CN110654187B - Tire pressure monitoring method and device based on wheel speed - Google Patents
Tire pressure monitoring method and device based on wheel speed Download PDFInfo
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- CN110654187B CN110654187B CN201910947095.0A CN201910947095A CN110654187B CN 110654187 B CN110654187 B CN 110654187B CN 201910947095 A CN201910947095 A CN 201910947095A CN 110654187 B CN110654187 B CN 110654187B
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- rolling radius
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- 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
- B60C23/06—Signalling devices actuated by deformation of the tyre, e.g. tyre mounted deformation sensors or indirect determination of tyre deformation based on wheel speed, wheel-centre to ground distance or inclination of wheel axle
- B60C23/061—Signalling devices actuated by deformation of the tyre, e.g. tyre mounted deformation sensors or indirect determination of tyre deformation based on wheel speed, wheel-centre to ground distance or inclination of wheel axle by monitoring wheel speed
- B60C23/062—Frequency spectrum analysis of wheel speed signals, e.g. using Fourier transformation
Abstract
The method obtains atom number signals of all wheels of a vehicle through a wheel speed sensor in an anti-lock braking system, determines a wheel speed signal of each front wheel according to the atom number signal corresponding to each front wheel, does not need to additionally mount a pressure sensor and a temperature sensor in a tire of the front wheel, reduces mounting cost and difficulty, performs frequency analysis on the wheel speed signal of the front wheel to obtain a resonance frequency corresponding to the front wheel, can accurately judge whether the corresponding front wheel has undervoltage according to the resonance frequency, determines a standard rolling radius of the front wheel according to the wheel speed signal of at least one front wheel with normal tire pressure, and accurately determines a rear wheel with the undervoltage according to the atom number signal corresponding to the rear wheel, the wheel speed signal of the front wheel with normal tire pressure and the standard rolling radius of the front wheel, thereby report to the police according to the wheel that appears the undervoltage condition, and then guarantee the safety of traveling of vehicle.
Description
Technical Field
The application relates to the technical field of tire pressure monitoring, in particular to a tire pressure monitoring method and device based on wheel speed.
Background
The tire pressure monitoring has the functions of automatically monitoring the tire pressure in real time during the running process of an automobile and alarming the leakage and low pressure of the tire to ensure the driving safety, and the conventional methods for monitoring the tire pressure comprise a direct method and an indirect method. The direct method is that a pressure sensor and a temperature sensor are arranged in a tire to monitor whether the measured values of the tire pressure and the temperature reach boundary values, the direct method is higher in cost and high in installation difficulty when the pressure sensor and the temperature sensor are arranged in the tire, the indirect method is usually used for obtaining the rolling radius of a wheel, but the indirect method can only analyze the rolling radius and cannot accurately judge the under-pressure condition of the vehicle, so that the running safety of the vehicle cannot be guaranteed.
Disclosure of Invention
An object of the embodiments of the present application is to provide a tire pressure monitoring method and device based on wheel speed, so as to improve the problem that the vehicle under-voltage condition cannot be accurately determined in the prior art.
In a first aspect, an embodiment of the present application provides a tire pressure monitoring method based on wheel speed, the method including: acquiring atomic number signals of all wheels of a vehicle through a wheel speed sensor in an anti-lock brake system, and determining a wheel speed signal of each front wheel according to the atomic number signal corresponding to each front wheel, wherein all wheels of the vehicle comprise a plurality of front wheels and a plurality of rear wheels; performing frequency analysis on the wheel speed signal of each front wheel to obtain a resonance frequency corresponding to each front wheel, and judging whether at least one front wheel with normal tire pressure exists in the front wheels and judging the front wheel with under-pressure according to the resonance frequency; if the rolling radius of the front wheel is normal, determining the standard rolling radius of the front wheel according to the wheel speed signal of at least one front wheel with normal tire pressure; determining the rolling radius of each rear wheel according to the atom number signal corresponding to each rear wheel in the rear wheels and the wheel speed signal of one front wheel in at least one front wheel with normal tire pressure, and determining the rear wheel with underpressure according to the rolling radius of each rear wheel and the standard rolling radius of the front wheel; and sending alarm information according to the wheels with undervoltage in all wheels of the vehicle, wherein the wheels with undervoltage comprise front wheels with undervoltage and/or rear wheels with undervoltage.
In the implementation process, a wheel speed sensor in the anti-lock brake system acquires atom number signals of all wheels of a vehicle, determines a wheel speed signal of each front wheel according to the atom number signal corresponding to each front wheel, does not need to additionally mount a pressure sensor and a temperature sensor in the tire of the front wheel, reduces the mounting cost and difficulty, performs frequency analysis on the wheel speed signal of the front wheel to acquire a resonance frequency corresponding to the front wheel, can accurately judge whether the corresponding front wheel is under-pressurized according to the resonance frequency, determines a standard rolling radius of the front wheel according to the wheel speed signal of at least one front wheel with normal tire pressure, and accurately determines a rear wheel with under-pressurized according to the atom number signal corresponding to the rear wheel, the wheel speed signal of the front wheel with normal tire pressure and the standard rolling radius of the front wheel, so as to alarm according to the wheel with the under-pressurized condition, thereby ensuring the running safety of the vehicle.
Optionally, after determining whether at least one front wheel with normal tire pressure exists in the plurality of front wheels according to the resonance frequency, the method further includes: if at least one front wheel with normal tire pressure does not exist, taking a preset value as a front wheel speed signal, and determining a standard rolling radius of the front wheel according to the front wheel speed signal; and correspondingly determining the rolling radius of each rear wheel according to the atomic number signal of each rear wheel and a preset front wheel speed signal, and determining the rear wheel with undervoltage according to the rolling radius of each rear wheel and the standard rolling radius of the front wheel.
In the implementation process, when there is no front wheel with normal tire pressure, in order to ensure that the under-pressure condition of the wheel can be accurately monitored, the standard rolling radius of the front wheel can be determined according to the pre-stored wheel speed signal of the front wheel with normal tire pressure, so that the rolling radius of each rear wheel can be accurately determined, the under-pressure rear wheel can be accurately determined according to the rolling radius of each rear wheel and the standard rolling radius of the front wheel, and the running safety of the vehicle can be ensured.
Optionally, determining a standard rolling radius of the front wheel according to the wheel speed signal of at least one front wheel with normal tire pressure comprises: determining the rolling radius of the front wheel according to the wheel speed signal corresponding to at least one front wheel in the at least one front wheel with normal tire pressure, and calculating the average value of the rolling radius of the front wheel; determining the average value as a front wheel standard rolling radius; or comprises the following steps: and determining the rolling radius of the front wheel according to the wheel speed signal corresponding to any one of the at least one front wheel with normal tire pressure, and determining the rolling radius of the front wheel as the standard rolling radius of the front wheel.
In the implementation process, when at least one front wheel with normal tire pressure exists in all the front wheels, the rolling radius of the front wheel can be directly determined according to the wheel speed signal corresponding to any one of the at least one front wheel with normal tire pressure, the rolling radius of the front wheel is used as the standard rolling radius of the front wheel, the rolling radius of the front wheel can be determined according to the wheel speed signal corresponding to the at least one front wheel with normal tire pressure, the average value of the rolling radius of the front wheel is calculated, and the calculated average value is used as the standard rolling radius of the front wheel, so that errors caused by other factors in the monitoring process are reduced, and the accurate determination of the standard rolling radius of the front wheel is ensured.
Optionally, the determining a wheel speed signal for each front wheel from the atomic number signal corresponding to each front wheel comprises: calculating a pulse interval based on the atomic number signal generated by the wheel speed sensor mounting on the gear ring concave-convex part of each front wheel alternately passing through the coil of the wheel speed sensor; and acquiring the tooth number of the gear ring, and calculating the wheel speed signal of each front wheel according to the pulse interval and the tooth number.
In the implementation process, the atomic number signals generated by the concave-convex part of the gear ring of each front wheel mounted on the wheel speed sensor passing through the coil of the wheel speed sensor alternately belong to time sequence signals, so that the pulse interval can be calculated by analyzing the atomic number signals, and the wheel speed signal of each front wheel can be calculated according to the pulse interval and the number of teeth of the gear ring of each front wheel mounted on the wheel speed sensor.
Optionally, the frequency analyzing the wheel speed signal of each front wheel to obtain a resonance frequency corresponding to each front wheel includes: resampling the wheel speed signal of each front wheel by adopting an interpolation method to obtain a resampled wheel speed signal; filtering the resampled wheel speed signal, and obtaining a wheel speed signal in a frequency domain by utilizing Fourier transform; and performing fitting calculation on the wheel speed signals in the frequency domain by adopting a Gaussian distribution algorithm to obtain the Gaussian distribution maximum value as the resonance frequency corresponding to each front wheel.
Optionally, the determining, according to the rolling radius of each rear wheel and the standard rolling radius of the front wheel, a rear wheel with an undervoltage, includes: calculating a supplemental difference between the standard rolling radius of the front wheels and the rolling radius of each of the rear wheels; calculating the sum of the standard rolling radius of the front wheel and the supplementary difference value as a compensated rolling radius of the front wheel; and judging whether the rolling radius of the rear wheel is smaller than the compensation rolling radius of the front wheel, and if so, determining the rear wheel to be the one with the undervoltage.
In the implementation process, under the condition that the standard rolling radius of the front wheel is known, whether the back wheel has an under-pressure condition or not can be judged through the supplementary difference value between the standard rolling radius of the front wheel and the rolling radius of each back wheel, so that an alarm can be given according to the wheel with the under-pressure condition.
In a second aspect, an embodiment of the present application provides a tire pressure monitoring device based on wheel speed, the device including: the wheel speed signal determining module is used for acquiring atomic number signals of all wheels of a vehicle through a wheel speed sensor in an anti-lock brake system and determining a wheel speed signal of each front wheel according to the atomic number signal corresponding to each front wheel, wherein all the wheels of the vehicle comprise a plurality of front wheels and a plurality of rear wheels; the front wheel speed signal judging module is used for carrying out frequency analysis on the wheel speed signal of each front wheel to obtain the resonance frequency corresponding to each front wheel, and judging whether at least one front wheel with normal tire pressure exists in the front wheels and judging the front wheel with undervoltage according to the resonance frequency; the front wheel standard rolling radius determining module is used for determining the standard rolling radius of the front wheel according to the wheel speed signal of at least one front wheel with normal tire pressure when the front wheel standard rolling radius determining module exists; the rear wheel rolling radius determining module is used for determining the rolling radius of each rear wheel according to the atomic number signal corresponding to each rear wheel in the rear wheels and the wheel speed signal of one front wheel in at least one front wheel with normal tire pressure, and determining the rear wheel with undervoltage according to the rolling radius of each rear wheel and the standard rolling radius of the front wheel; and the alarm module is used for sending alarm information according to the wheels with the undervoltage in all the wheels of the vehicle, wherein the wheels with the undervoltage comprise front wheels with the undervoltage and/or rear wheels with the undervoltage.
Optionally, the apparatus further comprises: the front wheel standard rolling radius determining module is also used for taking a preset value as a front wheel speed signal when at least one front wheel with normal tire pressure does not exist, and determining the front wheel standard rolling radius according to the front wheel speed signal; and the rear wheel rolling radius determining module is also used for correspondingly determining the rolling radius of each rear wheel according to the atomic number signal of each rear wheel and a preset front wheel speed signal, and determining the rear wheel with the undervoltage according to the rolling radius of each rear wheel and the standard rolling radius of the front wheel.
Optionally, the front wheel standard rolling radius determination module comprises: the front wheel rolling radius average value obtaining unit is used for determining the rolling radius of the front wheel according to the wheel speed signal corresponding to at least one front wheel in the at least one front wheel with normal tire pressure and calculating the average value of the rolling radius of the front wheel; a first front wheel standard rolling radius determination unit for determining the average value as a front wheel standard rolling radius; or comprises the following steps: and the second front wheel standard rolling radius determining unit is used for determining the rolling radius of the front wheel according to the wheel speed signal corresponding to any one of the at least one front wheel with normal tire pressure, and determining the rolling radius of the front wheel as the standard rolling radius of the front wheel.
Optionally, the wheel speed signal determination module comprises: a pulse interval calculation unit for calculating a pulse interval based on the atomic number signal generated by the wheel speed sensor being mounted on each front wheel such that a concave-convex portion of a ring gear alternately passes through a coil of the wheel speed sensor; and the wheel speed signal calculation unit is used for acquiring the tooth number of the gear ring and calculating the wheel speed signal of each front wheel according to the pulse interval and the tooth number.
Optionally, the front wheel speed signal determining module includes: the wheel speed signal resampling unit is used for resampling the wheel speed signal of each front wheel by adopting an interpolation method to obtain a resampled wheel speed signal; the Fourier transform unit is used for filtering the resampled wheel speed signal and obtaining a wheel speed signal in a frequency domain by utilizing Fourier transform; and the resonance frequency acquisition unit is used for performing fitting calculation on the wheel speed signals in the frequency domain by adopting a Gaussian distribution algorithm to obtain the Gaussian distribution maximum value as the resonance frequency corresponding to each front wheel.
Optionally, the rear wheel rolling radius determination module includes: a supplementary difference value calculation unit for calculating a supplementary difference value between the standard rolling radius of the front wheels and the rolling radius of each rear wheel; the compensation rolling radius calculation unit is used for calculating the sum of the standard rolling radius of the front wheel and the supplement difference value to be used as the compensation rolling radius of the front wheel; and the rear wheel under-voltage judging unit is used for judging whether the rolling radius of the rear wheel is smaller than the compensation rolling radius of the front wheel, and if so, determining that the rear wheel is the under-voltage rear wheel.
In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the electronic device executes the method provided in the first aspect.
In a fourth aspect, embodiments of the present application provide a readable storage medium, on which a computer program is stored, where the computer program runs the method provided in the first aspect as described above when being executed by a processor.
Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a block diagram illustrating an electronic device for performing a wheel speed-based tire pressure monitoring method according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of a method for tire pressure monitoring based on wheel speed according to an embodiment of the present disclosure;
fig. 3 is a structural schematic diagram of a tire pressure monitoring device based on wheel speed according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
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, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
In order to ensure the monitoring accuracy of the conventional tire monitoring, a pressure sensor and a temperature sensor are generally arranged in a tire of a vehicle wheel, and whether the tire pressure is normal or not is judged by acquiring the pressure value and the temperature value monitored by the pressure sensor and the temperature sensor. In the prior art, a rolling radius analysis method is also commonly used for monitoring tire pressure, but the method only can often analyze the rolling radius of each wheel and further analyze whether the pressure is low, for example, the method can judge according to the difference between the rolling radii of all the wheels, and if the pressure is low in each wheel, the obtained difference between the rolling radii of each wheel is not large, so that whether the pressure is low in any wheel can not be accurately judged.
The anti-lock brake system (ABS) in the prior art has the function of automatically controlling the braking force of the brake when the automobile brakes, so that the wheels are not locked and are in a state of rolling and slipping (the slip rate is about 20%) to ensure that the adhesion between the wheels and the ground is at the maximum. The tire pressure monitoring method based on the wheel speed can monitor the tire pressure based on the anti-lock brake system, for example, the tire pressure monitoring method based on the wheel speed can monitor the tire pressure based on the four-channel anti-lock brake system, the tire pressure can be accurately monitored without additionally installing a pressure sensor and a temperature sensor, the running safety of a vehicle is ensured, understandably, the tire pressure monitoring method based on the wheel speed can also be applied to the vehicle with the anti-lock brake system, and the anti-lock brake system comprises the wheel speed sensors with the number equal to that of the wheels of the vehicle.
Fig. 1 is a schematic structural diagram of an electronic device for performing a wheel speed-based tire pressure monitoring method according to an embodiment of the present invention, where the electronic device may include: at least one processor 110, such as a CPU, at least one communication interface 120, at least one memory 130, and at least one communication bus 140. Wherein the communication bus 140 is used for realizing direct connection communication of these components. The communication interface 120 of the device in the embodiment of the present application is used for performing signaling or data communication with other node devices. The memory 130 may be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk memory. Memory 130 may optionally be at least one memory device located remotely from the aforementioned processor. The memory 130 stores computer readable instructions which, when executed by the processor 110, cause the electronic device to perform the method processes of fig. 2 described below.
It will be appreciated that the configuration shown in fig. 1 is merely illustrative and that the electronic device may include more or fewer components than shown in fig. 1 or may have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof. In this embodiment, the electronic device may be a module arranged on the vehicle, for example, a module composed of a CPU and a memory, a single chip, a dedicated chip, or the like, and the electronic device may also be a device outside the vehicle, for example, a device connected to a control system of the vehicle, where the connection mode may be a wireless connection or a wired connection.
Referring to fig. 2, fig. 2 is a flowchart illustrating a tire pressure monitoring method based on wheel speed according to an embodiment of the present application, the method including the following steps:
step S110: acquiring the atom number signals of all wheels of the vehicle through a wheel speed sensor in an anti-lock brake system, and determining the wheel speed signal of each front wheel according to the atom number signal corresponding to each front wheel.
Wherein, all wheels of the vehicle include a plurality of front wheels and a plurality of rear wheels, and the vehicle except the front wheel among all wheels is the rear wheel. The atomic number signal is a time series signal, a wheel speed sensor in the anti-lock brake system can collect atomic number signals of all wheels of the vehicle, the electronic device 100 for monitoring tire pressure can read the atomic number signal from the anti-lock brake system, or the anti-lock brake system can periodically transmit the atomic number signal to the electronic device 100, or the anti-lock brake system can transmit the atomic number signal to the electronic device 100 in response to a reading request of the electronic device 100.
Further, in determining the wheel speed signal of each front wheel from the atomic number signal corresponding to each front wheel, the following steps may be employed: firstly, calculating pulse intervals according to atomic number signals generated by the concave-convex part of a gear ring of each front wheel, wherein the wheel speed sensor is arranged on each front wheel, and the concave-convex part of the gear ring alternately passes through a coil of the wheel speed sensor; and then acquiring the tooth number of the gear ring of each front wheel on which the wheel speed sensor is arranged, and calculating a wheel speed signal of each front wheel according to the pulse interval and the tooth number of the gear ring of each front wheel on which the wheel speed sensor is arranged. Wherein, for each wheel speed sensor, the number of teeth of the gear ring is a fixed value, and can be directly obtained from the parameters thereof.
The wheel speed of the front wheel can be calculated by a frequency method, using the formula v ═ 2 pi R/n ═ f ═ λ ×, where R is the radius of the wheel, n is the number of teeth in the ring gear, and f is the frequency of the wheel speed signal, where 2 pi R/n, i.e., λ, is constant for a given system, so that the wheel speed can also be calculated by the formula
A calculation is performed in which, among other things,
the angle of the ring gear is shown,tiindicating the pulse interval, kalman filtering may be used to eliminate the error when obtaining the ring gear angle. In the implementation process, the atomic number signals generated by the concave-convex part of the gear ring of the front wheel mounted on the wheel speed sensor passing through the coil of the wheel speed sensor alternately belong to time sequence signals, so that the pulse interval can be calculated by analyzing the atomic number signals, and the wheel speed signal of each front wheel can be calculated according to the pulse interval and the number of teeth of the gear ring mounted on each front wheel.
Step S120: and carrying out frequency analysis on the wheel speed signal of each front wheel to obtain the resonance frequency corresponding to each front wheel.
The following steps may be adopted to perform frequency analysis on the wheel speed signal of each front wheel to obtain the resonant frequency corresponding to each front wheel: firstly, resampling wheel speed signals of each front wheel by adopting an interpolation method to obtain resampled wheel speed signals, then filtering the resampled wheel speed signals, obtaining wheel speed signals in a frequency domain by utilizing Fourier transform, and finally performing fitting calculation on the wheel speed signals in the frequency domain by adopting a Gaussian distribution algorithm to obtain the Gaussian distribution maximum value as resonance frequency corresponding to each front wheel. For example, when the interpolation method is used for resampling the wheel speed signals of the front wheel, the wheel speed signals can be homogenized at a time interval of 0.5ms to ensure the accuracy of calculation, then the resampled wheel speed signals are filtered and subjected to fourier transform to convert the wheel speed signals from a time domain to a frequency domain, so that the wheel speed signals in the frequency domain can be subjected to fitting calculation by adopting a gaussian distribution algorithm, a frequency domain image within 30-55 Hz can be fitted, and the maximum value in the gaussian distribution result is taken as the resonance frequency corresponding to the wheel.
Step S130: and judging whether at least one front wheel with normal tire pressure exists in the front wheels and judging the front wheel with undervoltage according to the resonance frequency.
There may be various embodiments in which it is determined whether at least one front wheel having a normal tire pressure exists among the plurality of front wheels and it is determined that the front wheel having an under-pressure occurs, for example, the first manner, the under-pressure condition of the wheel can be judged when the resonance frequency corresponding to the wheel is less than the preset value, specifically, if the resonance frequency corresponding to the wheel is less than the resonance frequency measured when the wheel is in normal tire pressure, the under-pressure condition of the wheel can be judged, or the difference value between the resonance frequency of the wheel measured under the normal tire pressure and the corresponding resonance frequency of the wheel is more than 2.5Hz, the wheel can be judged to have an under-pressure condition, and the second way can be to judge whether the resonance frequency corresponding to the front wheel is within a preset range, if yes, the front wheel can be judged to be the front wheel with normal tire pressure, and if the front wheel does not exist, the front wheel can be judged to be the front wheel with undervoltage.
If yes, go to step S140: and determining the standard rolling radius of the front wheel according to the wheel speed signal of at least one front wheel with normal tire pressure.
The standard rolling radius of the front wheel is determined according to the wheel speed signal of the front wheel, and the distance traveled within a period of time can be calculated according to the wheel speed signal of the front wheel with normal tire pressure
Where k is the number of revolutions of the ring gear during the period of time, for example, the distance traveled in 60s is calculated, then k is the number of revolutions of the ring gear in 60s, and then the rolling radius of the front wheel with normal tire pressure is calculated according to the rolling radius formula r ═ s/(2 pi × k) and determined as the standard rolling radius of the front wheel.
After step 140, continue to execute step 150: and determining the rolling radius of each rear wheel according to the atom number signal corresponding to each rear wheel in the plurality of rear wheels and the wheel speed signal of one front wheel in the at least one front wheel with normal tire pressure, and determining the rear wheel with the underpressure according to the rolling radius of each rear wheel and the standard rolling radius of the front wheel.
The rolling radius of the rear wheel is calculated similarly to the rolling radius of the front wheel, and the rolling radius formula r is s/(2 pi k), wherein s is the distance traveled in a period of time calculated according to the wheel speed signal of the front wheel with normal tire pressure
k is the number of revolutions of the ring gear during this time.
Step S160: and sending alarm information according to the wheel with undervoltage in all wheels of the vehicle.
Wherein, the wheel that appears the undervoltage includes the front wheel that appears the undervoltage and/or the rear wheel that appears the undervoltage. And alarming according to the front wheel with the undervoltage and/or the rear wheel with the undervoltage determined in the steps, so that a driver can find the abnormal condition of the tire in time, and take related measures to avoid accidents caused by the abnormal condition of the tire and ensure the running safety of the vehicle.
In the implementation process, a wheel speed sensor in the anti-lock brake system acquires atom number signals of all wheels of a vehicle, determines a wheel speed signal of each front wheel according to the atom number signal corresponding to each front wheel, does not need to additionally mount a pressure sensor and a temperature sensor inside a tire of the front wheel, reduces mounting cost and difficulty, performs frequency analysis on the wheel speed signal of the front wheel to acquire a resonance frequency corresponding to the front wheel, can accurately judge whether the corresponding front wheel is under-pressurized according to the resonance frequency, determines a standard rolling radius of the front wheel according to the wheel speed signal of at least one front wheel with normal tire pressure, and accurately determines a rear wheel with under-pressurized according to the atom number signal corresponding to the rear wheel, the wheel speed signal of the front wheel with normal tire pressure and the standard rolling radius of the front wheel, so as to alarm according to the wheel with the under-pressurized condition, thereby ensuring the running safety of the vehicle.
As an embodiment, the method further comprises the following steps after judging whether at least one front wheel with normal tire pressure exists in the plurality of front wheels according to the resonance frequency:
if at least one front wheel with normal tire pressure does not exist, executing the step S170: and taking the preset value as a front wheel speed signal, and determining the standard rolling radius of the front wheel according to the front wheel speed signal.
Step S180: and correspondingly determining the rolling radius of each rear wheel according to the atom number signal of each rear wheel and a preset wheel speed signal of the front wheel, and determining the rear wheel with undervoltage according to the rolling radius of each rear wheel and the standard rolling radius of the front wheel.
When there is no front wheel with normal tire pressure, in order to ensure that the under-pressure condition of the wheel can be accurately monitored, the standard rolling radius of the front wheel can be determined according to the prestored wheel speed signal of the front wheel with normal tire pressure, so that the rolling radius of each rear wheel can be accurately determined, the under-pressure rear wheel can be accurately determined according to the rolling radius of each rear wheel and the standard rolling radius of the front wheel, and the driving safety of the vehicle can be ensured, wherein specific calculation is not repeated here.
Optionally, the determination of the standard rolling radius of the front wheel according to the wheel speed signal of the at least one front wheel with normal tire pressure may adopt different calculation manners according to different requirements, and here, several calculation manners are briefly stated, for example, the first manner: in order to reduce the error value, the rolling radius of the front wheel may be determined according to the wheel speed signal corresponding to at least one of the at least one front wheel with normal tire pressure, and the rolling radius of the front wheel may be averaged, and then the average may be determined as the standard rolling radius of the front wheel. In a second mode, in order to increase the processing speed, the rolling radius of the front wheel may be determined according to the wheel speed signal corresponding to any one of the at least one front wheel with normal tire pressure, and the rolling radius of the front wheel may be determined as the standard rolling radius of the front wheel. In addition, the rolling radius calculation method involved here is similar to that in the above description, and is not described here again.
In the implementation process, when at least one front wheel with normal tire pressure exists in all the front wheels, the rolling radius of the front wheel can be directly determined according to the wheel speed signal corresponding to any one of the at least one front wheel with normal tire pressure, the rolling radius of the front wheel is used as the standard rolling radius of the front wheel, the rolling radius of the front wheel can be determined according to the wheel speed signal corresponding to the at least one front wheel with normal tire pressure, the average value of the rolling radius of the front wheel is calculated, and the calculated average value is used as the standard rolling radius of the front wheel, so that errors caused by other factors in the monitoring process are reduced, and the accurate determination of the standard rolling radius of the front wheel is ensured.
Optionally, a supplementary difference value between the standard rolling radius of the front wheel and the rolling radius of each rear wheel may be calculated first, then the sum of the standard rolling radius of the front wheel and the supplementary difference value is calculated as the compensation rolling radius of the front wheel, and finally whether the rolling radius of the rear wheel is smaller than the compensation rolling radius of the front wheel is judged, if yes, the rear wheel is determined to be the rear wheel with the undervoltage, and the undervoltage rear wheel is accurately determined according to the rolling radius of each rear wheel and the standard rolling radius of the front wheel.
For example, a supplemental difference between the standard rolling radius of the front wheels and the rolling radius of each rear wheel is calculated
Wherein q represents q groups of 60 seconds of data, rriIndicating the standard rolling radius of the front wheel, rfiThe rolling radius of the rear wheel is represented, and the sum of the standard rolling radius of the front wheel and the supplementary difference is calculated as the compensated rolling radius of the front wheel, i.e. the compensated rolling radius r of the front wheelf'＝rf+ Δ r, if the rolling radius of the rear wheel is smaller than the compensating rolling radius of the front wheel, it can be determined that the rear wheel is under-pressurized.
In the implementation process, under the condition that the standard rolling radius of the front wheel is known, whether the back wheel has an under-pressure condition or not can be judged through the supplementary difference value between the standard rolling radius of the front wheel and the rolling radius of each back wheel, so that an alarm can be given according to the wheel with the under-pressure condition.
Based on the same inventive concept, the embodiment of the present application further provides a tire pressure monitoring device 200 based on wheel speed, please refer to fig. 3, and the device may be a module, a program segment, or a code on an electronic device. It should be understood that the tire pressure monitoring device 200 corresponds to the method embodiment of fig. 2 and is capable of executing the steps involved in the method embodiment of fig. 2, and the specific functions of the tire pressure monitoring device 200 may be referred to the description above, and the detailed description is omitted here as appropriate to avoid repetition.
Alternatively, the tire air pressure monitoring device 200 includes:
the wheel speed signal determining module 210 is configured to obtain an atomic number signal of all wheels of the vehicle including a plurality of front wheels and a plurality of rear wheels through a wheel speed sensor in an antilock braking system, and determine a wheel speed signal of each front wheel according to the atomic number signal corresponding to each front wheel.
The front wheel speed signal determining module 220 is configured to perform frequency analysis on a wheel speed signal of each front wheel to obtain a resonance frequency corresponding to each front wheel, and determine whether at least one front wheel with a normal tire pressure exists in the plurality of front wheels and determine that an under-pressure front wheel exists according to the resonance frequency.
And a front wheel standard rolling radius determining module 230, configured to determine a front wheel standard rolling radius according to the wheel speed signal of at least one front wheel with normal tire pressure if the front wheel standard rolling radius exists.
And a rear wheel rolling radius determining module 240, configured to determine a rolling radius of each rear wheel according to the atomic number signal corresponding to each of the plurality of rear wheels and the wheel speed signal of one of the at least one front wheel with normal tire pressure, and determine a rear wheel with an under-pressure according to the rolling radius of each rear wheel and a standard rolling radius of the front wheel.
And the alarm module 250 is used for sending alarm information according to the wheel with undervoltage in all wheels of the vehicle, wherein the wheel with undervoltage comprises a front wheel with undervoltage and/or a rear wheel with undervoltage.
Optionally, the apparatus further comprises:
the front wheel standard rolling radius determining module 230 is further configured to, when at least one front wheel with normal tire pressure does not exist, use a preset value as a front wheel speed signal, and determine a front wheel standard rolling radius according to the front wheel speed signal.
The rear wheel rolling radius determining module 240 is further configured to correspondingly determine a rolling radius of each rear wheel according to the atomic number signal of each rear wheel and a preset front wheel speed signal, and determine a rear wheel with an under-voltage condition according to the rolling radius of each rear wheel and a standard rolling radius of the front wheel.
Optionally, the front wheel standard rolling radius determination module 230 includes:
and the front wheel rolling radius average value obtaining unit is used for determining the rolling radius of the front wheel according to the wheel speed signal corresponding to at least one front wheel in the at least one front wheel with normal tire pressure and calculating the average value of the rolling radius of the front wheel.
And a first front wheel standard rolling radius determination unit for determining the average value as the front wheel standard rolling radius.
Or comprises the following steps:
and the second front wheel standard rolling radius determining unit is used for determining the rolling radius of the front wheel according to the wheel speed signal corresponding to any one of the at least one front wheel with normal tire pressure, and determining the rolling radius of the front wheel as the standard rolling radius of the front wheel.
Optionally, the wheel speed signal determination module 210 comprises:
and a pulse interval calculation unit for calculating a pulse interval based on an atomic number signal generated by the wheel speed sensor being mounted on each front wheel such that the concave-convex portion of the ring gear alternately passes through the coil of the wheel speed sensor.
And the wheel speed signal calculation unit is used for acquiring the tooth number of the gear ring and calculating the wheel speed signal of each front wheel according to the pulse interval and the tooth number.
Optionally, the front wheel speed signal determining module 220 includes:
and the wheel speed signal resampling unit is used for resampling the wheel speed signal of each front wheel by adopting an interpolation method to obtain a resampled wheel speed signal.
And the Fourier transform unit is used for filtering the resampled wheel speed signal and obtaining the wheel speed signal in a frequency domain by utilizing Fourier transform.
And the resonance frequency acquisition unit is used for performing fitting calculation on the wheel speed signals in the frequency domain by adopting a Gaussian distribution algorithm to obtain the Gaussian distribution maximum value as the resonance frequency corresponding to each front wheel.
Optionally, the rear wheel rolling radius determination module 240 includes:
and the supplementary difference value calculating unit is used for calculating the supplementary difference value between the standard rolling radius of the front wheels and the rolling radius of each rear wheel.
And the compensated rolling radius calculating unit is used for calculating the sum of the standard rolling radius of the front wheel and the supplementary difference value as the compensated rolling radius of the front wheel.
And the rear wheel under-pressure judging unit is used for judging whether the rolling radius of the rear wheel is smaller than the compensation rolling radius of the front wheel or not, and if so, determining that the rear wheel is the one with the under-pressure.
The embodiment of the present application provides a readable storage medium, and when being executed by a processor, a computer program performs the method processes performed by the electronic device in the method embodiment shown in fig. 2.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method, and will not be described in too much detail herein.
In summary, the present application provides a tire pressure monitoring method and apparatus based on wheel speed, the method obtains atomic number signals of all wheels of a vehicle through a wheel speed sensor in an anti-lock braking system, and determines a wheel speed signal of each front wheel according to the atomic number signal corresponding to each front wheel, without additionally installing a pressure sensor and a temperature sensor inside a tire of the front wheel, thereby reducing installation cost and difficulty, and performing frequency analysis on the wheel speed signal of the front wheel to obtain a resonance frequency corresponding to the front wheel, and can accurately judge whether the corresponding front wheel is under-pressure according to the resonance frequency, and determine a standard rolling radius of the front wheel according to the wheel speed signal of at least one front wheel with normal tire pressure, so as to accurately determine a rear wheel with the under-pressure according to the atomic number signal corresponding to the rear wheel, the wheel speed signal of the front wheel with normal tire pressure, and the standard rolling radius of the front wheel, therefore, the alarm can be given according to the wheel with the under-voltage condition, and the running safety of the vehicle is further ensured.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A wheel speed-based tire pressure monitoring method, the method comprising acquiring an atomic number signal of all wheels of a vehicle including a plurality of front wheels and a plurality of rear wheels by a wheel speed sensor in an anti-lock brake system, and determining a wheel speed signal of each front wheel from the atomic number signal corresponding to each front wheel, the method further comprising:
performing frequency analysis on the wheel speed signal of each front wheel to obtain a resonance frequency corresponding to each front wheel, and judging whether at least one front wheel with normal tire pressure exists in the front wheels and judging the front wheel with under-pressure according to the resonance frequency;
if the rolling radius of the front wheel is normal, determining the standard rolling radius of the front wheel according to the wheel speed signal of at least one front wheel with normal tire pressure;
determining the rolling radius of each rear wheel according to the atom number signal corresponding to each rear wheel in the rear wheels and the wheel speed signal of one front wheel in at least one front wheel with normal tire pressure, and determining the rear wheel with underpressure according to the rolling radius of each rear wheel and the standard rolling radius of the front wheel;
and sending alarm information according to the wheels with undervoltage in all wheels of the vehicle, wherein the wheels with undervoltage comprise front wheels with undervoltage and/or rear wheels with undervoltage.
2. The method according to claim 1, wherein after determining whether at least one of the plurality of front wheels, of which tire pressure is normal, exists according to the resonance frequency, the method further comprises:
if at least one front wheel with normal tire pressure does not exist, taking a preset value as a front wheel speed signal, and determining a standard rolling radius of the front wheel according to the front wheel speed signal;
and correspondingly determining the rolling radius of each rear wheel according to the atomic number signal of each rear wheel and a preset front wheel speed signal, and determining the rear wheel with undervoltage according to the rolling radius of each rear wheel and the standard rolling radius of the front wheel.
3. The method of claim 1, wherein determining a standard rolling radius of the front wheel from the wheel speed signal of the at least one front wheel with normal tire pressure comprises:
determining the rolling radius of the front wheel according to the wheel speed signal corresponding to at least one front wheel in the at least one front wheel with normal tire pressure, and calculating the average value of the rolling radius of the front wheel;
determining the average value as a front wheel standard rolling radius;
or comprises the following steps:
and determining the rolling radius of the front wheel according to the wheel speed signal corresponding to any one of the at least one front wheel with normal tire pressure, and determining the rolling radius of the front wheel as the standard rolling radius of the front wheel.
4. The method of claim 1, wherein determining a wheel speed signal for each front wheel from the atomic number signal corresponding to the each front wheel comprises:
calculating a pulse interval based on the atomic number signal generated by the wheel speed sensor mounting on the gear ring concave-convex part of each front wheel alternately passing through the coil of the wheel speed sensor;
and acquiring the tooth number of the gear ring, and calculating the wheel speed signal of each front wheel according to the pulse interval and the tooth number.
5. The method of claim 1, wherein the frequency analyzing the wheel speed signal of each front wheel to obtain a resonant frequency corresponding to each front wheel comprises:
resampling the wheel speed signal of each front wheel by adopting an interpolation method to obtain a resampled wheel speed signal;
filtering the resampled wheel speed signal, and obtaining a wheel speed signal in a frequency domain by utilizing Fourier transform;
and performing fitting calculation on the wheel speed signals in the frequency domain by adopting a Gaussian distribution algorithm to obtain the Gaussian distribution maximum value as the resonance frequency corresponding to each front wheel.
6. The method of claim 1 or 2, wherein said determining the rear wheels experiencing an under-pressure based on the rolling radius of each of said rear wheels and said front wheel standard rolling radius comprises:
calculating a supplemental difference between the standard rolling radius of the front wheels and the rolling radius of each of the rear wheels;
calculating the sum of the standard rolling radius of the front wheel and the supplementary difference value as a compensated rolling radius of the front wheel;
and judging whether the rolling radius of the rear wheel is smaller than the compensation rolling radius of the front wheel, and if so, determining the rear wheel to be the one with the undervoltage.
7. A tire pressure monitoring device based on wheel speed, the device comprising a wheel speed signal determining module for obtaining an atomic number signal of all wheels of a vehicle including a plurality of front wheels and a plurality of rear wheels through a wheel speed sensor in an anti-lock brake system, and determining a wheel speed signal of each front wheel according to the atomic number signal corresponding to each front wheel, the device further comprising:
the front wheel speed signal judging module is used for carrying out frequency analysis on the wheel speed signal of each front wheel to obtain the resonance frequency corresponding to each front wheel, and judging whether at least one front wheel with normal tire pressure exists in the front wheels and judging the front wheel with undervoltage according to the resonance frequency;
the front wheel standard rolling radius determining module is used for determining the standard rolling radius of the front wheel according to the wheel speed signal of at least one front wheel with normal tire pressure when the front wheel standard rolling radius determining module exists;
the rear wheel rolling radius determining module is used for determining the rolling radius of each rear wheel according to the atomic number signal corresponding to each rear wheel in the rear wheels and the wheel speed signal of one front wheel in at least one front wheel with normal tire pressure, and determining the rear wheel with undervoltage according to the rolling radius of each rear wheel and the standard rolling radius of the front wheel;
and the alarm module is used for sending alarm information according to the wheels with the undervoltage in all the wheels of the vehicle, wherein the wheels with the undervoltage comprise front wheels with the undervoltage and/or rear wheels with the undervoltage.
8. The apparatus of claim 7, further comprising:
the front wheel standard rolling radius determining module is also used for taking a preset value as a front wheel speed signal when at least one front wheel with normal tire pressure does not exist, and determining the front wheel standard rolling radius according to the front wheel speed signal;
and the rear wheel rolling radius determining module is also used for correspondingly determining the rolling radius of each rear wheel according to the atomic number signal of each rear wheel and a preset front wheel speed signal, and determining the rear wheel with the undervoltage according to the rolling radius of each rear wheel and the standard rolling radius of the front wheel.
9. An electronic device comprising a processor and a memory, the memory storing computer readable instructions that, when executed by the processor, perform the method of any of claims 1 to 6.
10. A readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
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| CN111361534B (en) * | 2020-02-25 | 2021-12-14 | 苏州挚途科技有限公司 | Method and device for controlling pressure of main cylinder |
| CN111483277A (en) * | 2020-04-26 | 2020-08-04 | 武汉大学 | Tire underpressure identification method and system based on machine learning and storage medium |
| CN112622535A (en) * | 2020-12-28 | 2021-04-09 | 江苏爱玛车业科技有限公司 | Tire pressure monitoring method and system for electric vehicle |
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| CN115008953A (en) * | 2022-07-25 | 2022-09-06 | 北京汽车研究总院有限公司 | Tire pressure monitoring method, system, electronic device, and computer-readable storage medium |
| CN115157939B (en) * | 2022-08-04 | 2024-03-15 | 上海派智能源股份有限公司 | Tyre pressure detection device and method for vehicle tyre, vehicle and motor controller thereof |
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