CN109342080B - Vehicle reliability test data collection analysis system based on gyroscope - Google Patents
Vehicle reliability test data collection analysis system based on gyroscope Download PDFInfo
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Abstract
The invention provides a vehicle reliability test data collection and analysis system based on a gyroscope, which comprises a vehicle-mounted experimental device and a background server, wherein the vehicle-mounted experimental device is used for collecting data, and the background server is used for processing the data; the vehicle-mounted experimental device comprises a main control chip, wherein the main control chip is connected with a can communication module, a GPS positioning module, a 4G communication module, a power module, an EMMC data storage module, an RTC clock circuit module, a gyroscope module and a USB module. The invention increases the persuasion and data readability of the vehicle durability test experimental data, can make the data have visual effect, well reflect the information of the running track, the running mileage, the test process, the vehicle condition, the road surface condition and the like, and can obtain all data of the road section test process by selecting the running track on the map; all data in the vehicle testing process can be recorded in the whole process, the calling is convenient, and the problem of false test data is well avoided.
Description
Technical Field
The invention belongs to the technical field of vehicle testing, and particularly relates to a vehicle reliability test data collection and analysis system based on a gyroscope.
Background
When the vehicle reliability test is carried out on the current new energy automobile, the vehicle-mounted terminal cannot calibrate the running track of the automobile, and particularly when the test is carried out on a bumpy road surface, the bumpy condition of the road surface cannot be detected. In order to make the obtained test data more convincing, there is an urgent need for an experimental detection device capable of forming a running track of a test vehicle, and identifying whether a road surface is a reinforced road surface or a high-loop road surface while forming the track, and displaying the identified road surface condition on the formed running track, so that the experimental process can be monitored and understood more intuitively, the reliability of the obtained data is higher, and the convincing power is stronger.
And data acquisition mainly adopts the form of plug wire when the test, and test engineer need open the automobile body and find the data analysis of whole car behind the on-vehicle terminal wiring, greatly reduced work efficiency and also the accurate degree of test.
In the prior art, the high-resolution GPS is widely applied to a mobile phone navigation system, an accurate and reliable walking route can be provided for a user, and the position calibration precision is enough to meet the requirement of automatically forming a vehicle running track in a vehicle durability test. Through a certain technology, the high-resolution GPS can be utilized to calibrate the running track of the vehicle, and the running route is automatically formed on the map, so that the whole process of the durability test of the vehicle is conveniently recorded.
The gyroscope is an electronic device widely applied, is large to aerospace, is small in mobile phone household appliances, can accurately measure the running speed of an object and also can measure the attitude angle, and plays a key role in speed measurement and orientation in a mobile phone navigation system. Also, for example, the level measurement of a mobile phone is an application level of a gyroscope.
Disclosure of Invention
In view of the above, the present invention is directed to a gyroscope-based vehicle reliability test data collection and analysis system for discriminating a driving route and a road surface condition of a vehicle durability test through a high resolution GPS and a gyroscope, and storing test data in a storage system of a terminal, and simultaneously transmitting the test data to a background server through a 4G network.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
the vehicle reliability test data collection and analysis system based on the gyroscope comprises a vehicle-mounted experimental device and a background server, wherein the vehicle-mounted experimental device is used for collecting data, and the background server is used for processing the data; the vehicle-mounted experimental device comprises a main control chip, and the main control chip is connected with a can communication module, a GPS positioning module, a 4G communication module, a power module, an EMMC data storage module, an RTC clock circuit module, a gyroscope module and a USB module.
Further, the CAN communication module is used for collecting data on a vehicle CAN line, including whole vehicle status data, battery data, instrument data, position data, gyroscope data and the like, wherein the model of the CAN communication module is TJA1043T.
Further, the GPS positioning module is hung on the periphery of the main control chip through a high-speed serial port, the vehicle sends real-time position information to the background monitoring terminal at intervals of 100ms through the 4G communication module, the position information is marked on a map to form dense points, and the points are connected to form a driving route after a period of time, wherein the model of the GPS positioning module is ATGM336H-5N-7X.
Further, the 4G communication module contains a TCP/IP communication protocol, is connected with the main control chip through a serial port, and the serial port sends an AT command to control the 4G communication module to be connected to a specified IP and port, and after the 4G communication module is connected with a server, the main control chip sends the AT command to control the 4G communication module to send packed data; the system can also receive command data issued by the server, send the command data to the main control chip through the USB, and perform corresponding operation after the main control chip analyzes the data, wherein the model of the 4G communication module is EC20_R2.1_U0101-A.
Furthermore, the power supply module is used for expanding the input voltage range to 9-36V and providing power supply voltages of 3.3V, 5V and the like for each module, wherein the model of the power supply module is MP1584EN.
Further, the EMMC data storage module is configured to store the transmitted data in a txt file form, and may store a log in the whole testing process; the storage module is hung on the main control chip through the SDIO bus, so that the transmission rate is faster and more efficient, wherein the model of the EMMC data storage module is KLM8G1GEND-B031.
Further, the gyroscope module is connected to an I2C bus interface of the main control chip, the main control chip reads data of the gyroscope once every 50ms, information such as acceleration and inclination angle of a vehicle can be collected, the gyroscope module is also used as one of wake-up sources of the terminal, when the acceleration is overlarge or the inclination angle is overlarge, the terminal sends a warning message to the platform, and the platform sends a short message to a vehicle owner for reminding, wherein the model of the gyroscope module is LSM6DSL.
Further, the main control chip adopts the model STM32F407v.
Further, the gyroscope is used for judging the flatness of the pavement, and the specific processing process is as follows:
(1) Dividing the road condition of the test site into m grades, and then changing the vehicle speed from 0 to the highest vehicle speed v max Equally dividing into n speed intervals, wherein each interval step length is h,
(2) For each speed interval, the vehicle-mounted experimental device reads data, if the gyroscope output data are concentrated, the road surface is smoother, and if the gyroscope output data are not concentrated, the current speed v epsilon (v i ,v i+1 ) Reading the vibration times N in one scanning period, wherein the maximum and minimum values of the amplitude of each vibration are respectivelyAnd->Average amplitudeThe threshold value is the average amplitudeThe value is floating up and down by p percentage points, namely the amplitude valueThe points in the system are all filtered out, M vibration points are left, and the variance of the M points is calculatedAnd deducing the grade of the road surface unevenness according to the variance.
Further, when the GPS signal is not available, the vehicle-mounted experimental device reads the gyroscope data according to the formulaAnd calculating offset distances of the vehicle left, right, front and back, and calculating an offset route according to the offset distances, and supplementing the offset route to the driving route.
The invention further provides a vehicle reliability test data collection and analysis method based on a gyroscope, which specifically comprises the following steps:
(1) Setting a gyroscope data reading period to be smaller than the GPS data reading period, wherein the GPS data reading period is set to be not more than 100 milliseconds;
(2) During the reading period of GPS data, before the position of the vehicle body is marked, the gyroscope reads twice, the first reading is compared with the second reading of the previous period, the second reading is compared with the first data of the current period, and in one GPS data reading period, whether the vehicle body has yaw or not is judged after the two gyroscope data reading and comparison are completed, namely whether the vehicle body has left and right acceleration or not is judged;
(3) If the car body does not have yaw condition, marking the route according to the GPS signal; if the vehicle body has yaw, the read gyroscope data has a leftward or rightward acceleration value, the yaw distance is calculated according to the signal duration, and the yaw distance is compared with the GPS read position for integration and optimization, and the optimized data is used as data for forming a route;
(4) In the step 2, the evenness of the road surface can be judged by the data read by the gyroscope, when the road surface is bumpy, the vehicle body can generate intense left-right inclination and up-down vibration, different data sets can be generated on the same bumpy road surface along with different vehicle speeds, and the data are filtered by a median average filtering algorithm to obtain available data values; and comparing the measured flatness with the actual flatness, and correcting the threshold value if deviation exists.
Compared with the prior art, the vehicle reliability test data collection and analysis system based on the gyroscope has the following advantages:
the invention increases the persuasion and data readability of the vehicle durability test experimental data, can make the data have visual effect, well reflect the information of the running track, the running mileage, the test process, the vehicle condition, the road surface condition and the like, and can obtain all data of the road section test process by selecting the running track on the map; all data in the vehicle testing process can be recorded in the whole process, the calling is convenient, and the problem of false test data is well avoided. Furthermore, the durability test is a long-time experiment, and the device can greatly improve the efficiency of the vehicle durability test.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a vehicle-mounted experimental device according to an embodiment of the invention;
FIG. 2 is a functional schematic diagram of a vehicle-mounted experimental device according to an embodiment of the invention;
FIG. 3 is a schematic of an algorithm of the experimental system of the invention;
FIG. 4 is a schematic system diagram of an experimental system of the invention;
FIG. 5 is a block diagram of a road surface flatness determination algorithm of the experimental system of the present invention;
FIG. 6 is a block diagram of a yaw decision algorithm of the experimental system of the present invention.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1, the invention provides a vehicle reliability test data collection and analysis system based on a gyroscope, which is used for calibrating a driving route and a road surface condition of a vehicle durability test through a high-resolution GPS and the gyroscope, storing test data in a storage system of a terminal, and simultaneously transmitting the test data to a background server through a 4G communication module.
To form a vehicle driving route, a high-resolution GPS positioning module is indispensable, and is one of the key components of the experimental device. The vehicle in running sends the position information to the background monitoring terminal once every 100ms through the 4G communication module, and marks the position information on a map through technical means to form dense points. After a period of time, the points are connected to form a travel route.
Gyroscopes are another key component of the experimental set-up. When the vehicle runs on a bumpy road section, the vehicle body integrally vibrates, and the vehicle-mounted experimental device is fixed on the vehicle body and can vibrate along with the vehicle body. Because the amplitude is variable and the excitation modes are different, the gyroscope can convert the vibration into data of the change of the speed of the vehicle body and the angle of the bottom plate, the main control chip reads the gyroscope data once every 50ms, and the data read this time is compared with the last time, so that whether the vehicle has yaw or not can be judged, and the GPS error can be corrected. And uploading the data to a background server through a 4G communication module, and judging the flatness of the road surface at the position according to the vehicle body acceleration and the angular acceleration.
And calculating the data read by the gyroscope to obtain available data to judge the road surface condition. And connecting points marked by the high-resolution GPS positioning module to obtain the running track of the automobile, and integrating and converting the data at the same time in a background server to obtain the road condition on any road section.
In order to achieve the test result, the road condition of the test site is firstly divided into m grades, and then the vehicle speed is from 0 to the highest vehicle speed v max Equally dividing into n speed intervals, wherein each interval step length is h,the more interval is divided, the smaller the step length is, and the more accurate the test result is. The vehicle body jolting degree of the road condition of the same grade corresponding to each speed interval is different, and the measured data is different during the test.
When the vehicle is started, the vehicle-mounted test system terminal automatically calibrates the gyroscope to enable the gyroscope to be in a shape of a gyroscopeThe state matches the current body state. When the vehicle runs, the experimental system terminal reads data, if the gyroscope output data are concentrated, the road surface is smoother, and if the gyroscope output data are not concentrated, the current speed v epsilon (v i ,v i+1 ) Reading the vibration times N in one scanning period, wherein the maximum and minimum values of the amplitude of each vibration are respectivelyAnd->Average amplitude +.>The threshold value is p percentage points of the average amplitude value, namely the amplitude value +.>All points within are filtered out leaving M vibration points, the variance of which is calculated +.>And deducing the grade of the road surface unevenness according to the variance. This process is shown in fig. 5.
Since the vehicle is tested by running on the runway in a circulating way, the test is carried out in a circulating way, the data measured by the experimental device cannot be the same value in the process of each circulating, and the data measured by the sensor on the vehicle body at any same point in each circulating way are different, namely the condition of the vehicle changes every moment. After receiving the data sent by the experimental device, the background server divides the position data according to the initial position and the time period to form a driving path for each cycle test, forms a map layer according to each circle, and mutually links different map layers by using the time point, so that the formed test route is visual on one hand, and the repeated process is layered and is convenient to review on the other hand.
When no GPS signal is always met during the running process of the vehicleHowever, the test process is continued and the route is not formed beyond the tolerance, which requires that the GPS positioning system perform the route forming well in this case. In order to visualize the data more, more convincingly, in the above case, yaw judgment can be performed according to the data measured by the gyroscope, and when the GPS signal is not available, the gyroscope data is read, and the formula is used for the yaw judgmentThe offset distances of the left and right sides, the front and the back of the vehicle are calculated, the offset route is calculated according to the offset distances, and the offset distances are added to the driving route, so that the gyroscope not only has the capability of sensing the road surface condition, but also can make up the defect of the GPS positioning module when the GPS signal is lost, and the two can be perfectly combined to monitor the testing process better. Because of the limited area of the test field, the vehicle is inevitably subjected to a single repetition of the test procedure, but the data obtained at each repetition is different. In order to enable the test result to be more visual, when the vehicle runs for one circle, the map layer is automatically switched to reform the running track, so that the difficulty that different test data in the same field are difficult to arrange is solved, and meanwhile, the vehicle test process is clearly visible.
Fig. 4 shows a schematic diagram of a system for collecting and analyzing vehicle reliability test data based on a gyroscope, and it can be seen that the vehicle-mounted experimental device is a core for collecting data of the system, and the background server is a core for processing data, and the system is described in detail below with reference to the schematic diagram:
interaction of the experimental system with the experimental vehicle: the experimental system can receive data taken by the vehicle-mounted experimental device through the 4G network, analyze the data and perform visual processing on the process of the vehicle reliability test, so that the experimental data not only has persuasion, but also can be representative of the data of the vehicle type, and the following is a functional detailed description of a background server:
the background server for designing the experiment system has the functions that: the function of the sampling inspection vehicle testing process is designed, and the monitoring platform can conduct sampling inspection on a certain point or a certain section of the driving route. The background server can intercept any point or any road section of the acquired data and acquire the data of the point or the road section, and can intercept the data of the same position of different map layers, so that the data comparison can be conveniently carried out, and the method is an important step for enabling the data to be visualized. According to the actual test situation, the running speed and the shaking degree of the vehicle body of the same road section on different map layers can be different, but the measured road conditions are the same. In different road sections of the same road condition, the running speed of the automobile and the shaking degree of the automobile body are different.
The background server of the experimental system is designed to have the functions of: the method is convenient for detecting the whole vehicle data, comprises the steps of measuring the data change conditions of different sensor positions in different periods from delivery to finishing testing, can judge the aging condition or other predictable conditions of the parts through the series of changes, and finally can intuitively judge the quality of the vehicle by drawing the data into a chart, wherein the quality attenuation of the vehicle with good quality is definitely smaller than that of the vehicle with poor quality in the process.
The background server of the experimental system is designed to have the functions of: the system has strong data acquisition capacity and data analysis capacity, can be used as a vehicle big data collection platform of the vehicle type, is convenient for analyzing the influence on the vehicle quality attenuation under different road conditions and different driving behaviors, is convenient for forming the optimal driving habit suggestion of the vehicle type, and forms the quality condition correction suggestion of the vehicle type.
The background server of the experimental system is designed to have the functions of: because the road condition of the test site is certain, the test device can perform self-comparison study and consider supervised study to ensure that the test precision is more accurate, different vehicle speed jolting degrees of running on the same road section in different circulation processes are definitely different, and if the road conditions measured twice are different, the threshold value can be manually supervised and adjusted or the experimental device can realize self-adjustment, so that the system self-evolves.
The design of the experimental system has the following advantages: after stopping each test, the report of the test can be automatically formed, the wrong driving behavior of the tester is pointed out, and the test plan of the next stage is given.
The background server of the experimental system is designed to have the functions of: the battery quality condition of the model automobile can be detected, the quality of the battery is one of main parameters for evaluating the new energy automobile, detection data such as battery electric quantity, voltage, output current, heating condition and the like in different using stages can be sent to a background server to form a battery using condition curve, the damage rate of the battery quality can be intuitively observed, for example, the problem that the power consumption is high under which road condition can be detected, and the best using proposal of the battery is given according to the data.
FIG. 1 shows a block diagram of a vehicle-mounted experimental apparatus; the vehicle-mounted experimental device comprises a can communication module, a GPS positioning module, a 4G communication module, a power module, an EMMC data storage module, an RTC clock circuit module, a gyroscope module and a USB module. These structures are described in detail below.
And the Can communication module: the can module of the main control chip is realized together with the peripheral circuit, and data on can lines of the new energy vehicle are collected. The main control chip reads each frame of data on the CAN line in a terminal mode, stores the data when the network is not connected, and then supplements the data according to a set time interval after the network is connected; and extracting some important data according to a protocol for transmitting the data, packaging according to a communication protocol, and transmitting real-time data at regular intervals.
GPS positioning module: the high-resolution GPS positioning module can lose the meaning of high precision and real-time performance if not high in transmission speed. In order to enable the data transmission speed to be faster, the GPS positioning module is hung on the periphery of the main control chip through a high-speed serial port, so that the transmission speed is faster, the data is packaged after being analyzed, and the accurate position of the vehicle can be positioned in real time.
4G communication module: the SIM card is used for communication, and the application area range is wide. The system comprises a TCP/IP communication protocol and is connected with a main control chip through a serial port. The serial port sending AT command control communication module is connected to the appointed IP and port, and after the serial port sending AT command control communication module is connected with the server, the main control chip sends the AT command to control the 4G communication module to send the packed data; the system can also receive command data issued by the server, send the command data to the main control chip through the USB, and perform corresponding operation after the main control chip analyzes the data.
And a power supply module: the input voltage range is expanded to 9-36V, and power supply voltages of 3.3V, 5V and the like are provided for each module. The terminal is internally connected with a 5V standby battery, and when the battery is dead, the battery is charged by the normal electricity of an external new energy vehicle; when the outside is not powered by electricity, the internal battery supplies power; preferably an external power source is used. The terminal enters a dormant state after the vehicle is flameout for more than 1 minute, and when the main power supply is not detected, the internal battery supplies power for 3 minutes, but the data reading and transmitting rate is reduced to be once every 5 seconds for reading and transmitting, so that the power consumption is reduced. Once the vehicle is started, the test terminal wakes up immediately and resumes normal operation.
RTC clock circuit module: the vehicle-mounted terminal gives an RTC clock in real time, provides an HSE clock for the main control chip, and sends the HSE clock and the acquired data to the remote monitoring platform or stores the data in the EMMC, so that the data acquisition clock is consistent with the clock of the background server.
EMMC data storage module: the EMMC data storage module can store the transmitted data in the form of txt files and can store logs in the whole test process; the memory module is hung on the main control chip through the SDIO bus, so that the transmission rate is faster and more efficient.
A gyroscope module: the data reading device is connected to an I2C bus interface of the main control chip, and the main control chip reads the data of the gyroscope once every 50 ms. The vehicle acceleration and inclination angle information can be acquired and used as one of the wake-up sources of the terminal. When the acceleration is too large or the inclination angle is too large, the terminal sends a warning message to the platform, and the platform sends a short message prompt to the vehicle owner.
As shown in fig. 2, the experimental system has a data acquisition function, a data storage function, a data communication function, a data export function, a road condition recognition function, a route forming function, an RTC clock function, and a sleep wake-up function, and each function is described in one-to-one manner by combining with the schematic diagram:
data acquisition function: the experimental device is provided with a CAN module, and CAN collect data on a vehicle CAN line through a CAN card, wherein the data comprise whole vehicle condition data, battery data, instrument data, position data, gyroscope data and the like.
Data storage function: the EMMC data storage module is adopted, the data collected by the experimental device and the sent data can be stored, backup is convenient, the data is prevented from being lost under the condition of poor signals, and if the error or frame loss phenomenon of the data processed by the background server is found after the experiment is finished, the stored data can be compared with the data and automatically integrated to ensure the integrity of the data.
Data communication function: and the data acquired by each module and the data processed by the main control chip are transmitted to the background server through the 4G communication module, and the data has readability by the data communication function.
Data export function: and the CAN bus data acquisition function is that the data measured by each module CAN be read out through the CAN bus and acquired to a computer.
Road condition recognition function: the real-time information of the car body is mainly judged and obtained through the gyroscope on the road surface bumping degree, the car bottom plate can vibrate and incline when the road surface bumps, the included angle between the car bottom plate and the horizontal plane is changed, meanwhile, the car floor and the ground can move up and down relatively, the gyroscope can read out the angle information and the speed information, the obtained data of the same car in different road conditions are necessarily different, and the road condition quality degree can be judged accordingly.
Route forming function: the real-time position of the vehicle body is calibrated through a high-resolution GPS, the position information is a plurality of points, and after enough time, the points are connected in sequence through a certain means, so that a running route of the vehicle can be formed. When the GPS signal is not received, the gyroscope module can conduct inertial navigation work, if the vehicle turns, the main control chip can read the acceleration of the vehicle turning to two sides, and then the turning distance is calculated according to time, so that the running track can be formed continuously. Thus, the two complementary operations are performed, and no test data blind spot appears in any period of the test process.
RTC clock function: the HSE clock is provided for the main control chip, and the GPS clock can be calibrated. Because the RTC clock runs for a long time and errors can exist, when the experimental device is powered on, the RTC clock can be automatically compared with the server clock and calibrated, and the GPS positioning module and the experimental device are ensured to have correct time and consistent with the server clock.
Sleep wakeup function: the reliability test driving mileage of the vehicle is thirty thousand kilometers, the driving distance is too long to test in stages, the experimental device is fixed on the vehicle body bottom plate, and the test device is not practical to switch when each test stage begins to end, so that the vehicle is provided with a dormancy awakening function, the test device can be awakened after the vehicle is started, the stage test is completed, and the test device automatically sleeps after a period of flameout.
The invention calibrates the driving route and the road surface condition of the durability test of the vehicle through the high-resolution GPS and the gyroscope, stores the test data in a storage system of the terminal, and simultaneously sends the test data to the background server through the 4G communication module.
FIG. 3 is a schematic diagram of a functional implementation method of the experimental system, and the method is described below with reference to the schematic diagram:
step 1: in order to prevent the vehicle body state determination time from being delayed from the vehicle body position mark time, the gyroscope data reading period is set to be shorter than the GPS data reading period by 100 milliseconds.
Step 2: and during the reading period of the GPS data, before the position mark of the vehicle body, the gyroscope reads twice, the first reading is compared with the second reading of the upper period, the second reading is compared with the first data of the present period, and in one reading period of the GPS data, whether the vehicle body has yaw or not is judged after the reading and comparison of the two gyroscope data are completed, namely whether the vehicle body has left and right acceleration or not is judged.
Step 3: in the step 2, if the vehicle body has no yaw condition, the route is marked according to the GPS signal; if the vehicle body has yaw, the read gyroscope data has a certain acceleration value to the left or the right, the yaw distance is calculated according to the signal duration, the yaw distance is compared with the GPS read position, integrated and optimized, and the optimized data is used as data for forming a route.
Step 4: in the step 2, the data read by the gyroscope can determine the flatness of the road surface. When the road surface is bumpy, the vehicle body can generate intense left-right inclination and up-down vibration, different data sets can be generated on the same bumpy road surface along with different vehicle speeds, and the data are filtered by a median average filtering algorithm to obtain available data values; and comparing the road surface evenness with the threshold value under the speed of the vehicle. And comparing the flatness obtained by the test with the actual flatness, and correcting the threshold value if deviation exists.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (8)
1. Vehicle reliability test data collection analysis system based on gyroscope, its characterized in that: the system comprises a vehicle-mounted experimental device and a background server, wherein the vehicle-mounted experimental device is used for collecting data, and the background server is used for processing the data; the vehicle-mounted experimental device comprises a main control chip, wherein the main control chip is connected with a CAN communication module, a GPS positioning module, a 4G communication module, a power module, an EMMC data storage module, an RTC clock circuit module, a gyroscope module and a USB module;
the system comprises a main control chip, a gyroscope module, a platform and a terminal, wherein the gyroscope module is connected to an I2C bus interface of the main control chip, the main control chip reads data of the gyroscope module once every 50ms, acceleration and inclination angle information of a vehicle can be acquired, the gyroscope module is also used as one of awakening sources of the terminal, when the acceleration is overlarge or the inclination angle is overlarge, the terminal sends a warning information message to the platform, and the platform sends a short message prompt to a vehicle owner, wherein the model adopted by the gyroscope module is LSM6DSL;
the gyroscope module is used for judging the flatness of the pavement, and the specific processing process is as follows:
(1) Dividing the road condition of the test site intom grades, and then the vehicle speed is changed from 0 to the highest vehicle speed v max Equally dividing into n speed intervals, wherein each interval step length is h,
(2) For each speed interval, the vehicle-mounted experimental device reads data, if the gyroscope module outputs data in a centralized manner, the road surface is smoother, and if the gyroscope module outputs data in a centralized manner, the current speed v epsilon (v) i ,v i+1 ) Reading the vibration times N in one scanning period, wherein the maximum and minimum values of the amplitude of each vibration are respectivelyAnd->Average amplitudeThe threshold value is p percentage points of the average amplitude value, namely the amplitude valueThe points in the system are all filtered out, M vibration points are left, and the variance of the M points is calculatedAnd deducing the grade of the road surface unevenness according to the variance.
2. The gyroscope-based vehicle reliability test data collection analysis system of claim 1, wherein: the CAN communication module is used for collecting data on a vehicle CAN line and comprises whole vehicle condition data, battery data, instrument data, position data and gyroscope data, wherein the model adopted by the CAN communication module is TJA1043T.
3. The gyroscope-based vehicle reliability test data collection analysis system of claim 1, wherein: the GPS positioning module is hung on the periphery of the main control chip through a high-speed serial port, the vehicle sends real-time position information to a background server at intervals of 100ms through the 4G communication module, the position information is marked on a map to form dense points, the points are connected to form a driving route after a period of time, and the model adopted by the GPS positioning module is ATGM336H-5N-7X.
4. The gyroscope-based vehicle reliability test data collection analysis system of claim 1, wherein: the 4G communication module contains a TCP/IP communication protocol, is connected with the main control chip through a serial port, and transmits an AT instruction to control the 4G communication module to be connected to a specified IP and port, and after the 4G communication module is connected with the background server, the main control chip transmits the AT instruction to control the 4G communication module to transmit packed data; the system can also receive command data issued by a background server, send the command data to a main control chip through a USB module, and perform corresponding operation after the main control chip analyzes the data, wherein the model adopted by the 4G communication module is EC20_R2.1_U0101-A.
5. The gyroscope-based vehicle reliability test data collection analysis system of claim 1, wherein: the power supply module is used for expanding the input voltage range to 9-36V and providing 3.3V and 5V power supply voltage for each module, wherein the model of the power supply module is MP1584EN.
6. The gyroscope-based vehicle reliability test data collection analysis system of claim 1, wherein: the EMMC data storage module is used for storing the transmitted data in a txt file form and storing logs in the whole test process; the storage module is hung on the main control chip through the SDIO bus, so that the transmission rate is faster and more efficient, wherein the model adopted by the EMMC data storage module is KLM8G1GEND-B031.
7. According to the weightsThe gyro-based vehicle reliability test data collection and analysis system of claim 3, wherein: when the GPS signal is not available, the vehicle-mounted experimental device reads the gyroscope data according to the formulaAnd calculating offset distances of the vehicle left, right, front and back, and calculating an offset route according to the offset distances, and supplementing the offset route to the driving route.
8. The vehicle reliability test data collection and analysis method based on the gyroscope is characterized by comprising the following steps of: the method specifically comprises the following steps:
(1) Setting a gyroscope data reading period to be less than half of a GPS data reading period, and setting the GPS data reading period to be not more than 100 milliseconds;
(2) During the GPS data reading period, before the position of the vehicle body is marked, the gyroscope module reads twice, the first reading is compared with the second reading of the previous period, the second reading is compared with the first reading of the current period, and in one GPS data reading period, whether the vehicle body has yaw or not is judged after the two gyroscope data reading and comparison are completed, namely whether the vehicle body has left and right acceleration or not is judged;
(3) If the car body does not have yaw condition, marking the route according to the GPS signal; if the vehicle body has yaw, the read gyroscope data has a leftward or rightward acceleration value, the yaw distance is calculated according to the signal duration, and the yaw distance is compared with the GPS read position for integration and optimization, and the optimized data is used as data for forming a route;
(4) In the step 2, the evenness of the road surface can be judged by the data read by the gyroscope module, when the road surface is bumpy, the vehicle body can generate intense left-right inclination and up-down vibration, different data sets can be generated on the same bumpy road surface along with different vehicle speeds, and the data are filtered by a median average filtering algorithm to obtain available data values; comparing the measured flatness with the actual flatness, and correcting the threshold value if deviation exists;
the gyroscope module is used for judging the flatness of the pavement, and the specific processing process is as follows:
(1) Dividing the road condition of the test site into m grades, and then changing the vehicle speed from 0 to the highest vehicle speed v max Equally dividing into n speed intervals, wherein each interval step length is h,
(2) For each speed interval, the vehicle-mounted experimental device reads data, if the gyroscope module outputs data in a centralized manner, the road surface is smoother, and if the gyroscope module outputs data in a centralized manner, the current speed v epsilon (v) i ,v i+1 ) Reading the vibration times N in one scanning period, wherein the maximum and minimum values of the amplitude of each vibration are respectivelyAnd->Average amplitudeThe threshold value is p percentage points of the average amplitude value, namely the amplitude valueThe points in the system are all filtered out, M vibration points are left, and the variance of the M points is calculatedAnd deducing the grade of the road surface unevenness according to the variance.
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| CN110162449A (en) * | 2019-03-26 | 2019-08-23 | 北京海益同展信息科技有限公司 | Date storage method and device during Internet data center's inspection |
| CN110333083B (en) * | 2019-06-27 | 2021-12-07 | 中国第一汽车股份有限公司 | Vehicle durability test testing method and device, testing equipment and storage medium |
| CN110715685A (en) * | 2019-10-18 | 2020-01-21 | 北京工业大学 | Road surface driving quality detection method based on smart phone |
| CN111238825B (en) * | 2020-01-10 | 2021-05-18 | 东南大学 | Intelligent driving automatic emergency braking performance testing method for combined test pavement |
| CN113830107A (en) * | 2021-10-18 | 2021-12-24 | 启东达普电子有限公司 | Automobile self-adaptive power intelligent driving system and method |
| CN116592863B (en) * | 2023-05-06 | 2023-10-20 | 苏州如涵科技有限公司 | Gyroscope module precision measurement and optimization method |
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