CN109406816B - Method for calculating vehicle speed based on wheel speed sensor - Google Patents
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- CN109406816B CN109406816B CN201811434070.2A CN201811434070A CN109406816B CN 109406816 B CN109406816 B CN 109406816B CN 201811434070 A CN201811434070 A CN 201811434070A CN 109406816 B CN109406816 B CN 109406816B
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- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
Abstract
The invention discloses a method for calculating a vehicle speed based on a wheel speed sensor, wherein if four wheels are in a brake locking state, an ECU outputs a vehicle speed of 0km/h and a vehicle speed signal is invalid; if at least one wheel is not locked by braking, the speed of the wheel is the average value of the sum of the speeds of wheel speed sensors of the wheels which are not locked by braking, if all four wheels are in a driving slipping state, the ECU outputs the speed of the wheel to be 0km/h, and the speed signal is invalid; if at least one wheel does not slip, the wheel speed is the average value of the sum of the wheel speeds of the wheel speed sensors which do not drive the slipping wheel. The running speed of the vehicle is calculated according to a wheel speed sensor of the ABS system, and compared with a traditional vehicle speed sensor, the vehicle speed calculated based on the wheel speed sensor has the advantages of higher reliability and higher precision; meanwhile, the traditional vehicle speed sensor is not required to be installed on the whole vehicle, and the manufacturing cost of the whole vehicle is reduced.
Description
Technical Field
The invention relates to the technical field of automobile electronic control systems, in particular to a method for calculating a vehicle speed based on a wheel speed sensor.
Background
Currently, there are two types of vehicle speed calculation:
one is to calculate the vehicle speed by using the rotational speed of the output shaft of the gearbox. The calculation formula is vehicle speed-rotation speed (gearbox output shaft)/main reducer speed ratio multiplied by tire rolling radius multiplied by 2 pi. According to the calculation scheme, under the condition that any one driving wheel slips or is locked by braking, the calculated vehicle speed can not reflect the real vehicle speed at all and is larger or smaller than the actual vehicle speed. For example, when the vehicle is stationary and the left and rear wheels slip, the transmission output shaft speed is 300r/min, the final drive speed ratio is 5.3, the tire rolling radius is 0.67m, and the vehicle speed calculated according to the above formula is 14.2km/h, which is a serious error.
The other is to calculate the vehicle speed using a wheel speed sensor of the ABS system. The general calculation method is that the vehicle speed is (the rotation speed of a right front wheel speed sensor + the rotation speed of a right rear wheel speed sensor + the rotation speed of a left front wheel speed sensor + the rotation speed of a left rear wheel speed sensor) × the rolling radius of the tire × 2 pi/4. In the scheme, under the condition that any one driving wheel slips or is locked by braking, the calculated vehicle speed can not reflect the real vehicle speed at all and is larger or smaller than the actual vehicle speed. For example, when the vehicle is stationary and the left and rear wheels slip, the rotational speed of the output shaft of the transmission is 300r/min, the rotational speed of the front right wheel speed sensor is 0r/min, the rotational speed of the rear right wheel speed sensor is 58r/min, the rotational speed of the front left wheel speed sensor is 0r/min, the rotational speed of the rear left wheel speed sensor is 58r/min, the rolling radius of the tire is 0.67m, and the vehicle speed calculated according to the above formula is 7.3km/h, which is a serious error.
Disclosure of Invention
The invention aims to provide a method for calculating the vehicle speed based on a wheel speed sensor, which has higher reliability and higher precision in order to overcome the defects of the prior art.
In order to achieve the above purpose, the method for calculating the vehicle speed based on the wheel speed sensor provided by the invention comprises the following specific processes:
1) initialization
The ECU detects the working states of the four wheel speed sensors, and if the signals of the four wheel speed sensors are normal, step 2) is executed;
2) the ECU detects whether a brake pedal is stepped on, if so, the step 3) is executed, and if not, the step 4) is executed;
3) the ECU judges whether the four wheels are locked by braking, if the four wheels are in the locked state, the ECU outputs a speed of 0km/h and the speed signal is invalid; if at least one wheel is not locked by braking, the speed of the wheel is the average value of the sum of the speeds of wheel speed sensors of the wheels which are not locked by braking, namely the speed is the speed of the wheel multiplied by the rolling radius of the wheel, and the speed signal is valid;
4) the ECU judges whether the four wheels slip or not, if the four wheels are in a driving slipping state, the ECU outputs a speed of 0km/h and the speed signal is invalid; if at least one wheel does not slip, the wheel speed is the average value of the sum of the wheel speeds of the wheel speed sensors which do not drive the slipping wheel, namely the wheel speed is the wheel speed multiplied by the wheel rolling radius, and the wheel speed signal is valid.
Further, in step 1), if at least one wheel speed sensor signal is abnormal, the following steps are executed:
if any wheel speed sensor signal is abnormal, the wheel speed is equal to (the wheel speed of the wheel speed sensor with normal drive axle signal + the wheel speed of the non-drive axle wheel speed sensor at the opposite angle)/2, namely the vehicle speed is equal to the wheel speed multiplied by the wheel rolling radius, and the vehicle speed signal is valid;
if any two wheel speed sensor signals are abnormal, the wheel speed is equal to the sum of the wheel speeds of the other two wheel speed sensors with normal signals/2, namely the vehicle speed is equal to the wheel speed multiplied by the wheel rolling radius, and the vehicle speed signal is valid;
if any three wheel speed sensor signals are abnormal, the wheel speed is equal to the wheel speed of the wheel speed sensor with normal signals, namely the vehicle speed is equal to the wheel speed multiplied by the wheel rolling radius, and the vehicle speed signal is valid;
if all the four wheel speed sensor signals are abnormal, the vehicle speed is 0km/h, and the vehicle speed signal is invalid.
Further, in the step 3), the emergency braking locking judgment basis is as follows: the locking coefficient is 100% -the rotating speed of any wheel/the average rotating speed of the wheel, if the locking coefficient is more than 20%, the wheel is judged to be locked by braking, and the average rotating speed of the wheel is the average value of the sum of the rotating speeds of the four wheel speed sensors.
Further, in the step 4), the slip determination is based on: and if the slip coefficient is larger than 20%, the wheel is judged to be driven to slip, and the average wheel speed is the average value of the sum of the wheel speeds of the four wheel speed sensors.
Compared with the prior art, the invention has the following advantages: compared with the traditional vehicle speed sensor, the method for calculating the vehicle speed based on the wheel speed sensor has the advantages of higher reliability and higher precision; meanwhile, the traditional vehicle speed sensor is not required to be installed on the whole vehicle, and the manufacturing cost of the whole vehicle is reduced.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for calculating a vehicle speed based on a wheel speed sensor according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
The method for calculating the vehicle speed based on the wheel speed sensors comprises the steps that the wheel speed sensors on all wheels are installed by an ABS system, and whether the wheel speed sensors on all the wheels have faults or not and the wheel rotating speed under the condition of no faults are analyzed and calculated by an ABS system controller; calculating the average tire rotating speed of the whole vehicle under various working conditions by using four wheel speed sensors of the Right Front (RF), the Left Front (LF), the Right Rear (RR) and the Left Rear (LR) of the whole vehicle; and then the speed of the whole vehicle is calculated through the rolling radius of the wheels and the speed ratio of a main reducer, and the specific process is as follows:
1) initialization
The ECU detects the working states of four wheel speed sensors, if signals of the four wheel speed sensors are normal, step 2) is executed, and if at least one signal of the wheel speed sensor is abnormal, step 5) is executed;
2) the ECU detects whether a brake pedal is stepped on, if so, the step 3) is executed, and if not, the step 4) is executed;
3) the ECU judges whether the four wheels are locked by braking, if the four wheels are in the locked state, the ECU outputs a speed of 0km/h and the speed signal is invalid; if at least one wheel is not locked by braking, the speed of the wheel is the average value of the sum of the speeds of wheel speed sensors of the wheels which are not locked by braking, namely the speed is the speed of the wheel multiplied by the rolling radius of the wheel, and the speed signal is valid;
wherein, emergency braking locking judges according to: if the locking coefficient is larger than 20%, the wheel is judged to be locked by braking, and the average wheel speed is the average value of the sum of the wheel speeds of the four wheel speed sensors;
4) the ECU judges whether the four wheels slip or not, if the four wheels are in a driving slipping state, the ECU outputs a speed of 0km/h and the speed signal is invalid; if at least one wheel does not slip, the speed of the wheel is the average value of the sum of the speeds of wheel speed sensors which do not drive the slipping wheel, namely the speed of the wheel is the speed of the wheel multiplied by the rolling radius of the wheel, and the speed signal is valid;
wherein, the skid judgment basis is as follows: if the slip coefficient is larger than 20%, the wheel is judged to be driven to slip, and the average wheel speed is the average value of the sum of the wheel speeds of the four wheel speed sensors;
5) if any wheel speed sensor signal is abnormal, the wheel speed is equal to (the wheel speed of the wheel speed sensor with normal drive axle signal + the wheel speed of the non-drive axle wheel speed sensor at the opposite angle)/2, namely the vehicle speed is equal to the wheel speed multiplied by the wheel rolling radius, and the vehicle speed signal is valid;
if any two wheel speed sensor signals are abnormal, the wheel speed is equal to the sum of the wheel speeds of the other two wheel speed sensors with normal signals/2, namely the vehicle speed is equal to the wheel speed multiplied by the wheel rolling radius, and the vehicle speed signal is valid;
if any three wheel speed sensor signals are abnormal, the wheel speed is equal to the wheel speed of the wheel speed sensor with normal signals, namely the vehicle speed is equal to the wheel speed multiplied by the wheel rolling radius, and the vehicle speed signal is valid;
if all the four wheel speed sensor signals are abnormal, the vehicle speed is 0km/h, and the vehicle speed signal is invalid.
In the calculation method, if 1-3 signals of the wheel speed sensors are abnormal, the wheel speed calculation of the average wheel speed sensor can cause the calculation accuracy to be greatly reduced due to too few effective wheel speed samples of the wheel speed sensors, so the method is not adopted for calculating the wheel speed.
The method for calculating the vehicle speed based on the wheel speed sensor is analyzed in detail through specific test comparison data.
The speed calculated by three methods is compared with the actual speed measured by a professional Doppler velocimeter on a driving wheel slipping and idling, an ice and snow road surface (poor ground adhesion) and an asphalt road surface (good ground adhesion), and the calculated speed is analyzed to be closest to the actual speed measured by the professional Doppler velocimeter, so that the effectiveness of the method for calculating the speed based on the wheel speed sensor is powerfully proved.
The relevant parameters of the tested vehicle are described as Dongfeng Kampter N300, the speed ratio of the main speed reducer is 5.3, and the rolling radius of the wheel is 0.67 m.
The working condition I is as follows: the vehicle is stationary, the vehicle is started in normal operation, then the opening degree of an accelerator pedal is stepped from 0 percent (released) to 100 percent at a constant speed within 90 seconds (completely stepped on to the bottom), and the driving wheel slips and idles. When the Doppler velocimeter displays that the vehicle speed is about 60km/h, the accelerator is urgently released, and then the opening degree of the brake pedal is stepped to 100% at a constant speed within 90 seconds (completely stepped to the bottom) from 0% (released).
TABLE 1
Analyzing the collected data to draw the conclusion that the vehicle has the following under the condition that the driving wheels slip and idle:
under the driving condition, the vehicle speed calculated by the method is basically consistent with the actual vehicle speed (the vehicle speed recorded by the Doppler velocimeter) of the vehicle, and the contact ratio is as high as 100%. The numerical deviation is larger along with the higher the engine speed, the higher the vehicle speed calculated by the vehicle speed sensor and the vehicle speed calculated by the general wheel speed sensor algorithm and the actual vehicle speed of the vehicle, wherein the vehicle speed calculated by the vehicle speed sensor is twice larger than the vehicle speed deviation calculated by the general wheel speed sensor algorithm.
Under the condition of braking, the vehicle speed calculated by the method is basically consistent with the actual vehicle speed (the vehicle speed recorded by the Doppler velocimeter) of the vehicle, and the contact ratio is as high as 100%. The numerical deviation is larger along with the higher the engine speed, the higher the vehicle speed calculated by the vehicle speed sensor and the vehicle speed calculated by the general wheel speed sensor algorithm and the actual vehicle speed of the vehicle, wherein the vehicle speed calculated by the vehicle speed sensor is twice larger than the vehicle speed deviation calculated by the general wheel speed sensor algorithm.
Working conditions are as follows: the vehicle is stationary on ice and snow road (poor ground adhesion), the vehicle is started in normal operation, and then the accelerator pedal is stepped from 0% (released) to 100% (completely stepped) at constant speed within 90 seconds. When the Doppler velocimeter displays that the vehicle speed is about 60km/h, the accelerator is urgently released, and then the opening degree of the brake pedal is stepped to 100% at a constant speed within 90 seconds (completely stepped to the bottom) from 0% (released).
TABLE 2
Analyzing the collected data to draw the conclusion that the vehicle drives on the road with poor ground adhesion as follows:
the more serious the driving slip is (under the condition of starting or rapid acceleration), the vehicle speed calculated by the method of the invention is basically consistent with the actual vehicle speed (the vehicle speed recorded by the Doppler velocimeter) of the vehicle, and the contact ratio is up to more than 99.5%. The more serious the vehicle speed calculated by the vehicle speed sensor and the vehicle speed calculated by the general wheel speed sensor algorithm and the actual vehicle speed of the vehicle slip along with the driving, the higher the numerical value is, wherein the coincidence degree of the vehicle speed calculated by the vehicle speed sensor and the actual vehicle speed of the vehicle is less than 80%, and the coincidence degree of the vehicle speed calculated by the general wheel speed sensor algorithm and the actual vehicle speed of the vehicle is less than 90%.
Under the condition of emergency braking, the vehicle speed calculated by the method is basically consistent with the actual vehicle speed (the vehicle speed recorded by the Doppler velocimeter) of the vehicle, and the contact ratio is up to more than 95%. The more serious the vehicle speed calculated by the vehicle speed sensor and the vehicle speed calculated by the general wheel speed sensor algorithm and the actual vehicle speed of the vehicle along with emergency braking, the higher the numerical value is, wherein the coincidence degree of the vehicle speed calculated by the vehicle speed sensor and the actual vehicle speed of the vehicle is less than 80%, and the coincidence degree of the vehicle speed calculated by the general wheel speed sensor algorithm and the actual vehicle speed of the vehicle is less than 85%.
Working conditions are as follows: the vehicle is stationary on an asphalt pavement (good ground adhesion), the vehicle is started in normal operation, and then the opening of an accelerator pedal is stepped from 0 percent (released) to 100 percent (completely stepped on) at a constant speed within 120 seconds. When the Doppler velocimeter displays that the vehicle speed is about 60km/h, the accelerator is urgently released, and then the opening degree of the brake pedal is stepped to 100% at a constant speed within 120 seconds (completely stepped to the bottom).
TABLE 3
The data collected above are analyzed to draw the conclusion that the vehicle drives on the road with good ground adhesion as follows:
under the condition that the driving force is slowly increased/reduced, the speed calculated by a speed sensor, the speed calculated by a general wheel speed sensor algorithm, the speed calculated by the method of the invention and the actual speed of the vehicle (the speed recorded by a Doppler velocimeter) are basically consistent, and the contact ratio is as high as more than 99%.
Under the condition that the braking force is slowly increased/reduced, the speed calculated by a speed sensor, the speed calculated by a general wheel speed sensor algorithm, the speed calculated by the method of the invention and the actual speed of the vehicle (the speed recorded by a Doppler velocimeter) are basically consistent, and the contact ratio is up to more than 99%.
Claims (1)
1. A method for calculating vehicle speed based on a wheel speed sensor is characterized in that: the specific process is as follows:
1) initialization
The ECU detects the working states of the four wheel speed sensors, and if the signals of the four wheel speed sensors are normal, step 2) is executed;
if at least one wheel speed sensor signal is abnormal, executing the following steps:
if any wheel speed sensor signal is abnormal, the wheel speed is equal to (the wheel speed of the wheel speed sensor with normal drive axle signal + the wheel speed of the non-drive axle wheel speed sensor at the opposite angle)/2, namely the vehicle speed is equal to the wheel speed multiplied by the wheel rolling radius, and the vehicle speed signal is valid;
if any two wheel speed sensor signals are abnormal, the wheel speed is equal to the sum of the wheel speeds of the other two wheel speed sensors with normal signals/2, namely the vehicle speed is equal to the wheel speed multiplied by the wheel rolling radius, and the vehicle speed signal is valid;
if any three wheel speed sensor signals are abnormal, the wheel speed is equal to the wheel speed of the wheel speed sensor with normal signals, namely the vehicle speed is equal to the wheel speed multiplied by the wheel rolling radius, and the vehicle speed signal is valid;
if the signals of the four wheel speed sensors are abnormal, the vehicle speed is 0km/h, and the vehicle speed signal is invalid;
2) the ECU detects whether a brake pedal is stepped on, if so, the step 3) is executed, and if not, the step 4) is executed;
3) the ECU judges whether the four wheels are locked by braking, if the four wheels are in the locked state, the ECU outputs a speed of 0km/h and the speed signal is invalid; if at least one wheel is not locked by braking, the speed of the wheel is the average value of the sum of the speeds of wheel speed sensors of the wheels which are not locked by braking, namely the speed is the speed of the wheel multiplied by the rolling radius of the wheel, and the speed signal is valid;
emergency brake locking judgment basis: if the locking coefficient is larger than 20%, the wheel is judged to be locked by braking, and the average wheel speed is the average value of the sum of the wheel speeds of the four wheel speed sensors;
4) the ECU judges whether the four wheels slip or not, if the four wheels are in a driving slipping state, the ECU outputs a speed of 0km/h and the speed signal is invalid; if at least one wheel does not slip, the speed of the wheel is the average value of the sum of the speeds of wheel speed sensors which do not drive the slipping wheel, namely the speed of the wheel is the speed of the wheel multiplied by the rolling radius of the wheel, and the speed signal is valid;
and (4) judging the basis of slipping: and if the slip coefficient is larger than 20%, the wheel is judged to be driven to slip, and the average wheel speed is the average value of the sum of the wheel speeds of the four wheel speed sensors.
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| CN110031019B (en) * | 2019-04-18 | 2021-05-07 | 北京智行者科技有限公司 | Slip detection processing method for automatic driving vehicle |
| CN110749748A (en) * | 2019-10-29 | 2020-02-04 | 常熟理工学院 | Method and device for measuring speed of ignition engine |
| CN112319493B (en) * | 2020-11-17 | 2022-06-14 | 北京三快在线科技有限公司 | Vehicle speed determination method and device, storage medium and vehicle |
| CN113665359A (en) * | 2021-09-10 | 2021-11-19 | 奇瑞商用车（安徽）有限公司 | System and method for acquiring and processing speed signals of speedometer |
| CN113799750B (en) * | 2021-10-22 | 2023-09-12 | 奇瑞商用车（安徽）有限公司 | Method for collecting vehicle speed signal |
| CN114368385B (en) * | 2022-03-21 | 2022-07-15 | 北京宏景智驾科技有限公司 | Cruise control method and apparatus, electronic device, and storage medium |
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| JPH09218044A (en) * | 1995-11-07 | 1997-08-19 | Mando Mach Corp | Behavior detector for vehicle |
| CN101855117A (en) * | 2007-11-09 | 2010-10-06 | 米其林技术公司 | System for generating an estimation of the ground speed of a vehicle from measures of the rotation speed of at least one wheel |
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