CN109490569B - Vehicle speed calculation method - Google Patents
Vehicle speed calculation method Download PDFInfo
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- CN109490569B CN109490569B CN201811534713.0A CN201811534713A CN109490569B CN 109490569 B CN109490569 B CN 109490569B CN 201811534713 A CN201811534713 A CN 201811534713A CN 109490569 B CN109490569 B CN 109490569B
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- G—PHYSICS
- 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
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
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Abstract
The invention discloses a vehicle speed calculation method, which comprises the following steps: rotation number of turns Q of automobile left wheel in cycle time is obtained through left half shaft rotation detection assembly1(ii) a The number of rotation turns Q of the right wheel of the automobile in the period time is obtained through the right half shaft rotation detection assembly2(ii) a According to the rotation ringNumber Q1Obtaining the wheel speed V of the left wheel of the automobile1(ii) a According to the number of turns Q2Obtaining the wheel speed V of the right wheel of the automobile2(ii) a Comparing wheel speed V1Speed of the wheel V2(ii) a If the wheel speed V1Speed of the wheel V2Is greater than 25% -35% of the smaller of the two, the vehicle speed value is equal to the wheel speed V1Speed of the wheel V2The larger of (a); if the wheel speed V1Speed of the wheel V2Is less than or equal to 25% -35% of the smaller value of the two, the vehicle speed value is equal to the wheel speed V1Speed of the wheel V2Average value of (a). The number of rotation turns Q of the left wheel of the automobile in the period time is disclosed1And the number of rotation turns Q of the right wheel of the automobile in the period time2The speed is calculated, errors caused by the fact that the rotating speed of an output shaft of the gearbox is inconsistent with the rotating speed of wheels are effectively avoided, and therefore the accuracy of calculating the speed of the automobile is improved.
Description
Technical Field
The invention relates to the field of automobile speed calculation, in particular to a speed calculation method.
Background
Vehicle speed is typically calculated from the rotational speed of the transmission output shaft. And the power output by the output shaft of the gearbox needs to be transmitted to wheels through a transmission shaft, a differential and the like. The gear ratio and the gear accuracy of the differential affect the consistency of the wheel speed and the rotational speed of the output shaft of the gearbox. Due to gear wear and the presence of backlash in the gear mesh, errors can occur between the wheel speed and the vehicle speed calculated from the rotational speed of the gearbox output shaft. In addition, an increase in the transmission ratio will result in a further increase in the error between the wheel speed and the vehicle speed.
Therefore, how to provide a vehicle speed calculation method capable of improving the accuracy of the vehicle speed becomes a technical problem which needs to be solved urgently in the field.
Disclosure of Invention
The invention aims to provide a new technical scheme of a vehicle speed calculating method capable of improving the accuracy of the vehicle speed of an automobile.
According to a first aspect of the invention, a vehicle speed calculation method is provided.
The vehicle speed calculation method comprises the following steps:
a left half shaft rotation detection component and a right half shaft rotation detection component are respectively arranged on a left half shaft and a right half shaft of the automobile;
rotation number of turns Q of automobile left wheel in cycle time is obtained through left half shaft rotation detection assembly1；
The number of rotation turns Q of the right wheel of the automobile in the period time is obtained through the right half shaft rotation detection assembly2；
According to the number of turns Q1Obtaining the wheel speed V of the left wheel of the automobile1；
According to the number of turns Q2Obtaining the wheel speed V of the right wheel of the automobile2；
Comparing wheel speed V1Speed of the wheel V2；
If the wheel speed V1Speed of the wheel V2Is greater than 25% -35% of the smaller of the two, the vehicle speed value is equal to the wheel speed V1Speed of the wheel V2The larger of (a);
if the wheel speed V1Speed of the wheel V2Is less than or equal to 25% -35% of the smaller value of the two, the vehicle speed value is equal to the wheel speed V1Speed of the wheel V2Average value of (a).
Optionally, left side semi-axis rotates detection subassembly and includes left ring gear and left ring gear number of teeth count sensor, left side ring gear with left ring gear number of teeth count sensor all installs on car left side semi-axis, just left side ring gear number of teeth count sensor is set up to be used for detecting the number of teeth T that left side ring gear was rotated in cycle time1。
Optionally, the number of turns Q1＝T1/t1Wherein, t1The number of teeth of the left ring gear.
Optionally, the wheel speed V1＝360*L*Q1Wherein L is the tire rolling circumference, wheel speed V1The unit of (b) is km/h.
Optionally, the right half shaft rotation detection assembly includes a right gear ring and a right gear ring tooth count sensor, the right gear ring and the right gear ring tooth count sensor are both mounted on the right half shaft of the vehicle, and the right gear ring tooth count sensor is configured to detect the number of teeth T that the right gear ring has rotated within the cycle time2。
Optionally, the number of turns Q2＝T2/t2Wherein, t2The number of teeth of the right gear ring.
Optionally, the wheel speed V2＝360*L*Q2Wherein L is the tire rolling circumference, wheel speed V2The unit of (b) is km/h.
Optionally, the cycle time is 5ms or 10 ms.
Alternatively, if the wheel speed V is1Speed of the wheel V2Is greater than 30% of the smaller of the two, the vehicle speed value is equal to the wheel speed V1Speed of the wheel V2The larger of these.
Alternatively, if the wheel speed V is1Speed of the wheel V2Is less than or equal to 30% of the smaller of the two, the vehicle speed value is equal to the wheel speed V1Speed of the wheel V2Average value of (a).
The vehicle speed calculation method disclosed by the invention is implemented through the rotating number Q of the left wheel of the automobile in the period time1And the number of rotation turns Q of the right wheel of the automobile in the period time2The speed is calculated, errors caused by the fact that the rotating speed of an output shaft of the gearbox is inconsistent with the rotating speed of wheels are effectively avoided, and therefore the accuracy of calculating the speed of the automobile is improved.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow chart of an embodiment of a vehicle speed calculation method of the present disclosure.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
As shown in fig. 1, the vehicle speed calculation method of the present disclosure includes the steps of:
step S01: a left half shaft rotation detection assembly and a right half shaft rotation detection assembly are respectively arranged on a left half shaft and a right half shaft of the automobile. The left and right axle rotation detection assemblies may be, for example, sensors or the like.
Step S02: rotation number of turns Q of automobile left wheel in cycle time is obtained through left half shaft rotation detection assembly1. The period time can be adjusted according to actual requirementsAnd (4) setting actively.
Step S03: the number of rotation turns Q of the right wheel of the automobile in the period time is obtained through the right half shaft rotation detection assembly2. The period time can be flexibly set according to actual requirements.
Step S04: according to the number of turns Q1Obtaining the wheel speed V of the left wheel of the automobile1. Wheel speed V of automobile left wheel1Can be obtained by table look-up and the like. For example, the number of turns Q is obtained by experiment1Speed of the wheel V1When the number of turns Q is turned1When the wheel speed is determined, the wheel speed V can be found through the relation table1。
Step S05: according to the number of turns Q2Obtaining the wheel speed V of the right wheel of the automobile2. Wheel speed V of right wheel of automobile2Can be obtained by table look-up and the like. For example, the number of turns Q is obtained by experiment2Speed of the wheel V2When the number of turns Q is turned2When the wheel speed is determined, the wheel speed V can be found through the relation table2。
Step S06: comparing wheel speed V1Speed of the wheel V2。
Step S07: if the wheel speed V1Speed of the wheel V2Is greater than 25% -35% of the smaller of the two, the vehicle speed value is equal to the wheel speed V1Speed of the wheel V2The larger of these. When the wheel speed V1Speed of the wheel V2Is greater than 25% -35 of the smaller of the two, indicating a wheel speed V1Speed of the wheel V2The smaller value of the speed difference is larger error, and the speed value can be taken as the wheel speed V1Speed of the wheel V2To avoid the problem of increased vehicle speed error caused by wheel speed error.
Step S08: if the wheel speed V1Speed of the wheel V2Is less than or equal to 25% -35% of the smaller value of the two, the vehicle speed value is equal to the wheel speed V1Speed of the wheel V2Average value of (a). When the wheel speed V1Speed of the wheel V2Is less than or equal to 25% -35 of the smaller of the two, indicating a wheel speed V1Speed of the wheel V2All have no great error, can dereference the speed value of a motor vehicle as the wheel this momentSpeed V1Speed of the wheel V2To reduce the velocity V of the wheel1Speed of the wheel V2The vehicle speed error due to the error of (2) increases.
The vehicle speed calculation method disclosed by the invention is implemented through the rotating number Q of the left wheel of the automobile in the period time1And the number of rotation turns Q of the right wheel of the automobile in the period time2The speed is calculated, errors caused by the fact that the rotating speed of an output shaft of the gearbox is inconsistent with the rotating speed of wheels are effectively avoided, and therefore the accuracy of calculating the speed of the automobile is improved.
In one embodiment of the disclosed vehicle speed calculation method, the left half-shaft rotation detection assembly includes a left gear ring and a left gear ring tooth number counting sensor, both of which are mounted on the left half-shaft of the vehicle. The tooth number counting sensor of the left gear ring can be used for detecting the number T of the teeth rotated by the left gear ring in the period time1. During specific implementation, the left gear ring can be sleeved on the left half shaft, and the left gear ring tooth number reading sensor can be fixedly connected with the left half shaft.
Further, the number of turns Q1＝T1/t1Wherein, t1The number of teeth of the left ring gear.
Further, the wheel speed V1＝360*L*Q1Wherein L is the tire rolling circumference, wheel speed V1The unit of (b) is km/h. The rolling circumference of the tire is the circumference of the surface of the tire in contact with the ground.
In one embodiment of the disclosed vehicle speed calculating method, the right half shaft rotation detecting assembly comprises a right gear ring and a right gear ring tooth count sensor, and the right gear ring tooth count sensor are both mounted on the right half shaft of the vehicle. The right gear ring tooth number counting sensor can be used for detecting the tooth number T rotated by the right gear ring in the period time2. During specific implementation, the right gear ring can be sleeved on the right half shaft, and the right gear ring tooth number reading sensor can be fixedly connected with the right half shaft.
Further, Q2＝T2/t2Wherein, t2The number of teeth of the right gear ring.
Further, V2＝360*L*Q2Wherein L is the tire rolling circumference, wheel speed V2The unit of (b) is km/h.
In one embodiment of the vehicle speed calculation method of the present disclosure, the cycle time is 5ms or 10 ms.
In one embodiment of the disclosed vehicle speed calculating method, in order to further improve the accuracy of vehicle speed calculation, if the wheel speed V is higher than the speed threshold V, the vehicle speed calculation is performed at a higher speed1Speed of the wheel V2Is greater than 30% of the smaller of the two, the vehicle speed value is equal to the wheel speed V1Speed of the wheel V2The larger of these.
In one embodiment of the disclosed vehicle speed calculating method, in order to further improve the accuracy of vehicle speed calculation, if the wheel speed V is higher than the speed threshold V, the vehicle speed calculation is performed at a higher speed1Speed of the wheel V2Is less than or equal to 30% of the smaller of the two, the vehicle speed value is equal to the wheel speed V1Speed of the wheel V2Average value of (a).
Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (10)
1. A vehicle speed calculation method is characterized by comprising the following steps:
a left half shaft rotation detection component and a right half shaft rotation detection component are respectively arranged on a left half shaft and a right half shaft of the automobile;
rotation number of turns Q of automobile left wheel in cycle time is obtained through left half shaft rotation detection assembly1；
The number of rotation turns Q of the right wheel of the automobile in the period time is obtained through the right half shaft rotation detection assembly2；
According to the number of turns Q1Obtaining the wheel speed V of the left wheel of the automobile1；
According to the number of turns Q2Obtaining the wheel speed V of the right wheel of the automobile2；
Comparing wheel speed V1Speed of the wheel V2；
If the wheel speed V1Speed of the wheel V2Is greater than 25% -35% of the smaller of the two, the vehicle speed value is equal to the wheel speed V1Speed of the wheel V2The larger of (a);
if the wheel speed V1Speed of the wheel V2Is less than or equal to 25% -35% of the smaller value of the two, the vehicle speed value is equal to the wheel speed V1Speed of the wheel V2Average value of (a).
2. The vehicle speed calculation method according to claim 1, wherein the left half-shaft rotation detection module includes a left ring gear and a left ring gear teeth number count sensor, both of which are mounted on a left half shaft of the automobile, and the left ring gear teeth number count sensor is provided for detecting the number of teeth T that the left ring gear has rotated within a cycle time1。
3. The vehicle speed calculation method according to claim 2, characterized in that the number of rotations Q is1＝T1/t1Wherein, t1The number of teeth of the left ring gear.
4. The vehicle speed calculation method according to claim 3, characterized in that the wheel speed V1＝360*L*Q1Wherein L is the tire rolling circumference, wheel speed V1The unit of (b) is km/h.
5. The vehicle speed calculation method according to claim 1, wherein the right axle rotation detection module includes a right ring gear and a right ring gear tooth count sensor, both of which are mounted on a right axle of the vehicle, and the right ring gear tooth count sensor is provided for detecting the number T of teeth that the right ring gear has rotated within a cycle time2。
6. The vehicle speed calculation method according to claim 5, characterized in that the number of rotations Q2＝T2/t2Wherein, t2The number of teeth of the right gear ring.
7. The vehicle speed calculation method according to claim 6, characterized in that the wheel speed V2＝360*L*Q2Wherein L is the tire rolling circumference, wheel speed V2The unit of (b) is km/h.
8. The vehicle speed calculation method according to any one of claims 1 to 7, characterized in that the cycle time is 5ms or 10 ms.
9. The vehicle speed calculation method according to any one of claims 1 to 7, wherein the wheel speed V is set1Speed of the wheel V2Is greater than 30% of the smaller of the two, the vehicle speed value is equal to the wheel speed V1Speed of the wheel V2The larger of these.
10. The vehicle speed calculation method according to any one of claims 1 to 7, wherein the wheel speed V is set1Speed of the wheel V2Is less than or equal to 30% of the smaller of the two, the vehicle speed value is equal to the wheel speed V1Speed of the wheel V2Average value of (a).
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| CN201811534713.0A CN109490569B (en) | 2018-12-14 | 2018-12-14 | Vehicle speed calculation method |
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| CN201811534713.0A CN109490569B (en) | 2018-12-14 | 2018-12-14 | Vehicle speed calculation method |
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| CN114229385B (en) * | 2022-01-18 | 2024-05-03 | 华能铜川照金煤电有限公司 | Method and device for outputting rotation speed of coal feeder of thermal power plant based on double rotation speed sensors |
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| JP3185614B2 (en) * | 1995-07-04 | 2001-07-11 | トヨタ自動車株式会社 | Body speed detector |
| JPH09196954A (en) * | 1996-01-12 | 1997-07-31 | Fujitsu Ten Ltd | Vehicle speed calculation device for electronic type automatic speed change gear |
| JP4363118B2 (en) * | 2003-08-07 | 2009-11-11 | 株式会社ジェイテクト | Road surface state determination method and road surface state determination device |
| JP4938598B2 (en) * | 2007-09-06 | 2012-05-23 | トヨタ自動車株式会社 | Vehicle control device |
| CN101197072B (en) * | 2008-01-09 | 2011-11-02 | 吉林大学 | Wheel velocity signal capturing system |
| JP5174609B2 (en) * | 2008-10-10 | 2013-04-03 | 日立オートモティブシステムズ株式会社 | Driving support device |
| CN102539812B (en) * | 2012-02-14 | 2013-11-06 | 奇瑞汽车股份有限公司 | Method and device for acquiring speed of automobile |
| CN103963723B (en) * | 2013-02-01 | 2016-07-13 | 广州汽车集团股份有限公司 | The acquisition system of effective speed of vehicle and acquisition methods thereof |
| CN104477164B (en) * | 2014-11-20 | 2018-03-13 | 北京新能源汽车股份有限公司 | A kind of pure electric automobile Driving Antiskid Control System and its method |
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Address after: 230601 No. 99 Ziyun Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Anhui Jianghuai Automobile Group Limited by Share Ltd Address before: 230601 No. 669 Shixin Road, Taohua Industrial Park, Hefei City, Anhui Province Applicant before: Anhui Jianghuai Automobile Group Limited by Share Ltd |
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