CN110588660A - 用于车辆的转向和悬架部件监控系统 - Google Patents
用于车辆的转向和悬架部件监控系统 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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Abstract
一种用于监控车辆中的悬架部件和转向系统的至少一个的系统包括偏航率模块、偏航率比较模块以及车辆控制模块,该偏航率模块可操作以确定车辆的偏航率,该偏航率比较模块可操作以比较偏航率与参考偏航率,从而确定偏航率误差,且该车辆控制模块可操作以基于偏航率误差建立车辆能力等级。车辆控制模块基于车辆能力等级建立一个或多个车辆控制参数。
Description
引言
本发明涉及车辆的领域,且更具体地说,涉及用于车辆的转向和悬架部件监控系统。
机动车辆包括有助于稳定性和转向真实性的各种部件。随着时间,部件可能磨损。衬套可能会失去刚度,弹簧可能会失去弹性,连杆可能会移位或以其他方式改变构造。所有上述内容均可能导致车轮和/或底盘对准发生变化。人类驾驶员通常注意到这些变化并且调节他们的驾驶习惯。驾驶员可调节方向盘保持的方式,做出某些操纵的速度,或者做出其它调节以适应在转向和/或悬架部件中随着时间可能发生的变化。
虽然人类操作员可以容易地适应转向和/或悬架部件的变化,但自主车辆不具有相同的直觉和控制。可调整针对自主车辆的控制,以适应特定的车辆设定值或参数范围。因此,自主车辆可能难以考虑超过某些阈值的变化。此外,自主车辆未按程序注意到车辆操纵的细微变化,这可能表明需要维护。因此,期望为车辆提供一种用于检测转向和悬架部件中变化的系统。
发明内容
在一个示例性实施例中,用于监控车辆中的悬架部件和转向系统的至少一个的系统包括偏航率模块、偏航率比较模块以及车辆控制模块,该偏航率模块可操作以确定车辆的偏航率,该偏航率比较模块可操作以比较偏航率与参考偏航率,从而确定偏航率误差,且该车辆控制模块可操作以基于偏航率误差建立车辆能力等级。车辆控制模块基于车辆能力等级建立一个或多个车辆控制参数。
除了这里描述的一个或多个特征以外,惯性测量单元(IMU)操作地连接于偏航率模块,该IMU可操作以检测车辆纵向加速度、车辆横向加速度以及车辆偏航率。
除了这里描述的一个或多个特征以外,转向轮角度传感器可操作以确定车辆上转向轮的角度,该转向轮角度传感器操作地连接于偏航率模块。
除了这里描述的一个或多个特征以外,速率传感器可操作以确定车辆的速率,该速率传感器操作地连接于偏航率模块。
除了这里描述的一个或多个特征以外,摩擦模块可操作以确定一个或车辆轮胎的摩擦系数,该摩擦模块操作地连接于偏航率模块。
此外公开一种操作车辆的方法,该方法包括确定车辆偏航率,比较车辆偏航率与参考偏航率以确定偏航率误差,基于偏航率误差建立车辆能力等级,以及基于车辆能力等级控制车辆。
除了这里描述的一个或多个特征以外,包括基于偏航率误差识别部件故障。
除了这里描述的一个或多个特征以外,确定偏航率误差包括计算针对车辆的累积偏航率误差。
除了这里描述的一个或多个特征以外,建立车辆能力等级包括确定一个或多个车辆能力阈值。
除了这里描述的一个或多个特征以外,包括如果车辆能力等级低于所选择的车辆能力阈值,发出需要车辆维修的信号。
除了这里描述的一个或多个特征以外,控制车辆包括基于车辆能力等级调节车辆路径。
除了这里描述的一个或多个特征以外,控制车辆包括调节用于车辆的控制算法。
除了这里描述的一个或多个特征以外,控制车辆包括控制自主车辆。
进一步公开一种车辆,该车辆包括、车身、转向系统、一个或多个悬架部件以及用于监控车辆中的一个或多个悬架部件和转向系统的至少一个的系统,该系统包括偏航率模块、偏航率比较模块以及车辆控制模块,该偏航率模块可操作以确定车辆的偏航率,该偏航率比较模块可操作以比较偏航率与参考偏航率,从而确定偏航率误差,且该车辆控制模块可操作以基于偏航率误差建立车辆能力等级。车辆控制模块基于车辆能力等级建立一个或多个车辆控制参数。
除了这里描述的一个或多个特征以外,惯性测量单元(IMU)操作地连接于偏航率模块,该IMU可操作以检测车辆纵向加速度、车辆横向加速度以及车辆偏航率。
除了这里描述的一个或多个特征以外,转向轮角度传感器可操作以确定车辆的转向轮的角度,该转向轮角度传感器操作地连接于偏航率模块。
除了这里描述的一个或多个特征以外,速率传感器可操作以确定车辆的速率,该速率传感器操作地连接于偏航率模块。
除了这里描述的一个或多个特征以外,摩擦模块可操作以确定一个或车辆轮胎的摩擦系数,该摩擦模块操作地连接于偏航率模块。
除了这里描述的一个或多个特征以外,该车辆包括自主车辆。
当结合附图时,从以下详细描述中,本发明的上述特征和优点以及其它特征和优点显而易见。
附图说明
仅仅借助示例,其它特征、优点以及细节出现在以下详细描述中,该详细描述参照附图,附图中:
图1示出根据示例性实施例的一方面的包括悬架和转向部件监控系统的车辆;以及
图2是示出根据示例性实施例的一方面的悬架和转向部件监控系统的框图。
具体实施方式
以下描述在本质上仅是示例性的,并不旨在限制本发明、其应用或用途。应该理解的是,在全部附图中,对应的附图标记指示类似或对应的部件或特征。如此处所使用的,术语“模块”指代处理电路,该处理电路可包括执行一个或多个软件或固件程序的专用集成电路(ASIC)、电子电路、处理器(共享的、专用的、或集群的)和存储器、组合的逻辑电路、和/或提供所描述的功能的其他合适的组件。
根据示例性实施例的车辆在图1中总地以10指示。车辆10包括车身或底盘12,该车身或底盘至少部分地限定乘员舱室14。原动机20设置在底盘12中。原动机20可采取发动机或电动机24的形式。发动机或电动机24可采取各种形式,包括内燃机、混合动力发动机、电动机或其变型。原动机20操作地连接于变速器28,该变速器进而通过传送轴32机械地链接于后差速器或后驱动模块(RDM)30。RDM30将来自原动机20的动力通过第一轴35传递至第一后车轮34,并且通过第二轴37传递至第二后车轮36。
应注意的是,虽然示作后车轮驱动系统,该示例性实施例还设想前车轮驱动系统和全轮驱动(AWD)系统。还应理解的是,示例性实施例可包含到各种各样车辆中,包括两轮车辆、三轮车辆以及具有超过四个车轮的车辆。
车辆10还包括转向系统40,该转向系统具有联接于第一前车轮43的第一连杆42以及联接于第二前车轮47的第二连杆46。第一前车轮43和第二前车轮47表示转向轮。第一和第二连杆42和46连接于转向箱50,该转向箱可通过轴56联接于方向盘54。转向箱50可从方向盘54或者通过车辆控制系统58接收输入,以建立期望的车辆路径。应理解的是,转向系统40可采取各种形式,并且可包括并不依赖于通过方向盘的输入的系统,或者并不采用传统转向连杆的系统。
车辆控制系统58可由计算机(未示出)控制,以使得车辆10可限定自主车辆。转向系统40包括除了那些所描述以外的各种部件,而这些部件可能随着时间而变得磨损。类似地,诸如弹簧、衬套等等的底盘部件可变得磨损。磨损的转向系统、底盘和/或其它部件可影响车辆对准,而这会不利地影响车辆跟踪和操纵。
根据示例性实施例,车辆10包括监控系统60,该监控系统监控可能影响转向对准和/或操纵的磨损的转向和/或底盘部件。参照图2,监控系统60包括监控模块65和非易失性存储器70,该监控模块具有中央处理器单元(CPU)或图形处理器单元(GPU)68。例如这里会详述的是,监控模块65还可包括偏航率模块72、偏航率比较模块74以及车辆控制模块76。在这点上,应理解的是,虽然示作包含到单个监控模块65中,CPU68、存储器70、偏航率模块72、偏航率比较模块74以及车辆控制模块76可以不在同一位置中。此外,应理解的是,虽然示作单独的模块,但偏航率模块72、偏航率比较模块74以及车辆控制模块76可集成到一个或多个模块中,这些模块可包含到各个车辆系统中。
进一步根据示例性实施例,监控模块65可接收来自惯性测量单元(IMU)80的输入。IMU80可检测车辆纵向加速度数据、车辆横向加速度数据和/或车辆偏航数据并且将其发送至监控模块65。监控模块65还可从转向轮角度传感器82、车辆速率传感器84以及可从各个车辆传感器接收信号的表面Mu或摩擦模块86接收输入,以确定和/或评估可能存在于车轮34、36、43和47以及道路表面之间的摩擦量。
转向轮角度传感器82可包含到方向盘54中或者可形成电动助力转向(EPS)系统(未示出)的一部分。此外,转向轮角度传感器82应理解为检测和/或计算例如车轮的角度,这些车轮为车辆10提供方向变化。在该示例中,转向轮角度传感器82检测和/或确定第一和第二前车轮43和47相对于底盘12的纵向轴线的角度。
监控模块65还可包含与特定车辆模型相关联的基线参考数值90。基线参考数值90可包括针对车辆纵向加速度、车辆横向加速度以及参考偏航率的IMU范围92、转向轮角度范围94以及速率范围96。基线参考数值90可存储在非易失性存储器70中并且可按需要更换和/或更新。例如这里会详述地是,监控模块65可基于所检测的转向和/或部件磨损而输出累积偏航率误差98、部件服务警报99和/或对车辆10的运动控制。应理解的是,累积偏航率误差表示实际或测得(所计算)的偏航率数据和基线或模型化偏航率数据之间的差异总和。
在一个实施例中,监控模块65从IMU80、转向轮角度传感器82、速率传感器84和表面Mu模块86的一个或多个接收数据。将数据传送至偏航率模块72,该偏航率模块确定车辆的实际偏航率。可将车辆偏航率传送至偏航率比较模块74。偏航率比较模块74可将偏航率与基线或参考数值90的一个或多个进行比较。随着时间,收集累积偏航率误差。如果累积偏航率误差超过基线参考数值90的一个或多个,则车辆控制模块76可调节车辆10的车辆控制参数。此外,监控模块65可采用累积偏航率误差来确定是否存在转向和/或底盘部件故障、退化或者另外是否从服务中受益。
根据示例性方面,累积偏航率误差可例如通过累积偏航率误差输出98从监控模块65输出至车载计算机和/或传送至远程系统。类似地,如果监控模块65确定转向和/或底盘部件可能需要维护,则警报可例如通过部件维护输出99传送至车载计算机或远程系统。此外,如果累积偏航率误差超过一个或多个基线数值90,则车辆控制模块76可建立针对车辆10的退化能力等级100。
根据示例性方面,车辆控制模块76可将退化能力等级100建立为正常或基线车辆能力阈值的百分比。退化能力等级100可建立针对自主驾驶模块(未示出)的一个或多个控制阈值。自主驾驶模块可基于退化能力等级100调节针对车辆10的路径规划。例如,车辆控制模块76可将适应所检测的对准问题的方向盘角度输出至自主驾驶模块。在一个示例中,车辆控制模块76可在某些道路状况中限制车辆速度以适应磨损的底盘部件。因此,应理解的是,监控模块65检测转向和/或底盘部件中的变化,并且可信令车辆控制模块76基于那些变化来调节车辆操作。此外,监控模块可提供转向部件、底盘部件或两者可能需要检查和/或维修的维护输出。
虽然上文公开已参照示例性实施例进行了描述,但本领域技术人员应理解的是,可做出各种改变并且等同物可替代本发明的各元件,而不会偏离本发明的范围。此外,可做出许多修改以使得特定情况或材料适应于本发明的教示,而不会偏离本发明的基本范围。因此,本发明并不旨在限制于所公开的特定实施例,而是会包括落在本发明范围内的所有实施例。
Claims (10)
1.一种用于监控车辆中的悬架部件和转向系统的至少一个的系统,所述系统包括:
偏航率模块,所述偏航率模块能操作以确定所述车辆的偏航率;
偏航率比较模块,所述偏航率比较模块能操作以比较所述偏航率与参考偏航率,从而确定偏航率误差;以及
车辆控制模块,所述车辆控制模块能操作以基于所述偏航率误差建立车辆能力等级,所述车辆控制模块基于所述车辆能力等级建立一个或多个车辆控制参数。
2.根据权利要求1所述的系统,进一步包括:惯性测量单元(IMU),所述惯性测量单元操作地连接于所述偏航率模块,所述IMU能操作以检测车辆纵向加速度、车辆横向加速度以及车辆偏航率。
3.根据权利要求1所述的系统,进一步包括:转向轮角度传感器,所述转向轮角度传感器能操作以确定所述车辆的转向轮的角度,所述转向轮角度传感器操作地连接于所述偏航率模块。
4.根据权利要求1所述的系统,进一步包括:速率传感器,所述速率传感器能操作以确定所述车辆的速率,且所述速率传感器操作地连接于所述偏航率模块。
5.根据权利要求1所述的系统,进一步包括:摩擦模块,所述摩擦模块能操作以确定一个或车辆轮胎的摩擦系数,所述摩擦模块操作地连接于所述偏航率模块。
6.一种操作车辆的方法,所述方法包括:
确定车辆偏航率;
比较所述车辆偏航率与参考偏航率,从而确定偏航率误差;
基于所述偏航率误差建立车辆能力等级;以及
基于所述车辆能力等级控制所述车辆。
7.根据权利要求6所述的方法,进一步包括:基于所述偏航率误差识别部件故障。
8.根据权利要求6所述的方法,其中,确定所述偏航率误差包括计算针对所述车辆的累积偏航率误差。
9.根据权利要求6所述的方法,其中,建立所述车辆能力等级包括确定一个或多个车辆能力阈值。
10.根据权利要求6所述的方法,其中,控制所述车辆包括基于所述车辆能力等级调节车辆路径。
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