical direction collectively forms.And the actual angle value under three-dimensional system of coordinate, specifically
Including the actual angle value in X-direction, the actual angle value in the actual angle value and Z-direction in Y direction.It can manage
It solves, in the actual angle value on above three direction, each actual angle value is for a fixed pan
Actual angle value in this direction.
It is understood that the actual angle value, what can be integrated embodies the tilt condition of the vehicle, is referred to as this
The inclination angle of vehicle.
Step 102, by the actual angle value and the reference planes under the three-dimensional system of coordinate corresponding ginseng
It examines angle value to be compared, obtains tire pressure testing result.
Compared it is understood that tire pressure testing result can be according to actual angle value and the corresponding angle value that refers to
What the comparison result relatively obtained generated, for characterizing the current tire pressure situation of vehicle.In a kind of situation, which can
With only include for indicate tire pressure whether Yi Chang whole result；In another case, the tire pressure testing result can also be with
Only include for indicate each tire pressure whether Yi Chang detailed results；In the case of another, which may be used also
To include above-mentioned detailed results and whole result.
In some possible implementations, when tire pressure testing result is only included for indicating whether tire pressure is abnormal
When whole result, then, as shown in Fig. 2, step 102 can specifically include:
Step 201, the actual angle value and the corresponding difference angle value with reference between angle value are calculated.
When specific implementation, it can be calculated on the change in coordinate axis direction respectively for each reference axis under three-dimensional system of coordinate
The difference angle value of actual angle value and reference angle value.Difference angle value, for indicating that vehicle is every under three-dimensional system of coordinate
On a change in coordinate axis direction, deviate the corresponding degree with reference to angle value, the difference angle value is bigger, illustrates the vehicle in the direction
It is upper inclined more serious, it is bigger to may thereby determine that a possibility that abnormal occurs in the tire pressure of the vehicle.
Such as: assuming that reference angle value of the reference planes in each reference axis under three-dimensional system of coordinate is respectively as follows: AWith reference to、
BWith reference toAnd CWith reference to, the actual angle value in each reference axis under three-dimensional system of coordinate is respectively as follows: AX、BYAnd CZ；So, pass through step
Difference angle value in rapid 201 available each reference axis under three-dimensional system of coordinate is respectively as follows: ADifference=AWith reference to-AX、BDifference=
BWith reference to-BY、CDifference=CWith reference to-CZ。
Step 202, by whether within a preset range to judge the difference angle value, tire pressure testing result is obtained；Wherein,
If the difference angle value, in the preset range, the tire pressure testing result indicates that tire pressure is normal, if the difference
Different angle value is more than the preset range, then the tire pressure testing result indicates abnormal tyre pressure.
Preset range, can be technical staff according to experiment or experience, pre-set for judging whether tire pressure goes out
The now critical value of abnormal difference angle value.The preset range can be preset threshold, then, it is somebody's turn to do once difference angle value is greater than
Preset threshold, it is determined that the current abnormal tyre pressure of the vehicle generates the tire pressure testing result for indicating abnormal tyre pressure；The preset range
It is also possible to range intervals, then, once difference angle value is not fallen in the range intervals, it is determined that and the vehicle works as front tyre
Reduce off-flavor is normal, generates the tire pressure testing result for indicating abnormal tyre pressure.
When specific implementation, by whether within a preset range to judge difference angle value, judging result, the judging result are obtained
There are two types of possible: one is the difference angle values within a preset range, then, judging result is yes, at this point, according to the judgement knot
The tire pressure testing result that fruit generates, can indicate that tire pressure is normal；Another kind be the difference angle value not within a preset range, that
, judging result is no, at this point, the tire pressure testing result generated according to the judgment result, can indicate abnormal tyre pressure.
As an example, if in the normal situation of tire pressure for ensuring vehicle, plane where the vehicle and reference are flat
Face is substantially parallel, then, which can be 0, at this point, being equivalent to most stringent of tire pressure detection specification, that is, only variant
Angle value is 0 (that is, actual angle value and reference angle value is essentially equal), just illustrates that tire pressure is normal；Once difference angle value is not
For 0 (that is, actual angle value, which has, refers to angle value once deviateing), just illustrate abnormal tyre pressure.
As another example, which is 0~10 degree, then, as long as difference angle value is within 10 degree, so that it may
To illustrate that tire pressure is normal；Once difference angle value is greater than 10 degree, just illustrate abnormal tyre pressure.It should be noted that the preset range
Range intervals can be arranged according to demand by user or technical staff.
Such as: assuming that the difference angle value in each reference axis under three-dimensional system of coordinate is respectively as follows: ADifference=6 degree, BDifference
=9 degree, CDifference=18 degree, and preset range is 0~10 degree, then, by step 202, difference angle value is obtained not in default model
In enclosing, it is possible to obtain the tire pressure testing result for indicating abnormal tyre pressure.
In addition, whether within a preset range to judge difference angle value for convenience, it can will be every under three-dimensional system of coordinate
Difference angle value in a reference axis is by preset algorithm, as soon as it is scaled a comprehensive difference angle value, in this way, without right
Three difference angle values are respectively compared with preset range, but by once comparing comprehensive difference angle value and preset range
It can be obtained tire pressure testing result.Such as: assuming that the difference angle value in each reference axis under three-dimensional system of coordinate is respectively as follows:
ADifference=6 degree, BDifference=9 degree, CDifference=18 degree, and preset range is 0~10 degree, it is possible to first calculate comprehensive difference angle
Value=(6+9+18)/3 degree=11 degree, then by step 202, difference angle value is obtained not within a preset range, it is possible to obtain
It must be used to indicate the tire pressure testing result of abnormal tyre pressure.
It should be noted that can also be after executing the step 101, by first according to each of under three-dimensional system of coordinate
Actual angle value in reference axis determines the objective plane where the vehicle；The objective plane and the reference again
Whether plane obtains tire pressure testing result in parallel.Wherein, if the objective plane is parallel with reference planes, the tire pressure inspection
Surveying result indicates that tire pressure is normal, if the objective plane and reference planes are not parallel, the tire pressure testing result indicates tire
Reduce off-flavor is normal.
In other possible implementations, when tire pressure testing result includes for indicating each tire pressure in 4 tires
Whether abnormal detailed results when, then, as shown in figure 3, step 102 can specifically include:
Step 301, if the difference angle value is more than the preset range, according to actual angle value calculating
The corresponding height value of four tires of vehicle.
It is understood that indicating have tire that tire pressure occurs in four tires if difference angle value is more than preset range
It is abnormal, then, in order to further determine there is abnormal tire, the corresponding height of four tires can be calculated according to actual angle value
Angle value.
As an example, the mode for calculating the corresponding height value of four tires of vehicle, specifically may is that the first step,
According to the actual angle value in collected each reference axis under three-dimensional system of coordinate, the target where determining the vehicle is flat
Face；Second step calculates on objective plane with the Z coordinate value of four vertex correspondences of the rectangle that X-axis and Y-axis are adjacent both sides, note
Make the corresponding height value of four tires of vehicle.
It should be noted that the corresponding height value of four tires of vehicle, can be the corresponding height value in axle center of tire,
It is also possible to the corresponding height value in highest point of tire, can also be four that objective plane obtains after arbitrary height translates
The respective heights value of tire corresponding position.
Step 302, abnormal tyre pressure is set by the corresponding tire tag of height value the smallest in the height value.
When specific implementation, corresponding four height values of four tires of acquisition can be compared, determine height value most
The tire pressure of small tire, the height value minimum specification of the tire tire is lower, i.e., exception occurs in tire pressure, it is possible to will
The tire tag is set as abnormal tyre pressure.
Step 303, the tire pressure testing result is generated based on the tire label.
It may include diversified forms according to the tire pressure testing result that tire tag generates when specific implementation.
In a kind of situation, the corresponding tire pressure testing result of tire tag for only including abnormal tyre pressure can be generated, such as: it is false
If the height value of four obtained tires are as follows: front left: 60 centimetres, front right: 61 centimetres, rear left: 55 centimetres, rear right: 62 centimetres, that
, determine that the smallest tire of height value is rear revolver, at this point, abnormal tyre pressure is set by the label tire pressure of rear revolver, generation
Tire pressure testing result can be " rear left tire reduce off-flavor is normal ".
In another case, corresponding detailed results of tire tag including abnormal tyre pressure and other tire pressures can be generated just
The tire pressure testing result of the corresponding whole result of normal tire tag, such as: assuming that the height value of four obtained tires are as follows: preceding
It is left: 60 centimetres, front right: 61 centimetres, rear left: 55 centimetres, rear right: 62 centimetres, then, determine that the smallest tire of height value is rear left
Wheel, at this point, setting after the corresponding tire tag of revolver be abnormal tyre pressure, the tire pressure testing result of generation can be " abnormal tyre pressure:
Left tire reduce off-flavor is normal afterwards；Preceding revolver, front right wheel and rear right wheel tire pressure are normal ".
As it can be seen that in the embodiment of the present invention, when vehicle on the reference plane when, it is possible, firstly, to obtain the top on the vehicle
Actual angle value under spiral shell instrument three-dimensional system of coordinate collected；It then, can be by the actual angle value and the reference
Plane is corresponding under the three-dimensional system of coordinate to be compared with reference to angle value, obtains tire pressure testing result.In this way, no longer need to for
The corresponding installation tire pressure monitoring sensor of each tire, also can be by adding the tire pressure detecting device including gyroscope on vehicle
The current tire pressure state of 4 tires of vehicle is detected, so as to provide tire pressure testing result to patrol officer, so as to vehicle
Patrol officer be dependent on this tire of vehicle safeguarded, to improve the security performance of vehicle.
In addition, in order to which vehicle even if that can also carry out perfect tire pressure detection in the process of moving, corresponding according to Fig. 1
Method carries out tire pressure detection, and the original tire pressure testing result for being denoted as obtaining is also based on tire pressure shape determined by wheel speed later
State obtains more accurate tire pressure testing result after being modified to the original tire pressure testing result.So, as shown in figure 4, base
The tire pressure state determined by wheel speed can be obtained based on following manner:
Step 401, in the electric vehicle driving process, the corresponding actual speed of a wheel of four tires on the vehicle is obtained.
When specific implementation, the vehicle corresponding wheel speed of each tire in the process of moving can be acquired by wheel speed sensors,
Then, which gets the vehicle of wheel speed sensors transmission by the data interaction with the wheel speed sensors
The corresponding actual speed of a wheel of upper four tires.
Step 402, actual wheel between four tires is obtained by comparing the corresponding actual speed of a wheel of four tires
Speed difference is different, and the tire pressure state of the vehicle according to the actual speed of a wheel diversity judgement.
Wherein, if the actual speed of a wheel difference is less than default discrepancy threshold, the tire pressure state is indicating tire pressure just
Often, if the actual speed of a wheel difference is more than the default discrepancy threshold, the tire pressure state indicates abnormal tyre pressure.
It is understood that if the tire pressure of four tires of vehicle is normal, the actual speed of a wheel of four tires is answered
This is consistent.For vehicle, there are certain relationship, the speed of wheel speed can reflect the height of tire pressure for tire pressure and wheel speed
Situation.According to actual speed of a wheel difference, that is, it can determine the tire pressure state of vehicle, such as: the reality of some tire and other 3 tires
Wheel speed difference is too big, then, that is, it can determine the tire pressure state of the tire are as follows: abnormal tyre pressure.
As an example, for the accuracy of tire pressure detection, the actual speed of a wheel difference in the corresponding implementation of Fig. 4 can
To only include the actual speed of a wheel difference under the straight line traveling.When specific implementation, it can be sent obtaining wheel speed sensors
Actual speed of a wheel while, obtain vehicle steering angle sensor acquisition the vehicle four tires steering angle；By true
Determine steering angle be zero degree when, the actual speed of a wheel of the vehicle, to determine the tire pressure shape of tire according to the identified actual speed of a wheel
State, and then using the corresponding resulting tire pressure testing result of implementation of tire pressure state revision Fig. 1, obtain revised tire pressure inspection
Survey result.
As another example, in the corresponding implementation of Fig. 4, the travel route of vehicle includes curve driving part
When, in a kind of situation, as shown in figure 5, curved portion can be rejected, only consider the corresponding actual speed of a wheel difference of straight line portion；
In another case, being converted into effectively straight trip, difference in wheel is different goes to calculate as shown in fig. 6, can also be according to specific quantitative relation
Actual speed of a wheel difference.
Wherein, a kind of implementation in step 402 by comparing the corresponding wheel speed of four tires as shown in figure 5, obtain
Actual speed of a wheel difference between four tires is obtained, can specifically include:
Step 501, the corresponding steering angle of four tires of the vehicle is obtained；
Step 502, the curve wheel speed that steering angle described in the accessed driving process is non-zero-degree part is removed, is obtained
To the vehicle in the corresponding straight trip wheel speed in straight-line travelling part；
Step 503, by comparing the corresponding straight trip wheel speed of four tires, straight wheel between four tires is obtained
Speed difference is different, is denoted as actual speed of a wheel difference.
Such as: assuming that the driving path of vehicle is A → B → C, and the steering angle that tire pressure detecting device gets A → B sections is
0 degree, B → C sections of steering angle is non-zero degree；It is possible to determine that A → B is 0 degree of steering angle of straight-line travelling part, B → C is to turn
To the curve driving part of the non-zero degree in angle；Then, it can remove, finally obtain straight from B → C section in driving path A → B → C
Line travels the corresponding straight trip wheel speed of part A → B and obtains four tires by comparing the corresponding straight trip wheel speed of four tires
Between straight trip difference in wheel it is different, be denoted as actual speed of a wheel difference.
Wherein, another implementation is as shown in fig. 6, by comparing the corresponding wheel speed of four tires in step 402
Actual speed of a wheel difference between four tires is obtained, can specifically include:
Step 601, the corresponding steering angle of four tires of the vehicle is obtained；
Step 602, according to preset wheel speed steering angle corresponding with the conversion relation of steering angle and four tires, meter
Calculate effective straight trip wheel speed that steering angle described in the driving process is non-zero-degree part；
Step 603, it is obtained according to the vehicle in the corresponding straight trip wheel speed in straight-line travelling part and effective straight trip wheel speed
Obtain the vehicle effective wheel speed corresponding in the process of moving；
Step 604, it by comparing the corresponding effective wheel speed of four tires, obtains and is effectively taken turns between four tires
Speed difference is different, is denoted as actual speed of a wheel difference.
Such as: assuming that the driving path of vehicle is A → B → C, and the steering angle that tire pressure detecting device gets A → B sections is
0 degree, B → C sections of steering angle is non-zero degree；It is possible to determine that A → B is 0 degree of steering angle of straight-line travelling part, B → C is to turn
To the curve driving part of the non-zero degree in angle；It then, can be according to the conversion relation and four wheels of preset wheel speed and steering angle
The corresponding steering angle of tire, calculating B → C sections of effective straight trip wheel speed (specifically can be partially converted to B ' for B → C curve traveling
The straight-line travelling part of → C ', wherein B ' → C ' section steering angle is 0 degree, and wheel speed is effective wheel speed after conversion, rather than B
→ C sections of actual speed of a wheel)；It is then possible to be had according to the corresponding straight trip wheel speed of straight-line travelling part A → B and B ' → C ' section
Effect straight trip wheel speed, obtains effective wheel speed of driving path A → B (B ') → C '；Finally, corresponding by comparing four tires
Effective wheel speed obtains effective wheel speed difference between four tires, is denoted as actual speed of a wheel difference.
In this way, the method provided through the embodiment of the present invention, it can be by the tire pressure state for the vehicle that wheel speed measures, to root
The original tire pressure testing result measured according to gyroscope is modified, and obtains relatively reliable tire pressure testing result.In this way, no longer needing to
It, also can be by adding the tire pressure detection dress including gyroscope on vehicle for the corresponding installation tire pressure monitoring sensor of each tire
The tire pressure state for detecting that 4 tires of vehicle are current is set, so as to provide tire pressure testing result to patrol officer, with convinent car
Patrol officer be dependent on this tire of vehicle safeguarded, to improve the security performance of vehicle.
In addition, the tire pressure detecting device for the method that the embodiments of the present invention provide is executed, it can be with remote monitoring service
Platform carries out data interaction, then, for the monitoring and management that the tire pressure time to vehicle is long-range, improve user experience, this hair
Bright embodiment can also include: that the tire pressure testing result is sent to monitoring service platform.
It is understood that if the tire pressure testing result generated indicates that tire pressure is normal, tire pressure detecting device can be with
The tire pressure testing result (such as: " tire pressure is normal ") is sent to monitoring service platform, which is receiving for example
After the tire pressure testing result of " tire pressure is normal ", the tire pressure testing result and receiving time can be recorded together.
If the tire pressure testing result generated indicates abnormal tyre pressure, tire pressure detecting device can detect the tire pressure
As a result (such as: " abnormal tyre pressure " either " rear left tire reduce off-flavor is normal " or " abnormal tyre pressure: rear left tire reduce off-flavor is normal ") is sent to
Monitoring service platform, the monitoring service platform, can be to the tire pressure testing result and receptions after receiving the tire pressure testing result
Time is recorded together.Also, it while sending tire pressure testing result to monitoring service platform, can also be taken to the monitoring
Plane of being engaged in sends abnormal tyre pressure prompt information, includes the mark and position letter of the vehicle in the abnormal tyre pressure prompt information
Breath, to trigger the monitoring service platform for the marking of cars as down state.
It is understood that the monitoring can be triggered when monitoring service platform receives abnormal tyre pressure prompt information
Service platform generates patrol task (mark and location information of vehicle can be carried in the patrol task), and the inspection is appointed
Business is remotely handed down to patrol officer.It, can be according in the patrol task after patrol officer receives patrol task
The mark and location information of vehicle find corresponding vehicle, and carry out inspection to the vehicle of the abnormal tyre pressure.It needs to illustrate
It is that patrol officer can also modify the mark of the vehicle on monitoring service platform after completing patrol task according to the permission of itself
Note, specifically can be revised as " available mode " for " down state ".
Correspondingly, referring to Fig. 7, which specifically can wrap the embodiment of the invention also provides a kind of tire pressure detecting device
It includes:
Obtain module 701, for when vehicle on the reference plane when, obtain the gyroscope collected three on the vehicle
Tie up the actual angle value under coordinate system；
Comparison module 702, for by the actual angle value and the reference planes under the three-dimensional system of coordinate
It is corresponding to be compared with reference to angle value, obtain tire pressure testing result.
Optionally, the comparison module 702, specifically includes:
First computational submodule, for calculating the actual angle value and the corresponding difference with reference between angle value
Angle value；
First detection sub-module, for obtaining tire pressure inspection by whether within a preset range to judge the difference angle value
Survey result；
If the difference angle value, in the preset range, the tire pressure testing result indicates that tire pressure is normal, such as
Difference angle value described in fruit is more than the preset range, then the tire pressure testing result indicates abnormal tyre pressure.
Optionally, the comparison module 702, specifically includes:
Second computational submodule, if being more than the preset range for the difference angle value, according to the actual corners
Angle value calculates the corresponding height value of four tires of the vehicle；
Submodule is marked, it is different for setting tire pressure for the corresponding tire tag of height value the smallest in the height value
Often；
Submodule is generated, for generating the tire pressure testing result based on the tire tag.
Optionally, the reference planes are horizontal plane.
Optionally, the comparison module 702, specifically includes:
First acquisition submodule, for by the actual angle value and the reference planes in the three-dimensional system of coordinate
Under it is corresponding be compared with reference to angle value, obtain original tire pressure testing result；
Submodule is determined, for determining tire pressure state based on wheel speed；
Second acquisition submodule is obtained for being modified using the tire pressure state to the original tire pressure testing result
Obtain the tire pressure testing result.
Optionally, the determining submodule, comprising:
First acquisition unit, for it is corresponding to obtain four tires on the vehicle in the electric vehicle driving process
Actual speed of a wheel；
First judging unit, for by comparing the corresponding actual speed of a wheel of four tires obtain four tires it
Between actual speed of a wheel difference, and the tire pressure state of the vehicle according to the actual speed of a wheel diversity judgement；
Wherein, if the actual speed of a wheel difference is less than default discrepancy threshold, the tire pressure state is indicating tire pressure just
Often, if the actual speed of a wheel difference is more than the default discrepancy threshold, the tire pressure state indicates abnormal tyre pressure.
Optionally, the actual speed of a wheel difference is the actual speed of a wheel difference under straight line traveling.
Optionally, first judging unit, comprising:
First obtains subelement, for obtaining the corresponding steering angle of four tires of the vehicle；
Subelement is removed, for removing the curve that steering angle described in the accessed driving process is non-zero-degree part
Wheel speed obtains the vehicle in the corresponding straight trip wheel speed in straight-line travelling part；
First comparing subunit, for obtaining four wheels by comparing the corresponding straight trip wheel speed of four tires
Difference in wheel of keeping straight between tire is different, is denoted as actual speed of a wheel difference.
Optionally, first judging unit, comprising:
Second obtains subelement, for obtaining the corresponding steering angle of four tires of the vehicle；
First computation subunit, for corresponding with the conversion relation of steering angle and four tires according to preset wheel speed
Steering angle, calculate steering angle described in the driving process be non-zero-degree part effective straight trip wheel speed；
Third obtains subelement, for according to the vehicle in the corresponding straight trip wheel speed in straight-line travelling part and described effective
Straight trip wheel speed, obtains the vehicle effective wheel speed corresponding in the process of moving；
Second comparing subunit, for obtaining four wheels by comparing the corresponding effective wheel speed of four tires
Effective wheel speed difference, is denoted as actual speed of a wheel difference between tire.
Optionally, the device further include:
First sending module, for the tire pressure testing result to be sent to monitoring service platform.
Optionally, if the tire pressure testing result indicates abnormal tyre pressure, described device further include:
Second sending module, for sending abnormal tyre pressure prompt information, the abnormal tyre pressure to the monitoring service plane
Include the mark and location information of the vehicle in prompt information, is to trigger the monitoring service platform for the marking of cars
Down state.
Optionally, the abnormal tyre pressure prompt information is also used to trigger the monitoring service platform and generates patrol task, and
The patrol task is remotely handed down to patrol officer, so that the patrol officer is according to the vehicle in the patrol task
Mark and location information to the vehicle carry out inspection.
Foregoing description is a kind of associated description of tire pressure detecting device, wherein specific implementation and the effect reached,
It may refer to the description of above-mentioned tire pressure detection method embodiment, which is not described herein again.
In addition, the embodiment of the invention also provides a kind of vehicles, as shown in figure 8, the vehicle 800 includes tire pressure detecting device
801 and gyroscope 802；
The gyroscope 802, for when vehicle 800 on the reference plane when, acquire three-dimensional system of coordinate under the vehicle pair
The actual angle value answered, and it is sent to the tire pressure detecting device 801；
The tire pressure detecting device 801, for executing the embodiment of the present invention and mentioning according to the actual angle value received
The above-mentioned tire pressure detection method supplied is completed to detect the tire pressure of the vehicle 800.
It should be noted that gyroscope 802 can be integrated with the gyroscope in tire pressure detecting device 801, it is also possible to
The independent component that can be communicated with tire pressure detecting device 801 on vehicle 800.
Foregoing description is a kind of associated description of vehicle, wherein includes above-mentioned tire pressure detection method function, it is possible to implement
The vehicle of the tire pressure detection method, specific implementation and the effect reached may refer to above-mentioned tire pressure detection method and implement
The description of example, which is not described herein again.
" first " in the titles such as " the first computing unit " mentioned in the embodiment of the present invention, " first detection unit " is only
For doing name mark, first sequentially is not represented.The rule is equally applicable to " second " etc..
As seen through the above description of the embodiments, those skilled in the art can be understood that above-mentioned implementation
All or part of the steps in example method can add the mode of general hardware platform to realize by software.Based on this understanding,
Technical solution of the present invention can be embodied in the form of software products, which can store is situated between in storage
In matter, such as read-only memory (English: read-only memory, ROM)/RAM, magnetic disk, CD etc., including some instructions to
So that a computer equipment (can be the network communication equipments such as personal computer, server, or router) executes
Method described in certain parts of each embodiment of the present invention or embodiment.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.It is examined especially for tire pressure
It surveys for device and vehicle embodiments, since it is substantially similar to the method embodiment, so describe fairly simple, related place
Illustrate referring to the part of embodiment of the method.Method, apparatus and vehicle embodiments described above is only schematical,
Wherein module may or may not be physically separated as illustrated by the separation member, the component shown as module
It may or may not be physical module, it can it is in one place, or may be distributed over multiple network units
On.Some or all of the modules therein can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.Ability
Domain those of ordinary skill can understand and implement without creative efforts.
The above is only a preferred embodiment of the present invention, it is not intended to limit the scope of the present invention.It should refer to
Out, for those skilled in the art, under the premise of not departing from the present invention, can also make several improvements
And retouching, these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (14)
1. a kind of tire pressure detection method characterized by comprising
When vehicle on the reference plane when, obtain the actual angle under the gyroscope three-dimensional system of coordinate collected on the vehicle
Value；
By being carried out to the actual angle value and the reference planes are corresponding under the three-dimensional system of coordinate with reference to angle value
Compare, obtains tire pressure testing result.
2. the method according to claim 1, wherein described by flat to the actual angle value and the reference
Face is corresponding under the three-dimensional system of coordinate to be compared with reference to angle value, obtains tire pressure testing result, comprising:
Calculate the actual angle value and the corresponding difference angle value with reference between angle value；
By whether within a preset range to judge the difference angle value, tire pressure testing result is obtained；
Wherein, if the difference angle value is in the preset range, the tire pressure testing result indicates that tire pressure is normal, such as
Difference angle value described in fruit is more than the preset range, then the tire pressure testing result indicates abnormal tyre pressure.
3. according to the method described in claim 2, it is characterized in that, described by flat to the actual angle value and the reference
Face is corresponding under the three-dimensional system of coordinate to be compared with reference to angle value, obtains tire pressure testing result, comprising:
If the difference angle value is more than the preset range, four wheels of the vehicle are calculated according to the actual angle value
The corresponding height value of tire；
Abnormal tyre pressure is set by the corresponding tire tag of height value the smallest in the height value；
The tire pressure testing result is generated based on the tire tag.
4. the method according to claim 1, wherein the reference planes are horizontal plane.
5. the method according to claim 1, wherein described by flat to the actual angle value and the reference
Face is corresponding under the three-dimensional system of coordinate to be compared with reference to angle value, is obtained tire pressure testing result, is specifically included:
By being carried out to the actual angle value and the reference planes are corresponding under the three-dimensional system of coordinate with reference to angle value
Compare, obtains original tire pressure testing result；
Tire pressure state is determined based on wheel speed；
The original tire pressure testing result is modified using the tire pressure state, obtains the tire pressure testing result.
6. according to the method described in claim 5, it is characterized in that, described determine tire pressure state based on wheel speed, comprising:
In the vehicle travel process, the corresponding actual speed of a wheel of four tires on the vehicle is obtained；
By comparing actual speed of a wheel difference between the corresponding actual speed of a wheel acquisition of four tires four tires, and according to
The actual speed of a wheel difference determines the tire pressure state of the vehicle；
Wherein, if the actual speed of a wheel difference is less than default discrepancy threshold, the tire pressure state indicates that tire pressure is normal, such as
Actual speed of a wheel difference described in fruit is more than the default discrepancy threshold, then the tire pressure state indicates abnormal tyre pressure.
7. according to the method described in claim 6, it is characterized in that, the actual speed of a wheel difference is under straight line traveling
Actual speed of a wheel difference.
8. according to the method described in claim 6, it is characterized in that, described obtain by comparing the corresponding wheel speed of four tires
Obtain actual speed of a wheel difference between four tires, comprising:
Obtain the corresponding steering angle of four tires of the vehicle；
The curve wheel speed that steering angle described in the accessed driving process is non-zero-degree part is removed, the vehicle is obtained and exists
The corresponding straight trip wheel speed in straight-line travelling part；
By comparing the corresponding straight trip wheel speed of four tires, straight trip difference in wheel is different between acquisition four tires, is denoted as
Actual speed of a wheel difference.
9. according to the method described in claim 6, it is characterized in that, described obtain by comparing the corresponding wheel speed of four tires
Obtain actual speed of a wheel difference between four tires, comprising:
Obtain the corresponding steering angle of four tires of the vehicle；
According to preset wheel speed steering angle corresponding with the conversion relation of steering angle and four tires, the traveling is calculated
The steering angle is effective straight trip wheel speed of non-zero-degree part in the process；
According to the vehicle in the corresponding straight trip wheel speed in straight-line travelling part and effective straight trip wheel speed, obtains the vehicle and exist
Corresponding effective wheel speed in driving process；
By comparing the corresponding effective wheel speed of four tires, effective wheel speed difference between four tires is obtained, is denoted as
Actual speed of a wheel difference.
10. method described in any one according to claim 1~9, which is characterized in that further include:
The tire pressure testing result is sent to monitoring service platform.
11. method described in any one according to claim 1~9, which is characterized in that if the tire pressure testing result indicates
Abnormal tyre pressure, then, and the method also includes:
Abnormal tyre pressure prompt information is sent to the monitoring service plane, includes the vehicle in the abnormal tyre pressure prompt information
Mark and location information, to trigger the monitoring service platform for the marking of cars as down state.
12. according to the method for claim 11, which is characterized in that
The abnormal tyre pressure prompt information is also used to trigger the monitoring service platform and generates patrol task, and the inspection is appointed
Business is remotely handed down to patrol officer, mark and position so as to the patrol officer according to the vehicle in the patrol task
Information carries out inspection to the vehicle.
13. a kind of tire pressure detecting device characterized by comprising
Obtain module, for when vehicle on the reference plane when, obtain the gyroscope three-dimensional coordinate collected on the vehicle
Actual angle value under system；
Comparison module, for by the actual angle value and the reference planes under the three-dimensional system of coordinate corresponding ginseng
It examines angle value to be compared, obtains tire pressure testing result.
14. a kind of vehicle, which is characterized in that including tire pressure detecting device and gyroscope；
The gyroscope, for when vehicle on the reference plane when, acquire the corresponding actual corners of the vehicle under three-dimensional system of coordinate
Angle value, and it is sent to the tire pressure detecting device；
The tire pressure detecting device, for according to the actual angle value received, perform claim to require 1~12 any one
The method is completed to detect the tire pressure of the vehicle.
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Application publication date: 20190215 |