CN110053431A - A kind of error compensating method and device measuring vehicle tyre pressure - Google Patents
A kind of error compensating method and device measuring vehicle tyre pressure Download PDFInfo
- Publication number
- CN110053431A CN110053431A CN201910233638.2A CN201910233638A CN110053431A CN 110053431 A CN110053431 A CN 110053431A CN 201910233638 A CN201910233638 A CN 201910233638A CN 110053431 A CN110053431 A CN 110053431A
- Authority
- CN
- China
- Prior art keywords
- value
- wheel
- load
- pitch angle
- automobile
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Measuring Fluid Pressure (AREA)
Abstract
The invention discloses a kind of error compensating methods and device for measuring vehicle tyre pressure, method includes the following steps: the 1) gradient on road surface where estimation automobile current time, enters load compensation model when the gradient is less than preset value；2) pitch angle of the body of a motor car in non-loaded load is obtained, calibration value P1 is set as, the pitch angle for obtaining body of a motor car when having load to load is set as actual value P2；If 3) difference of calibration value and actual value is greater than given threshold, the offset of radius of wheel is calculated according to the difference (P1-P2) of calibration value and actual value.The present invention does not need to reduce the cost of indirect tire pressure monitoring system using to additional sensor.
Description
Technical field
The present invention relates to tire pressure monitoring technology more particularly to it is a kind of measure vehicle tyre pressure error compensating method with
Device.
Background technique
Indirect tire pressure monitoring system (Indirect tire pressure monitoring system) possesses increasingly
It is widely applied, system frequency domain of tach signal and then analyzing ABS system collected wheel speed signal spectrum becomes
Change to judge that tire pressure changes, has compared to traditional tire pressure monitoring system (Tire pressure monitoring system)
The features such as digitlization, cost economic, and one of the important factor in order in its radius of wheel analysis module is vehicle load
Situation will lead to rear axle vehicle wheel roll radius reduction/increase in boot increase/reduction load, in turn result in rear axle/front axle
Deficency erroneous judgement.
In traditional vehicle load compensation system, common method has air suspension (Air suspension
) and axis supreme people's court (Axle Height Method) Method.Air suspension acquires air spring pressure using air suspension,
The pressure value approximation is proportional to the load value on each tire and then to there is the vehicle wheel roll radius under loading condition to mend
Repay amendment；Axis supreme people's court uses the wheel height sensor of hernia lamp being equipped with, between these sensor measurement front axles and chassis away from
From and the distance between rear axle and chassis, load for the vehicle with rigid suspension on these distance values and each axis
It is proportional, load compensation can be carried out by using difference in height.Both compensation methodes are required using to additional sensing
Device, therefore reduce the economy of indirect tire pressure monitoring system.
It needs to design a kind of load compensation system without additional sensors, realizes to the vehicle under vehicle body loading condition
Take turns the practical modified purpose of rolling radius.
Summary of the invention
The technical problem to be solved in the present invention is that for the defects in the prior art, providing a kind of measurement vehicle tyre
The error compensating method and device of pressure.
The technical solution adopted by the present invention to solve the technical problems is: a kind of error benefit measuring vehicle tyre pressure
Compensation method, comprising:
1) gradient on road surface where estimation automobile current time enters load compensation when the gradient is less than gradient preset value
Mode；
2) pitch angle of the body of a motor car in non-loaded load is obtained, calibration value P1 is set as, obtaining body of a motor car has load
Pitch angle when load is set as actual value P2；
If 3) difference of calibration value and actual value is greater than given threshold, counted according to the difference (P1-P2) of calibration value and actual value
Calculate the offset of radius of wheel.
According to the above scheme, in the step 3) offset of radius of wheel be calibration value and actual value difference (P1-P2) and
The product of gain coefficient A, i.e.,
R=R0+ A × (P1-P2), wherein R0For the radius of wheel before compensation, R is the radius of wheel estimated value before compensation.
According to the above scheme, in the step 2) pitch angle and body of a motor car of the body of a motor car in non-loaded load have it is negative
Pitch angle acquisition modes when carrying load are as follows:
It is less than pitch angle data when preset value according to the gradient in vehicle traveling process, is quickly obtained automobile non-loaded
In the case of pitch angle convergency value, be set as calibration value P1 and the convergency value of pitch angle when body of a motor car has load to load,
It is set as actual value P2；
According to the above scheme, in the step 1), gradient preset value is 3 degree.
According to the above scheme, in the step 1), the gradient on road surface uses following methods where estimation automobile current time:
Using the flat data when driving of automobile in the case of setting speed air resistance coefficient and coefficient of rolling friction be fitted, use
The vapour of the difference estimation any moment for the collected pickup of pickup and CAN bus that wheel speed signal difference obtains
Vehicle pitch angle.
According to the above scheme, in the step 1), the gradient on road surface uses following steps where estimation automobile current time:
Model is established to automobile climb and fall situation, it is assumed that the practical tractive force of automobile is equal to the tractive force that engine torque generates
Subtract the difference of windage and force of rolling friction and weight component:
Fa=Fwheel-Fdrag-Froll-Fg
Wherein, FwheelFor the tractive force that engine torque generates, FdragFor windage, FrollFor force of rolling friction, FgFor gravity point
Amount, FaFor the practical tractive force of automobile；
Fa=Ma；
Take turns end tractive force FwheelIt can be by transmission ratio η and engine torque TengineProduct divided by radius of wheel R obtain
Fwheel=Tengine·η/R
Wherein, TengineFor engine torque, directly obtained in CAN bus by sensor；η Wie is for forerunner's type vehicle
Note engine speed ξ, the near front wheel angular velocity omegaFLWith off-front wheel angular velocity omegaFR, it moves as follows than calculation formula:
Windage approximation and vehicle body velocities V's is square directly proportional, and calculation formula is as follows:
Fdrag=CdV2
Gradient α influences where the weight component of automobile is received
Fg=Mgsin α
It is treated using Normal Equation Solutions and asks coefficient car body mass M, air resistance coefficient Cd, coefficient of rolling friction CrIt is fitted,
In the case where there is n group data, the error equation of linear dimensions is
Wherein acceleration a(k)It can be obtained by wheel speed signal difference, therefore we are defined as input matrix X
Output matrix defines Y
Remember undetermined coefficient B=[M；Cd；Cr], it can be obtained by Normal Equation Solutions
B=(XTX)-1XTY
Three values of institute directed quantity B respectively correspond M, Cd, CrMatch value, note match value be M0、Cd0、Cr0, obtain automobile
The mathematical model of climb and fall is
Fwheel=M0a+Cd0V2+Cr0+M0gsinα；
Wheel end tractive force, speed, acceleration are known quantity during automobile actual travel, then the angle of running car
Degree is
A kind of error-compensating apparatus measuring vehicle tyre pressure, comprising:
Load compensation enables determination module, for the gradient on road surface where estimating automobile current time, when the gradient is less than pre-
If enabling load compensation when value；
Single order digital low-pass filtering module, for being less than pitch angle when preset value according to the gradient in vehicle traveling process
Data are quickly obtained the convergency value of automobile pitch angle under immunization with gD DNA vaccine, be set as calibration value P1 and body of a motor car have it is negative
The convergency value for carrying pitch angle when load, is set as actual value P2；
Difference determination module, for judging whether the difference of calibration value and actual value is greater than given threshold；
Compensating module is loaded, for calculating the offset of radius of wheel according to the difference (P1-P2) of calibration value and actual value.
According to the above scheme, the offset for loading radius of wheel in compensating module is the difference of calibration value and actual value
(P1-P2) with the product of gain coefficient A, i.e.,
R=R0+ A × (P1-P2), wherein R0For the radius of wheel before compensation, R is the radius of wheel estimated value before compensation.
According to the above scheme, pitch angle of the body of a motor car in non-loaded load in the single order digital low-pass filtering module,
Pitch angle acquisition modes when having load to load with body of a motor car are as follows:
It is less than pitch angle data when preset value according to the gradient in vehicle traveling process, is quickly obtained automobile non-loaded
In the case of pitch angle convergency value, be set as calibration value P1 and the convergency value of pitch angle when body of a motor car has load to load,
It is set as actual value P2；
According to the above scheme, the load compensation enables in determination module, and gradient preset value is 3 degree.
According to the above scheme, the load compensation enables in determination module, the gradient on road surface where estimation automobile current time
Using following methods: using the flat data when driving of automobile in the case of setting speed air resistance coefficient and rolling friction system
Number is fitted, the difference estimation of the collected pickup of pickup and CAN bus obtained with wheel speed signal difference
The automotive pitch angle of any moment.
The beneficial effect comprise that:
As the slave part of tire pressure monitoring, the present invention does not need to reduce indirect tire pressure using to additional sensor
The cost of monitoring system.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the method flow diagram of the embodiment of the present invention；
Fig. 2 is the running car angle change figure of the embodiment of the present invention；
Fig. 3 is the digital low-pass filtering effect picture of the embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to this hair
It is bright to be further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, and does not have to
It is of the invention in limiting.
As shown in Figure 1, a kind of error compensating method for measuring vehicle tyre pressure, comprising:
1) gradient on road surface where estimation automobile current time, enters load compensation model when the gradient is less than preset value；
The gradient on road surface uses following methods where estimation automobile current time: using the flat data when driving of automobile
To in the case of certain speed air resistance coefficient and coefficient of rolling friction be fitted, added with the automobile that wheel speed signal difference obtains
The automotive pitch angle of speed and the difference of the collected pickup of CAN bus estimation any moment.
It is specific as follows:
First pass through pretreatment stage screen out it is some such as move backward and low speed be unsatisfactory for load compensation require the case where,
Then air resistance coefficient C is gone out according to established vehicle traction models fitting by Normal Equation Solutions againdAnd coefficient of rolling friction
CrAnd then gradient α where current automobile is estimated, enter load compensated stage when α is less than scheduled value,
Due to the surface conditions complexity of vehicle in motion and the relationship between vehicle body tractive force and surface conditions is one
And its complicated system, to system be described with accurate mathematical model to show that accurate system parameter is very tired
Difficult, therefore make following simplification in founding mathematical models:
1, data are all made of level land running data (- 3 ° < α < 3 °) when carrying out parameter fitting.
2, windage is considered as square direct proportionality with speed
3, the force of rolling friction in the case of certain speed is considered as constant
4, calibration value P1 and state value P2 is the average value after convergence rather than instantaneous value
5, give up reversing and low-speed situations in order to avoid influence to model
When establishing model for automobile climb and fall situation, it is believed that the practical tractive force of automobile is equal to leading for engine torque generation
Gravitation subtracts the difference of windage and force of rolling friction and weight component.
Fa=Fwheel-Fdrag-Froll-Fg
The practical tractive force F of vehicle bodyaIt can be obtained by Newton's second law
Fa=Ma
Take turns end tractive force FwheelIt can be by transmission ratio η and engine torque TengineProduct divided by radius of wheel R obtain
Fwheel=Tengine·η
Engine torque TengineIt can directly be obtained in CAN bus by sensor, forerunner's type vehicle note engine is turned
Fast ξ, the near front wheel angular velocity omegaFLWith off-front wheel angular velocity omegaFR, it moves as follows than calculation formula:
Windage approximation and vehicle body velocities V's is square directly proportional, and calculation formula is as follows:
Fdrag=CdV2
Gradient α influences where the weight component of automobile is received
Fg=Mgsin α
After establishing mathematical model can Normal Equation Solutions treat and ask coefficient car body mass M, air resistance coefficient Cd, rolling
Dynamic friction coefficient CrIt is fitted, in the case where there is n group data, the error equation of linear dimensions is
Wherein acceleration a(k)It can be obtained by wheel speed signal difference, therefore we are defined as input matrix X
Output matrix defines Y
Remember undetermined coefficient B=[M；Cd；Cr], it can be obtained by Normal Equation Solutions
B=(XTX)-1XTY
Three values of institute directed quantity B respectively correspond M, Cd, CrMatch value, note match value be M0、Cd0、Cr0, available
The mathematical model of automobile climb and fall is
Fwheel=M0a+Cd0V2+Cr0+M0gsinα
Wheel end tractive force, speed, acceleration are known quantity during automobile actual travel, then the angle of running car
Degree is
Angle change curve is as shown in Figure 2.
Lead in the load collected longitudinal acceleration a of compensated stage CAN busx, the obtained longitudinal direction of wheel speed signal difference adds
Speed VxRelationship between vehicle body angle can be used following relationship to indicate
ax-Vx≈gθ
P=ax-Vx
2) pitch angle of the body of a motor car in non-loaded load is obtained, calibration value P1 is set as, obtaining body of a motor car has load
Pitch angle when load is set as actual value P2；
When obtaining the pitch angle of automobile, using single order digital low-pass filtering, the first stage, we used a biggish filter
Wave factor beta1Make automobile quick convergence of approximation value under immunization with gD DNA vaccine, then uses a lesser filter factor β2Make automobile
The smoothly convergence of approximation value under immunization with gD DNA vaccine, we remember that the convergency value is calibration value P1 after reaching convergence state, then
Continuous input automobile have the data under loading condition reach convergency value P2 (attention reach between P1 value and P2 value when
Between interval be no more than T), we by the difference (P1-P2) of convergency value and calibration value and the product of gain coefficient A as wheel partly
The offset of diameter.
The first stage filter factor in single order digital low-pass filtering stage is β 1, and second stage filter factor is β 2, compensation
Value is W, and calculation formula is as follows
Wn+1=(1- β 1) Pn+β1·Wn
Wn+1=(1- β 2) Pn+β2·Wn
Filter effect is as shown in Figure 3；
If 3) difference of calibration value and actual value is greater than given threshold, counted according to the difference (P1-P2) of calibration value and actual value
Calculate the offset of radius of wheel.
If the convergency value that automobile reaches when i.e. without load is calibration value P1, the convergency value that automobile reaches under load condition is
P2, compensating module starting is lengthened when the difference of P1 and P2 is greater than the threshold value P of setting, and load compensating gain coefficient is A, compensation
The radius of wheel estimated value of front and back is WRA0, compensated radius of wheel estimated value is WRA1, calculation formula is as follows
WRAXL1=WRAXL0+A·(P1-P2)
WRAXR1=WRAXR0+A·(P1-P2)
According to the above method, a kind of error-compensating apparatus for measuring vehicle tyre pressure can be obtained, comprising:
Load compensation enables determination module, for the gradient on road surface where estimating automobile current time, when the gradient is less than pre-
If enabling load compensation when value；In the present embodiment, gradient preset value is 3 degree.
Load compensation enables in determination module, and the gradient on road surface uses following methods where estimation automobile current time: making
With the flat data when driving of automobile in the case of setting speed air resistance coefficient and coefficient of rolling friction be fitted, with wheel
The automobile of the difference estimation any moment for the collected pickup of pickup and CAN bus that fast signal differential obtains
Pitch angle.
Single order digital low-pass filtering module, for being less than pitch angle when preset value according to the gradient in vehicle traveling process
Data are quickly obtained the convergency value of automobile pitch angle under immunization with gD DNA vaccine, be set as calibration value P1 and body of a motor car have it is negative
The convergency value for carrying pitch angle when load, is set as actual value P2；
Pitch angle when pitch angle and body of a motor car of the middle body of a motor car in non-loaded load have load to load obtains
Mode is as follows:
It is less than pitch angle data when preset value according to the gradient in vehicle traveling process, is quickly obtained automobile non-loaded
In the case of pitch angle convergency value, be set as calibration value P1 and the convergency value of pitch angle when body of a motor car has load to load,
It is set as actual value P2；
Difference determination module, for judging whether the difference of calibration value and actual value is greater than given threshold；
Compensating module is loaded, for calculating the offset of radius of wheel according to the difference (P1-P2) of calibration value and actual value.
The offset for loading radius of wheel in compensating module is the difference (P1-P2) and gain coefficient A of calibration value and actual value
Product, i.e.,
R=R0+ A × (P1-P2), wherein R0For the radius of wheel before compensation, R is the radius of wheel estimated value before compensation.
It should be understood that for those of ordinary skills, can be improved or be become according to the above description
It changes, and all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (10)
1. a kind of error compensating method for measuring vehicle tyre pressure characterized by comprising
1) gradient on road surface where estimation automobile current time, enters load compensation model when the gradient is less than gradient preset value；
2) pitch angle of the body of a motor car in non-loaded load is obtained, calibration value P1 is set as, obtaining body of a motor car has load to load
When pitch angle, be set as actual value P2；
If 3) difference of calibration value and actual value is greater than given threshold, vehicle is calculated according to the difference (P1-P2) of calibration value and actual value
Take turns the offset of radius.
2. the error compensating method of measurement vehicle tyre pressure according to claim 1, which is characterized in that the step 3)
The offset of middle radius of wheel is the product of difference (P1-P2) and gain coefficient A of calibration value and actual value, i.e.,
R=R0+ A × (P1-P2), wherein R0For the radius of wheel before compensation, R is the radius of wheel estimated value before compensation.
3. the error compensating method of measurement vehicle tyre pressure according to claim 1, which is characterized in that the step 2)
Pitch angle acquisition modes when pitch angle and body of a motor car of the middle body of a motor car in non-loaded load have load to load are as follows:
It is less than pitch angle data when preset value according to the gradient in vehicle traveling process, is quickly obtained automobile under immunization with gD DNA vaccine
The convergency value of pitch angle, being set as calibration value P1 and body of a motor car has the convergency value for loading pitch angle when loading, and is set as practical
Value P2；
4. the error compensating method of measurement vehicle tyre pressure according to claim 1, which is characterized in that the step 1)
In, gradient preset value is 3 degree.
5. the error compensating method of measurement vehicle tyre pressure according to claim 1, which is characterized in that the step 1)
In, the gradient on road surface uses following methods where estimation automobile current time: using the flat data when driving of automobile to setting
Air resistance coefficient and coefficient of rolling friction under speed conditions are fitted, the pickup obtained with wheel speed signal difference with
The automotive pitch angle of the difference estimation any moment of the collected pickup of CAN bus.
6. the error compensating method of measurement vehicle tyre pressure according to claim 1, which is characterized in that the step 1)
In, the gradient on road surface uses following steps where estimation automobile current time:
Model is established to automobile climb and fall situation, it is assumed that the practical tractive force of automobile is equal to the tractive force that engine torque generates and subtracts wind
The difference of resistance and force of rolling friction and weight component:
Fa=Fwheel-Fdrag-Froll-Fg
Wherein, FwheelFor the tractive force that engine torque generates, FdragFor windage, FrollFor force of rolling friction, FgFor weight component,
FaFor the practical tractive force of automobile；
Fa=Ma；
Take turns end tractive force FwheelIt can be by transmission ratio η and engine torque TengineProduct divided by radius of wheel R obtain
Fwheel=Tengine·η/R
Wherein, TengineFor engine torque, directly obtained in CAN bus by sensor；η Wie draws forerunner's type vehicle note
Hold up revolving speed ξ, the near front wheel angular velocity omegaFLWith off-front wheel angular velocity omegaFR, it moves as follows than calculation formula:
Windage approximation and vehicle body velocities V's is square directly proportional, and calculation formula is as follows:
Fdrag=CdV2
Gradient α influences where the weight component of automobile is received
Fg=Mgsin α
It is treated using Normal Equation Solutions and asks coefficient car body mass M, air resistance coefficient Cd, coefficient of rolling friction CrIt is fitted, is there is n
The error equation of linear dimensions is in the case where group data
Wherein acceleration a(k)It can be obtained by wheel speed signal difference, therefore we are defined as input matrix X
Output matrix defines Y
Remember undetermined coefficient B=[M；Cd；Cr], it can be obtained by Normal Equation Solutions
B=(XTX)-1XTY
Three values of institute directed quantity B respectively correspond M, Cd, CrMatch value, note match value be M0、Cd0、Cr0, obtain automobile climb and fall
Mathematical model be
Fwheel=M0a+Cd0V2+Cr0+M0gsinα；
Wheel end tractive force, speed, acceleration are known quantity during automobile actual travel, then the angle of running car is
7. a kind of error-compensating apparatus for measuring vehicle tyre pressure characterized by comprising
Load compensation enables determination module, for the gradient on road surface where estimating automobile current time, when the gradient is less than preset value
Shi Qiyong load compensation；
Single order digital low-pass filtering module, for being less than pitch angle data when preset value according to the gradient in vehicle traveling process,
It is quickly obtained the convergency value of automobile pitch angle under immunization with gD DNA vaccine, being set as calibration value P1 and body of a motor car has load to load
When pitch angle convergency value, be set as actual value P2；
Difference determination module, for judging whether the difference of calibration value and actual value is greater than given threshold；
Compensating module is loaded, for calculating the offset of radius of wheel according to the difference (P1-P2) of calibration value and actual value.
8. the error-compensating apparatus of measurement vehicle tyre pressure according to claim 7, which is characterized in that the load is mended
Repay the offset of radius of wheel in module for the product of calibration value and difference (P1-P2) and gain coefficient A of actual value, i.e.,
R=R0+ A × (P1-P2), wherein R0For the radius of wheel before compensation, R is the radius of wheel estimated value before compensation.
9. the error-compensating apparatus of measurement vehicle tyre pressure according to claim 7, which is characterized in that an order
Pitch angle when pitch angle and body of a motor car of the body of a motor car in non-loaded load have load to load in word low-pass filtering module
Acquisition modes are as follows:
It is less than pitch angle data when preset value according to the gradient in vehicle traveling process, is quickly obtained automobile under immunization with gD DNA vaccine
The convergency value of pitch angle, being set as calibration value P1 and body of a motor car has the convergency value for loading pitch angle when loading, and is set as practical
Value P2；
10. the error-compensating apparatus of measurement vehicle tyre pressure according to claim 7, which is characterized in that the load
Compensation enables in determination module, and the gradient on road surface uses following methods where estimation automobile current time: using the flat row of automobile
Data when sailing in the case of setting speed air resistance coefficient and coefficient of rolling friction be fitted, obtained with wheel speed signal difference
Pickup and the collected pickup of CAN bus difference estimation any moment automotive pitch angle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910233638.2A CN110053431B (en) | 2019-03-26 | 2019-03-26 | Error compensation method and device for measuring vehicle tire pressure |
| PCT/CN2020/081097 WO2020192686A1 (en) | 2019-03-26 | 2020-03-25 | Error compensation method and apparatus for measuring tire pressure of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910233638.2A CN110053431B (en) | 2019-03-26 | 2019-03-26 | Error compensation method and device for measuring vehicle tire pressure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110053431A true CN110053431A (en) | 2019-07-26 |
| CN110053431B CN110053431B (en) | 2021-01-26 |
Family
ID=67317356
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910233638.2A Active CN110053431B (en) | 2019-03-26 | 2019-03-26 | Error compensation method and device for measuring vehicle tire pressure |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110053431B (en) |
| WO (1) | WO2020192686A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111016552A (en) * | 2019-12-26 | 2020-04-17 | 武汉理工大学 | Indirect tire pressure monitoring system and method |
| WO2020192686A1 (en) * | 2019-03-26 | 2020-10-01 | 武汉理工大学 | Error compensation method and apparatus for measuring tire pressure of vehicle |
| CN112622915A (en) * | 2020-12-25 | 2021-04-09 | 清华大学 | Tire pressure and wear loss monitoring method based on high-frequency wheel speed and machine learning |
| CN113734237A (en) * | 2021-11-03 | 2021-12-03 | 比亚迪股份有限公司 | Method for determining wheel diameter of vehicle, storage medium and electronic device |
| CN114877981A (en) * | 2022-04-26 | 2022-08-09 | 东风柳州汽车有限公司 | Tire load measuring method and device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002021628A (en) * | 2000-07-11 | 2002-01-23 | Sumitomo Rubber Ind Ltd | Sloping road traveling judgment device, tire inflation pressure reduction alarm device using it, sloping road traveling judgment method and tire inflation pressure reduction alarm method using this method |
| DE102007058998A1 (en) * | 2007-01-23 | 2008-07-24 | Continental Teves Ag & Co. Ohg | Indirect tire pressure monitoring method for e.g. motor cycle, involves implementing recognition of tire pressure loss, and determining testing variable exclusive of rotating speed of front wheel and/or rotating speed of rear wheel |
| CN102292225A (en) * | 2008-11-26 | 2011-12-21 | 卡特彼勒公司 | System and method for detecting low tire pressure on a machine |
| CN102700551A (en) * | 2012-05-31 | 2012-10-03 | 清华大学 | Method for estimating gradient of road surface in real time in vehicle running process |
| CN103158718A (en) * | 2013-03-25 | 2013-06-19 | 北京科技大学 | Detection device and detection method of road longitudinal slope based on accelerator pedal position and vehicle speed |
| CN104554271A (en) * | 2014-12-08 | 2015-04-29 | 昆明理工大学 | Road gradient and car state parameter combined estimation method based on parameter estimation error |
| CN107107915A (en) * | 2014-10-17 | 2017-08-29 | 捷豹路虎有限公司 | Consider wheelslip, pitching and the traction control of fluctuating |
| CN107175996A (en) * | 2016-03-11 | 2017-09-19 | 株式会社万都 | Tire pressure estimates equipment and its tire pressure method of estimation |
| CN108189842A (en) * | 2017-10-30 | 2018-06-22 | 中国北方车辆研究所 | A kind of hill gradient recognition methods and device based on acceleration signal |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2386952B (en) * | 2002-03-27 | 2005-09-07 | Mitutoyo Corp | Pressure gauge and pressure measuring system |
| CN101348059B (en) * | 2008-06-16 | 2011-01-05 | 桂林电子科技大学 | Automotive tire pressure monitoring method based on tyre impedance and apparatus thereof |
| CN105793073B (en) * | 2013-12-06 | 2018-07-20 | 德纳重型车辆系统集团有限责任公司 | The method for determining tire pressure |
| CN104070946B (en) * | 2014-06-27 | 2016-09-07 | 浙江中科领航汽车电子有限公司 | A kind of method and system preventing system for monitoring pressure in tyre false alarm |
| US10245906B2 (en) * | 2014-11-11 | 2019-04-02 | The Goodyear Tire & Rubber Company | Tire wear compensated load estimation system and method |
| CN110053431B (en) * | 2019-03-26 | 2021-01-26 | 武汉理工大学 | Error compensation method and device for measuring vehicle tire pressure |
-
2019
- 2019-03-26 CN CN201910233638.2A patent/CN110053431B/en active Active
-
2020
- 2020-03-25 WO PCT/CN2020/081097 patent/WO2020192686A1/en active Application Filing
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002021628A (en) * | 2000-07-11 | 2002-01-23 | Sumitomo Rubber Ind Ltd | Sloping road traveling judgment device, tire inflation pressure reduction alarm device using it, sloping road traveling judgment method and tire inflation pressure reduction alarm method using this method |
| DE102007058998A1 (en) * | 2007-01-23 | 2008-07-24 | Continental Teves Ag & Co. Ohg | Indirect tire pressure monitoring method for e.g. motor cycle, involves implementing recognition of tire pressure loss, and determining testing variable exclusive of rotating speed of front wheel and/or rotating speed of rear wheel |
| CN102292225A (en) * | 2008-11-26 | 2011-12-21 | 卡特彼勒公司 | System and method for detecting low tire pressure on a machine |
| CN102700551A (en) * | 2012-05-31 | 2012-10-03 | 清华大学 | Method for estimating gradient of road surface in real time in vehicle running process |
| CN103158718A (en) * | 2013-03-25 | 2013-06-19 | 北京科技大学 | Detection device and detection method of road longitudinal slope based on accelerator pedal position and vehicle speed |
| CN107107915A (en) * | 2014-10-17 | 2017-08-29 | 捷豹路虎有限公司 | Consider wheelslip, pitching and the traction control of fluctuating |
| CN104554271A (en) * | 2014-12-08 | 2015-04-29 | 昆明理工大学 | Road gradient and car state parameter combined estimation method based on parameter estimation error |
| CN107175996A (en) * | 2016-03-11 | 2017-09-19 | 株式会社万都 | Tire pressure estimates equipment and its tire pressure method of estimation |
| CN108189842A (en) * | 2017-10-30 | 2018-06-22 | 中国北方车辆研究所 | A kind of hill gradient recognition methods and device based on acceleration signal |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020192686A1 (en) * | 2019-03-26 | 2020-10-01 | 武汉理工大学 | Error compensation method and apparatus for measuring tire pressure of vehicle |
| CN111016552A (en) * | 2019-12-26 | 2020-04-17 | 武汉理工大学 | Indirect tire pressure monitoring system and method |
| CN111016552B (en) * | 2019-12-26 | 2021-08-24 | 武汉理工大学 | Indirect tire pressure monitoring system and method |
| CN112622915A (en) * | 2020-12-25 | 2021-04-09 | 清华大学 | Tire pressure and wear loss monitoring method based on high-frequency wheel speed and machine learning |
| CN112622915B (en) * | 2020-12-25 | 2022-05-17 | 清华大学 | Tire pressure and wear loss monitoring method based on high-frequency wheel speed and machine learning |
| CN113734237A (en) * | 2021-11-03 | 2021-12-03 | 比亚迪股份有限公司 | Method for determining wheel diameter of vehicle, storage medium and electronic device |
| CN113734237B (en) * | 2021-11-03 | 2022-02-08 | 比亚迪股份有限公司 | Method for determining wheel diameter of vehicle, storage medium and electronic device |
| CN114877981A (en) * | 2022-04-26 | 2022-08-09 | 东风柳州汽车有限公司 | Tire load measuring method and device |
| CN114877981B (en) * | 2022-04-26 | 2023-10-31 | 东风柳州汽车有限公司 | Method and device for measuring tire load |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020192686A1 (en) | 2020-10-01 |
| CN110053431B (en) | 2021-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110053431A (en) | A kind of error compensating method and device measuring vehicle tyre pressure | |
| CN105667521B (en) | A kind of method and system for being used to calculate vehicular gross combined weight | |
| JP6122916B2 (en) | System and method for determining tire wear | |
| CN111806449A (en) | Method for estimating total vehicle mass and road surface gradient of pure electric vehicle | |
| CN110001657B (en) | Vehicle safety control method based on tire state information and vehicle | |
| JP3008111B2 (en) | A device for determining the weight of a car | |
| CN108819950B (en) | Vehicle speed estimation method and system of vehicle stability control system | |
| CN107264535B (en) | A kind of complete vehicle quality estimation method based on Frequency Response | |
| US6839615B2 (en) | Method and apparatus for estimating mass of vehicle, and method and apparatus for estimating gradient employing the method | |
| US20070083341A1 (en) | Tractor-trailer having self-contained apparatus on-board tractor for estimating trailer weight | |
| Cheli et al. | On the impact of ‘smart tyres’ on existing ABS/EBD control systems | |
| JP3158038B2 (en) | Tire pressure drop detector | |
| CN107933563A (en) | For determining the method and system to rub between ground and vehicle tyre | |
| CN106809207A (en) | A kind of electric vehicle load-carrying and gradient self-adaptation control method and its vehicle | |
| Li et al. | A variable structure adaptive extended Kalman filter for vehicle slip angle estimation | |
| CN108791276B (en) | Method for rapidly judging linear/nonlinear working state of tire lateral force | |
| CN105849514B (en) | Estimate the method for vehicle mass and with the vehicle for estimating the device of vehicle mass | |
| CN112896178B (en) | Method and system for calculating total mass of vehicle | |
| Kim et al. | Development of estimation algorithms for vehicle’s mass and road grade | |
| CN113799783B (en) | Road transverse gradient measuring method and system applied to vehicle | |
| CN111114551B (en) | Vehicle ramp gradient identification method and device | |
| WO2013041802A1 (en) | Method for estimating the rolling resistance of a vehicle wheel | |
| Ghosh et al. | Vehicle mass estimation from CAN data and drivetrain torque observer | |
| CN114936343A (en) | Dynamic calculation method and device for electric vehicle mass | |
| FR2905107A1 (en) | Motor vehicle, has monitoring unit monitoring rotational speed of wheels, and processing unit measuring gradient of vehicle by measuring acceleration of vehicle running along gradient, when engine is disengaged |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190726 Assignee: Hubei Heliyuan Electronic Technology Co.,Ltd. Assignor: WUHAN University OF TECHNOLOGY Contract record no.: X2022420000025 Denomination of invention: An error compensation method and device for measuring vehicle tire pressure Granted publication date: 20210126 License type: Common License Record date: 20220328 |
|
| EE01 | Entry into force of recordation of patent licensing contract |