CN112744222A - Method and system for acquiring vehicle speed and steering information and intelligent terminal - Google Patents
Method and system for acquiring vehicle speed and steering information and intelligent terminal Download PDFInfo
- Publication number
- CN112744222A CN112744222A CN202110066670.3A CN202110066670A CN112744222A CN 112744222 A CN112744222 A CN 112744222A CN 202110066670 A CN202110066670 A CN 202110066670A CN 112744222 A CN112744222 A CN 112744222A
- Authority
- CN
- China
- Prior art keywords
- signal
- current
- vehicle speed
- speed
- turning radius
- 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.)
- Pending
Links
Images
Classifications
-
- 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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
-
- 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
- B60W40/10—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 vehicle motion
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
Abstract
The invention discloses a method, a system and an intelligent terminal for acquiring vehicle speed and steering information, wherein the method comprises the following steps: acquiring an original speed signal on a speed sensor in an automobile to be detected in a signal coupling mode; carrying out signal processing on the obtained original vehicle speed signal to obtain a square wave signal; multiplying the square wave signal by a prestored coefficient to obtain the current speed of the automobile to be tested, wherein the coefficient is a speed calibration coefficient related to the automobile type; the current speed comprises a left wheel speed obtained by a left wheel speed sensor and a right wheel speed obtained by a right wheel speed sensor, and the current turning radius of the left wheel and the current turning radius of the right wheel are obtained based on the left wheel speed and the right wheel speed; and obtaining current steering information according to the relation between the current turning radius of the left wheel and the current turning radius of the right wheel. The technical problems that in the prior art, the speed and the steering information of the vehicle auxiliary driving system are inconvenient to obtain, and normal vehicle communication is influenced are solved.
Description
Technical Field
The invention relates to the technical field of auxiliary driving, in particular to a method and a system for acquiring vehicle speed and steering information and an intelligent terminal.
Background
Currently, in a vehicle driving assistance system, vehicle sensing and executing mechanisms such as a binocular sensor and an AEB (automatic Braking system) have a demand for vehicle speed. In the prior art, two ways are mainly used for acquiring the speed, namely, directly reading a CAN signal message from an OBD2 interface of the automobile so as to acquire speed information, and breaking a wire from an automobile wheel speed sensor to connect out a signal wire of the sensor so as to process the signal so as to acquire the speed information.
However, the mode that the automobile OBD2 interface directly reads the CAN signal message needs to be inserted into the automobile OBD2 interface all the time, and needs to communicate with the vehicle all the time, occupies the CAN bus, may affect the transmission interaction of other information of the automobile itself, and has an effect on driving safety. And the CAN protocol of the vehicle manufacturer is less in disclosure, needs to be additionally cracked, and is not strong in universality. The conventional circuit of the automobile needs to be damaged in a mode of breaking the line of the wheel speed sensor of the automobile and connecting the signal line of the sensor, so that the quality assurance and after sales of the automobile are influenced, and risks such as spontaneous combustion and the like are possibly caused. And the electricity can influence the existing signals of the automobile sensor, so that an ABS or ESP is lighted to cause a fault lamp, and the running safety of the automobile is influenced. And, different motorcycle types, speed sensor signal waveform are different, adopt the mode of direct broken string connection, because different problems such as signal amplitude need do different adaptations, and the adaptability of equipment is not strong, and the installation step is loaded down with trivial details.
Disclosure of Invention
Therefore, the embodiment of the invention provides a method, a system and an intelligent terminal for acquiring vehicle speed and steering information, so as to at least partially solve the technical problems that in the prior art, the vehicle speed and steering information of a vehicle auxiliary driving system is inconvenient to acquire and normal vehicle communication is influenced.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
a vehicle speed and steering information acquisition method, the method comprising:
acquiring an original speed signal on a speed sensor in an automobile to be detected in a signal coupling mode;
carrying out signal processing on the obtained original vehicle speed signal to obtain a square wave signal;
multiplying the square wave signal by a prestored coefficient to obtain the current speed of the automobile to be tested, wherein the coefficient is a speed calibration coefficient related to the automobile type;
the current speed comprises a left wheel speed obtained by a left wheel speed sensor and a right wheel speed obtained by a right wheel speed sensor, and the current turning radius of the left wheel and the current turning radius of the right wheel are obtained based on the left wheel speed and the right wheel speed;
and obtaining current steering information according to the relation between the current turning radius of the left wheel and the current turning radius of the right wheel.
Further, the method for acquiring the original speed signal on the speed sensor in the automobile to be detected in a signal coupling mode specifically comprises the following steps:
a signal wire of a vehicle speed sensor is clamped into a signal induction bonding pad;
the signal sensing pad senses the signal change of the vehicle speed sensor, so that an original vehicle speed signal is obtained.
Further, the signal processing of the acquired original vehicle speed signal to obtain a square wave signal specifically includes:
amplifying the original vehicle speed signal through an operational amplification circuit;
and filtering the amplified original vehicle speed signal by a filter circuit to obtain a square wave signal.
Further, the obtaining of the current steering information according to the relationship between the current turning radius of the left wheel and the current turning radius of the right wheel specifically includes:
judging that the turning radius of the current left wheel is larger than that of the current right wheel, and judging that the current steering information is the right turning of the vehicle;
and judging that the turning radius of the current left wheel is smaller than that of the current right wheel, and determining that the current steering information is the left turn of the vehicle.
The invention also provides a system for acquiring the vehicle speed and the steering information, which comprises:
the signal induction bonding pad is used for acquiring an original speed signal on a speed sensor in the automobile to be detected in a signal coupling mode;
the signal processing unit is used for carrying out signal processing on the acquired original vehicle speed signal to obtain a square wave signal;
the vehicle speed acquisition unit is used for multiplying the square wave signal by a prestored coefficient to obtain the current vehicle speed of the vehicle to be detected, wherein the coefficient is a vehicle speed calibration coefficient related to the vehicle type;
the turning radius acquiring unit is used for acquiring a current left wheel turning radius and a current right wheel turning radius based on the left wheel speed and the right wheel speed;
and the steering information output unit is used for obtaining the current steering information according to the relation between the current turning radius of the left wheel and the current turning radius of the right wheel.
Further, the signal sensing pad is specifically configured to:
a signal wire of a vehicle speed sensor is clamped into a signal induction bonding pad;
the signal sensing pad senses the signal change of the vehicle speed sensor, so that an original vehicle speed signal is obtained.
Further, the signal processing unit is specifically configured to:
amplifying the original vehicle speed signal through an operational amplification circuit;
and filtering the amplified original vehicle speed signal by a filter circuit to obtain a square wave signal.
Further, the steering information output unit is specifically configured to:
judging that the turning radius of the current left wheel is larger than that of the current right wheel, and judging that the current steering information is the right turning of the vehicle;
and judging that the turning radius of the current left wheel is smaller than that of the current right wheel, and determining that the current steering information is the left turn of the vehicle.
The present invention also provides an intelligent terminal, including: the device comprises a data acquisition device, a processor and a memory;
the data acquisition device is used for acquiring data; the memory is to store one or more program instructions; the processor is configured to execute one or more program instructions to perform the method as described above.
The present invention also provides a computer readable storage medium having embodied therein one or more program instructions for executing the method as described above.
The method for acquiring the speed and the steering information provided by the invention acquires an original speed signal on a speed sensor in the automobile to be detected in a signal coupling mode; carrying out signal processing on the obtained original vehicle speed signal to obtain a square wave signal; multiplying the square wave signal by a prestored coefficient to obtain the current speed of the automobile to be tested, wherein the coefficient is a speed calibration coefficient related to the automobile type; the current speed comprises a left wheel speed obtained by a left wheel speed sensor and a right wheel speed obtained by a right wheel speed sensor, and the current turning radius of the left wheel and the current turning radius of the right wheel are obtained based on the left wheel speed and the right wheel speed; and obtaining current steering information according to the relation between the current turning radius of the left wheel and the current turning radius of the right wheel. The method adopts a mode of indirect electrical connection with an automobile, acquires signals on a speed sensor by using a signal coupling mode, only needs to enable a signal wire of the speed sensor to be close to a coupling induction pad, and due to the capacitance effect of the signal wire and the induction pad, when the signals on the signal wire change, the signals of the induction pad correspondingly change, but the induced signals are very weak, and are processed by a series of amplification of a later stage, so that speed information is identified, and finally, the signals are transmitted to a binocular sensor, an AEB and other hosts for use through a CAN and other digital buses. The technical problems that in the prior art, the speed and the steering information of the vehicle auxiliary driving system are inconvenient to obtain, and normal vehicle communication is influenced are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
FIG. 1 is a flow chart of one embodiment of a method for obtaining vehicle speed and steering information in accordance with the present invention;
FIG. 2 is a schematic view of a steering radius of a wheel;
fig. 3 is a block diagram of a vehicle speed and steering information acquiring system according to an embodiment of the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The method for acquiring the vehicle speed and the steering information acquires the signal change of the vehicle speed sensor in a signal coupling induction mode, is not influenced by signal waveform, amplitude and the like, does not need wire breaking and wiring, and only needs to wire the signal of the vehicle speed sensor to the signal induction bonding pad of the equipment, so that the convenience for acquiring the vehicle speed is improved, and the convenience and the accuracy for acquiring the steering information are improved based on the accurate acquisition of the vehicle speed.
In the above embodiment, as shown in fig. 1, the vehicle speed and steering information acquiring method according to the present invention includes the steps of:
s1: and acquiring an original speed signal on a speed sensor in the automobile to be detected in a signal coupling mode. Specifically, a signal wire of the vehicle speed sensor is clamped into a signal sensing pad, and the signal sensing pad senses signal change of the vehicle speed sensor, so that an original vehicle speed signal is obtained.
That is to say, laminate near signal induction pad with speed of a motor vehicle sensor's signal line, when speed of a motor vehicle sensor had the signal, signal induction pad then can sense the change of signal to acquire original speed of a motor vehicle signal.
S2: and carrying out signal processing on the acquired original vehicle speed signal to obtain a square wave signal. Specifically, an original vehicle speed signal is amplified through an operational amplifier circuit; and filtering the amplified original vehicle speed signal by a filter circuit to obtain a square wave signal.
When the signal on the signal line of the vehicle speed sensor changes, the signal induction bonding pad coupling acquisition signal also changes correspondingly, but because the signal induced by the signal induction bonding pad is very weak, the signal needs to be processed by a series of amplification and the like at the later stage, so that the vehicle speed information is identified, and finally the vehicle speed information is transmitted to a binocular sensor, an AEB and other hosts for use through a CAN and the like which are digital buses.
That is to say, the original vehicle speed signal obtained by the signal induction pad needs to be amplified by the operational amplifier circuit and then output to the post-stage, and the amplified circuit and the filter circuit filter out high-frequency signals such as noise and the like, so as to retain an effective vehicle speed signal. The signal that has been processed before becomes a square wave signal that the MCU can receive and process, which changes by the change of the vehicle speed, the slower the vehicle speed, the lower the frequency of the square wave, and the faster the vehicle speed, the higher the frequency, and the MCU can detect this change of signal frequency by the function of the interrupt and counter.
S3: and multiplying the square wave signal by a pre-stored coefficient to obtain the current speed of the automobile to be tested, wherein the coefficient is a speed calibration coefficient related to the automobile type. Because the output frequencies of the speed signals are different for different vehicle types, in order to improve the universality of the method and the accuracy of speed measurement in the actual speed measurement process, a coefficient needs to be corresponding to each vehicle type so as to correspond the speed frequency and the speed. In the hardware layout process, when equipment is installed, the vehicle speed needs to be calibrated, the coefficient is stored in the MCU, and the signal frequency identified by the MCU is multiplied by the coefficient corresponding to the vehicle type, so that accurate vehicle speed information is obtained. The MCU transmits the vehicle speed information to the main machines such as a binocular sensor and an AEB through a CAN bus or a digital bus such as RS 232.
S4: the original speed signal comprises a left wheel speed acquired by a left wheel speed sensor and a right wheel speed acquired by a right wheel speed sensor, and a current left wheel turning radius and a current right wheel turning radius are obtained based on the left wheel speed and the right wheel speed; in an actual use scene, the vehicle speed sensor of each wheel is provided with a signal sensor, the corresponding sensor signal is connected to the signal input interface corresponding to the signal processing host, and the change of the vehicle speed can be detected more accurately through the change of the four signals. The acquired vehicle speeds of the left and right wheels can be the vehicle speeds of the left and right front wheels or the vehicle speeds of the left and right rear wheels.
S5: and obtaining current steering information according to the relation between the current turning radius of the left wheel and the current turning radius of the right wheel. Specifically, if the current turning radius of the left wheel is larger than the current turning radius of the right wheel, the current steering information is the right turning of the vehicle; and judging that the turning radius of the current left wheel is smaller than that of the current right wheel, and determining that the current steering information is the left turn of the vehicle.
In one embodiment, when the vehicle is turning, the current traveling direction and turning radius of the vehicle can be calculated by the difference between the instantaneous speeds of the left and right wheels of the vehicle due to the difference between the wheel speeds of the left and right wheels of the vehicle.
As shown in fig. 2, assuming that the vehicle turns counterclockwise (turns left), the turning radius of the left wheel of the vehicle is RL, and the turning radius of the right wheel is RR. The vehicle track is L (fixed value), then:
2πRL/VL＝2πRR/VR
RL + L ═ RR (VL < VR time)
Where VL (left wheel speed) and VR (right wheel speed) are known values;
the values of the turning radii RL and RR can be calculated through the two formulas; and RL < RR on left turn and RL > RR on right turn.
In the above embodiment, the method for acquiring vehicle speed and steering information provided by the present invention acquires an original vehicle speed signal on a vehicle speed sensor in a vehicle to be detected by using a signal coupling mode; carrying out signal processing on the obtained original vehicle speed signal to obtain a square wave signal; multiplying the square wave signal by a prestored coefficient to obtain the current speed of the automobile to be tested, wherein the coefficient is a speed calibration coefficient related to the automobile type; the current speed comprises a left wheel speed obtained by a left wheel speed sensor and a right wheel speed obtained by a right wheel speed sensor, and the current turning radius of the left wheel and the current turning radius of the right wheel are obtained based on the left wheel speed and the right wheel speed; and obtaining current steering information according to the relation between the current turning radius of the left wheel and the current turning radius of the right wheel. The method adopts a mode of indirect electrical connection with an automobile, acquires signals on a speed sensor by using a signal coupling mode, only needs to enable a signal wire of the speed sensor to be close to a coupling induction pad, and due to the capacitance effect of the signal wire and the induction pad, when the signals on the signal wire change, the signals of the induction pad correspondingly change, but the induced signals are very weak, and are processed by a series of amplification of a later stage, so that speed information is identified, and finally, the signals are transmitted to a binocular sensor, an AEB and other hosts for use through a CAN and other digital buses. The technical problems that in the prior art, the speed and the steering information of the vehicle auxiliary driving system are inconvenient to obtain, and normal vehicle communication is influenced are solved.
In addition to the above method, the present invention also provides a vehicle speed and steering information obtaining system, as shown in fig. 3, in one embodiment, the system includes:
the signal induction bonding pad 100 is used for acquiring an original speed signal on a speed sensor in the automobile to be detected in a signal coupling mode; the signal induction bonding pad 100 is specifically used for clamping a signal line of a vehicle speed sensor into the signal induction bonding pad; the signal sensing pad senses the signal change of the vehicle speed sensor, so that an original vehicle speed signal is obtained.
That is to say, laminate near signal induction pad with speed of a motor vehicle sensor's signal line, when speed of a motor vehicle sensor had the signal, signal induction pad then can sense the change of signal to acquire original speed of a motor vehicle signal.
The signal processing unit 200 is configured to perform signal processing on the acquired original vehicle speed signal to obtain a square wave signal; the signal processing unit 200 is specifically configured to amplify the original vehicle speed signal through an operational amplifier circuit; and filtering the amplified original vehicle speed signal by a filter circuit to obtain a square wave signal.
When the signal on the signal line of the vehicle speed sensor changes, the signal induction bonding pad coupling acquisition signal also changes correspondingly, but because the signal induced by the signal induction bonding pad is very weak, the signal needs to be processed by a series of amplification and the like at the later stage, so that the vehicle speed information is identified, and finally the vehicle speed information is transmitted to a binocular sensor, an AEB and other hosts for use through a CAN and the like which are digital buses.
That is to say, the original vehicle speed signal obtained by the signal induction pad needs to be amplified by the operational amplifier circuit and then output to the post-stage, and the amplified circuit and the filter circuit filter out high-frequency signals such as noise and the like, so as to retain an effective vehicle speed signal. The signal that has been processed before becomes a square wave signal that the MCU can receive and process, which changes by the change of the vehicle speed, the slower the vehicle speed, the lower the frequency of the square wave, and the faster the vehicle speed, the higher the frequency, and the MCU can detect this change of signal frequency by the function of the interrupt and counter.
And the vehicle speed obtaining unit 300 is configured to multiply the square wave signal by a pre-stored coefficient to obtain a current vehicle speed of the vehicle to be tested, where the coefficient is a vehicle speed calibration coefficient related to a vehicle type. Because the output frequencies of the speed signals are different for different vehicle types, in order to improve the universality of the method and the accuracy of speed measurement in the actual speed measurement process, a coefficient needs to be corresponding to each vehicle type so as to correspond the speed frequency and the speed. In the hardware layout process, when equipment is installed, the vehicle speed needs to be calibrated, the coefficient is stored in the MCU, and the signal frequency identified by the MCU is multiplied by the coefficient corresponding to the vehicle type, so that accurate vehicle speed information is obtained. The MCU transmits the vehicle speed information to the main machines such as a binocular sensor and an AEB through a CAN bus or a digital bus such as RS 232.
A turning radius obtaining unit 400, where the current vehicle speed includes a left-wheel vehicle speed obtained by a left-wheel vehicle speed sensor and a right-wheel vehicle speed obtained by a right-wheel vehicle speed sensor, and the turning radius obtaining unit is configured to obtain a current left-wheel turning radius and a current right-wheel turning radius based on the left-wheel vehicle speed and the right-wheel vehicle speed;
a steering information output unit 500 for obtaining current steering information according to a relationship between a current left wheel turning radius and a current right wheel turning radius; wherein, turn to information output unit and be used for specifically: judging that the turning radius of the current left wheel is larger than that of the current right wheel, and judging that the current steering information is the right turning of the vehicle; and judging that the turning radius of the current left wheel is smaller than that of the current right wheel, and determining that the current steering information is the left turn of the vehicle.
In the above embodiment, the system for acquiring vehicle speed and steering information provided by the present invention acquires an original vehicle speed signal on a vehicle speed sensor in a vehicle to be detected by using a signal coupling manner; carrying out signal processing on the obtained original vehicle speed signal to obtain a square wave signal; multiplying the square wave signal by a prestored coefficient to obtain the current speed of the automobile to be tested, wherein the coefficient is a speed calibration coefficient related to the automobile type; the current speed comprises a left wheel speed obtained by a left wheel speed sensor and a right wheel speed obtained by a right wheel speed sensor, and the current turning radius of the left wheel and the current turning radius of the right wheel are obtained based on the left wheel speed and the right wheel speed; and obtaining current steering information according to the relation between the current turning radius of the left wheel and the current turning radius of the right wheel. The method adopts a mode of indirect electrical connection with an automobile, acquires signals on a speed sensor by using a signal coupling mode, only needs to enable a signal wire of the speed sensor to be close to a coupling induction pad, and due to the capacitance effect of the signal wire and the induction pad, when the signals on the signal wire change, the signals of the induction pad correspondingly change, but the induced signals are very weak, and are processed by a series of amplification of a later stage, so that speed information is identified, and finally, the signals are transmitted to a binocular sensor, an AEB and other hosts for use through a CAN and other digital buses. The technical problems that in the prior art, the speed and the steering information of the vehicle auxiliary driving system are inconvenient to obtain, and normal vehicle communication is influenced are solved.
The present invention also provides an intelligent terminal, including: the device comprises a data acquisition device, a processor and a memory;
the data acquisition device is used for acquiring data; the memory is to store one or more program instructions; the processor is configured to execute one or more program instructions to perform the method as described above.
In correspondence with the above embodiments, embodiments of the present invention also provide a computer storage medium containing one or more program instructions therein. Wherein the one or more program instructions are for executing the method as described above by a binocular camera depth calibration system.
In an embodiment of the invention, the processor may be an integrated circuit chip having signal processing capability. The Processor may be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The processor reads the information in the storage medium and completes the steps of the method in combination with the hardware.
The storage medium may be a memory, for example, which may be volatile memory or nonvolatile memory, or which may include both volatile and nonvolatile memory.
The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory.
The volatile Memory may be a Random Access Memory (RAM) which serves as an external cache. By way of example and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), SLDRAM (SLDRAM), and Direct Rambus RAM (DRRAM).
The storage media described in connection with the embodiments of the invention are intended to comprise, without being limited to, these and any other suitable types of memory.
Those skilled in the art will appreciate that the functionality described in the present invention may be implemented in a combination of hardware and software in one or more of the examples described above. When software is applied, the corresponding functionality may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
The above embodiments are only for illustrating the embodiments of the present invention and are not to be construed as limiting the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made on the basis of the embodiments of the present invention shall be included in the scope of the present invention.
Claims (10)
1. A vehicle speed and steering information acquisition method is characterized by comprising the following steps:
acquiring an original speed signal on a speed sensor in an automobile to be detected in a signal coupling mode;
carrying out signal processing on the obtained original vehicle speed signal to obtain a square wave signal;
multiplying the square wave signal by a prestored coefficient to obtain the current speed of the automobile to be tested, wherein the coefficient is a speed calibration coefficient related to the automobile type;
the current speed comprises a left wheel speed obtained by a left wheel speed sensor and a right wheel speed obtained by a right wheel speed sensor, and the current turning radius of the left wheel and the current turning radius of the right wheel are obtained based on the left wheel speed and the right wheel speed;
and obtaining current steering information according to the relation between the current turning radius of the left wheel and the current turning radius of the right wheel.
2. The method for acquiring the vehicle speed and steering information according to claim 1, wherein the acquiring of the original vehicle speed signal on the vehicle speed sensor in the vehicle to be tested in a signal coupling mode specifically comprises:
a signal wire of a vehicle speed sensor is clamped into a signal induction bonding pad;
the signal sensing pad senses the signal change of the vehicle speed sensor, so that an original vehicle speed signal is obtained.
3. The method for acquiring the vehicle speed and steering information according to claim 1, wherein the step of performing signal processing on the acquired original vehicle speed signal to obtain a square wave signal specifically comprises:
amplifying the original vehicle speed signal through an operational amplification circuit;
and filtering the amplified original vehicle speed signal by a filter circuit to obtain a square wave signal.
4. The vehicle speed and steering information obtaining method according to claim 1, wherein obtaining the current steering information according to a relationship between a current left wheel turning radius and a current right wheel turning radius specifically includes:
judging that the turning radius of the current left wheel is larger than that of the current right wheel, and judging that the current steering information is the right turning of the vehicle;
and judging that the turning radius of the current left wheel is smaller than that of the current right wheel, and determining that the current steering information is the left turn of the vehicle.
5. A vehicle speed and steering information acquisition system, characterized by comprising:
the signal induction bonding pad is used for acquiring an original speed signal on a speed sensor in the automobile to be detected in a signal coupling mode;
the signal processing unit is used for carrying out signal processing on the acquired original vehicle speed signal to obtain a square wave signal;
the vehicle speed acquisition unit is used for multiplying the square wave signal by a prestored coefficient to obtain the current vehicle speed of the vehicle to be detected, wherein the coefficient is a vehicle speed calibration coefficient related to the vehicle type;
the turning radius acquiring unit is used for acquiring a current left wheel turning radius and a current right wheel turning radius based on the left wheel speed and the right wheel speed;
and the steering information output unit is used for obtaining the current steering information according to the relation between the current turning radius of the left wheel and the current turning radius of the right wheel.
6. The vehicle speed and steering information acquisition system according to claim 5, wherein the signal sensing pad is specifically configured to:
a signal wire of a vehicle speed sensor is clamped into a signal induction bonding pad;
the signal sensing pad senses the signal change of the vehicle speed sensor, so that an original vehicle speed signal is obtained.
7. The vehicle speed and steering information acquisition system according to claim 5, wherein the signal processing unit is specifically configured to:
amplifying the original vehicle speed signal through an operational amplification circuit;
and filtering the amplified original vehicle speed signal by a filter circuit to obtain a square wave signal.
8. The vehicle speed and steering information acquisition system according to claim 5, wherein the steering information output unit is specifically configured to:
judging that the turning radius of the current left wheel is larger than that of the current right wheel, and judging that the current steering information is the right turning of the vehicle;
and judging that the turning radius of the current left wheel is smaller than that of the current right wheel, and determining that the current steering information is the left turn of the vehicle.
9. An intelligent terminal, characterized in that, intelligent terminal includes: the device comprises a data acquisition device, a processor and a memory;
the data acquisition device is used for acquiring data; the memory is to store one or more program instructions; the processor, configured to execute one or more program instructions to perform the method of any of claims 1-4.
10. A computer-readable storage medium having one or more program instructions embodied therein for performing the method of any of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110066670.3A CN112744222A (en) | 2021-01-19 | 2021-01-19 | Method and system for acquiring vehicle speed and steering information and intelligent terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110066670.3A CN112744222A (en) | 2021-01-19 | 2021-01-19 | Method and system for acquiring vehicle speed and steering information and intelligent terminal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112744222A true CN112744222A (en) | 2021-05-04 |
Family
ID=75652475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110066670.3A Pending CN112744222A (en) | 2021-01-19 | 2021-01-19 | Method and system for acquiring vehicle speed and steering information and intelligent terminal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112744222A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5828585A (en) * | 1997-01-17 | 1998-10-27 | Delco Electronics Corporation | Vehicle speed signal calibration |
| JP2004239772A (en) * | 2003-02-06 | 2004-08-26 | Denso Corp | Electronic control device |
| CN205220418U (en) * | 2015-12-15 | 2016-05-11 | 北京智行者科技有限公司 | Electron differential steering control system and have its electric automobile |
| CN105984494A (en) * | 2015-02-16 | 2016-10-05 | 比亚迪股份有限公司 | Steering system for vehicle and vehicle with same |
| CN106314427A (en) * | 2015-07-10 | 2017-01-11 | 比亚迪股份有限公司 | Turning control method and system for four-wheel independently driven automobile |
| CN109444455A (en) * | 2018-12-03 | 2019-03-08 | 株洲天利铁路机车车辆配件有限公司 | A kind of indirect induction type locomotive speed signal acquisition method and device |
| EP3663145A1 (en) * | 2018-12-07 | 2020-06-10 | Hyundai Motor Company | System and method for controlling turning of vehicle |
-
2021
- 2021-01-19 CN CN202110066670.3A patent/CN112744222A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5828585A (en) * | 1997-01-17 | 1998-10-27 | Delco Electronics Corporation | Vehicle speed signal calibration |
| JP2004239772A (en) * | 2003-02-06 | 2004-08-26 | Denso Corp | Electronic control device |
| CN105984494A (en) * | 2015-02-16 | 2016-10-05 | 比亚迪股份有限公司 | Steering system for vehicle and vehicle with same |
| CN106314427A (en) * | 2015-07-10 | 2017-01-11 | 比亚迪股份有限公司 | Turning control method and system for four-wheel independently driven automobile |
| CN205220418U (en) * | 2015-12-15 | 2016-05-11 | 北京智行者科技有限公司 | Electron differential steering control system and have its electric automobile |
| CN109444455A (en) * | 2018-12-03 | 2019-03-08 | 株洲天利铁路机车车辆配件有限公司 | A kind of indirect induction type locomotive speed signal acquisition method and device |
| EP3663145A1 (en) * | 2018-12-07 | 2020-06-10 | Hyundai Motor Company | System and method for controlling turning of vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109398097B (en) | Wheel braking torque control method and device and braking energy recovery control system | |
| JP2001500625A (en) | Sensor bridge function monitoring method and function monitoring circuit device | |
| CN113370961B (en) | Braking performance monitoring method, device and equipment and readable storage medium | |
| CN110422153B (en) | Slope signal optimization method and system of vehicle slope sensor and automobile | |
| US5507180A (en) | Apparatus and method for detecting rough road travel of a vehicle, and apparatus and method for detecting misfire of a vehicle engine | |
| CN112744222A (en) | Method and system for acquiring vehicle speed and steering information and intelligent terminal | |
| US5274326A (en) | Circuit configuration for processing the output signals of a speed sensor to eliminate noise | |
| KR100260247B1 (en) | Communication system for communications between an electronic control apparatus and a test apparatus | |
| CN112882455A (en) | Vehicle speed obtaining method and system and intelligent terminal | |
| JPH10504781A (en) | How to determine the lateral acceleration of a car | |
| CN105223374A (en) | A kind of flexible circuit of tach signal | |
| US6640624B2 (en) | Method and apparatus for monitoring wheel speeds | |
| US6691060B2 (en) | Method and device for monitoring wheel speeds | |
| US20080152166A1 (en) | Canceling signal generator, noise reduction system and noise reduction program | |
| KR100262587B1 (en) | Noise detection method of wheel speed sensor | |
| JP3690871B2 (en) | Road friction coefficient estimation device | |
| JP3342879B2 (en) | Sensor signal processing circuit | |
| CN219574139U (en) | Automobile wheel speed sensor capable of reducing entry of soil | |
| JPH0553945A (en) | In-vehicle serial data communication system | |
| KR100279450B1 (en) | Control method of applying / not applying misfire detection logic | |
| CN111547131B (en) | Vehicle steering parameter determination method and device, vehicle and storage medium | |
| CN212872515U (en) | Wheel speed sensor probe | |
| CN108627668A (en) | Automobile wheel speed detecting system | |
| KR100599575B1 (en) | An interface circuit of torque sensor for motor driven suspension apparatus | |
| JP3066506B2 (en) | Anti-lock brake electronic control unit |
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 |