CN113147627A - System and method for acquiring rotating speed of hydrogen energy automobile by sensing unmanned position - Google Patents
System and method for acquiring rotating speed of hydrogen energy automobile by sensing unmanned position Download PDFInfo
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- CN113147627A CN113147627A CN202110418064.3A CN202110418064A CN113147627A CN 113147627 A CN113147627 A CN 113147627A CN 202110418064 A CN202110418064 A CN 202110418064A CN 113147627 A CN113147627 A CN 113147627A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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Abstract
The invention provides a system and a method for acquiring the rotating speed of a hydrogen energy automobile suitable for unmanned position sensing, which comprises the steps that a driver starts the automobile by electrifying; the VCU of the vehicle control unit acquires pulse signal information of a counting wheel speed sensor; the VCU vehicle control unit imports vehicle state matching information which comprises the number N of convex teeth of a vehicle tire in one circle and the circumference L of the vehicle tire in one circle; the VCU selects a driving mode according to the driving intention of the vehicle, and different driving modes correspond to different counter time base numbers and the counting difference of each time base number; the method has the advantages of high stability and reliability, adjustable instantaneity of rotating speed acquisition, applicability to occasions with high requirements on vehicle speed control precision, unmanned position sensing, constant speed cruising and the like.
Description
Technical Field
The invention relates to the technical field of hydrogen energy automobiles, in particular to a system and a method for sensing the rotating speed of a hydrogen energy automobile by being suitable for an unmanned position.
Background
The invention provides a system scheme for acquiring wheel speed sensor signals by a VCU of a vehicle controller and a related algorithm for calculating related wheel speeds, compared with the prior art, the system scheme for acquiring the wheel speed sensor signals by the VCU of a vehicle controller and the related algorithm for calculating the related wheel speeds are provided, the cost is reduced, meanwhile, the transmission speed of vehicle speed information is higher, a high-precision wheel speed algorithm is provided, the instantaneity of rotating speed acquisition is adjustable, and the system can be used for occasions with higher requirements on vehicle speed control precision, such as constant-speed cruising, high-precision driving positions and the like.
Disclosure of Invention
In view of the above, the present invention aims to provide a system and a method for collecting the rotation speed of an unmanned vehicle by sensing hydrogen energy at a position;
a hydrogen energy automobile rotating speed acquisition system suitable for unmanned driving position sensing comprises a left front wheel speed sensor, a right front wheel speed sensor, a left rear wheel speed sensor, a right rear wheel speed sensor, an instrument display screen, a Vehicle Control Unit (VCU), a hydrogen fuel cell system, a high-voltage distribution box, a power battery system, a motor controller, a motor, a speed reducer and a differential mechanism;
the VCU acquires wheel speed information and driver intention information and controls the vehicle to start and run;
the hydrogen fuel cell system and the power cell system provide energy sources for driving the whole vehicle;
the high-voltage distribution box transmits high-voltage power provided by the hydrogen fuel cell system and the power cell system to the motor controller and the motor;
the motor controller drives the motor to provide power for the vehicle to run;
the speed reducer and the differential mechanism transmit power to the tires through the transmission shaft, and finally the rotation of the tires realizes the running of the vehicle;
the wheel speed sensor collects the rotating speed information of the tire by collecting the pulse signals generated by the convex teeth.
A rotating speed acquisition method suitable for an unmanned position to sense hydrogen energy automobile is applied to a rotating speed acquisition system suitable for an unmanned position to sense hydrogen energy automobile and comprises the following steps:
s1, the driver starts the vehicle by electrifying;
s2, the VCU of the vehicle control unit collects the pulse signal information of the wheel speed sensor;
s3, importing vehicle state matching information including the number N of convex teeth of a circle of the vehicle tire and the circumference L of the circle of the vehicle tire into the VCU vehicle controller;
s4, the VCU selects a driving mode according to the driving intention of the vehicle, and different driving modes correspond to different time base numbers of the counter and the counting difference of each time base number;
s5, substituting the counter time base numbers and the count differences corresponding to different driving modes into an algorithm to obtain the real-time vehicle speed V under different driving modes, wherein V is 3.6 ni/N*L*ti；niRepresents the count difference, t, of the base number per time period corresponding to the ith driving modeiRepresenting the time base of a counter corresponding to the ith driving mode;
and S6, sending the real-time vehicle speed V in different modes.
Further, the driving modes include a mode one, a mode two and a mode three;
when the vehicle is in the mode one, the time base of the design counter is t1The VCU calculates the counting difference n of each time base in real time1；
When the vehicle is in the second mode, the time base of the design counter is t2The VCU calculates the counting difference n of each time base in real time2；
When the vehicle is in the third mode, the time base of the design counter is t3The VCU calculates the counting difference n of each time base in real time3；
Wherein, at least one or more modes are selected for operation, and mode one has the highest priority, regardless of any mode, and always exists.
Furthermore, when one convex tooth passes through the wheel speed sensor, the wheel speed sensor generates a pulse signal, the VCU vehicle control unit collects the pulse signal and then counts, and relevant vehicle speed information is finally obtained through counting of the pulse signal and a relevant algorithm.
The technical scheme provided by the invention has the beneficial effects that: (1) the system has simple structure, effectively reduces related information acquisition controllers, reduces cost, has high stability and reliability, has adjustable instantaneity of rotating speed acquisition, and is suitable for occasions with higher requirement on the control precision of the vehicle speed, unmanned position sensing, constant-speed cruising and the like;
(2) the system can instantaneously adjust the rotating speed acquisition according to the actual requirements of the vehicle, and acquires the rotating speed information in real time by adjusting the time base and acquiring the base difference of the corresponding time base so as to meet the requirements on the rotating speed information precision and the instantaneity under different driving conditions, thereby being more intelligent and scientific;
(3) the VCU vehicle control unit is adopted to directly acquire the rotating speed information, so that the accuracy is higher and the control is more accurate.
Drawings
FIG. 1 is a flow chart of a system and method for acquiring the rotating speed of a hydrogen energy automobile by sensing the unmanned position according to the invention;
FIG. 2 is a diagram of a system and method for acquiring the rotating speed of a hydrogen energy vehicle by sensing the position of an unmanned vehicle according to the invention;
wherein: 11-left front wheel speed sensor, 12-right front wheel speed sensor, 13-left rear wheel speed sensor, 14-right rear wheel speed sensor, 150-instrument display screen, 250-vehicle control unit VCU, 24-hydrogen fuel cell system, 25-high voltage distribution box, 26-power battery system, 28-motor controller and motor, 29-reducer and differential;
FIG. 3 is a signal sampling schematic diagram of a system and method for acquiring the rotating speed of a hydrogen energy automobile by sensing the unmanned position according to the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, the present invention provides a system and a method for acquiring the rotation speed of a hydrogen energy vehicle suitable for unmanned location sensing according to the present invention in fig. 1;
referring to fig. 2, a system for acquiring the rotating speed of a hydrogen energy vehicle suitable for unmanned driving position sensing is characterized by comprising a left front wheel speed sensor, a right front wheel speed sensor, a left rear wheel speed sensor, a right rear wheel speed sensor, an instrument display screen, a vehicle control unit VCU, a hydrogen fuel cell system, a high-voltage distribution box, a power battery system, a motor controller and a motor, a speed reducer and a differential;
the VCU acquires wheel speed information and driver intention information and controls the vehicle to start and run;
the hydrogen fuel cell system and the power cell system provide energy sources for driving the whole vehicle;
the high-voltage distribution box transmits high-voltage power provided by the hydrogen fuel cell system and the power cell system to the motor controller and the motor;
the motor controller drives the motor to provide power for the vehicle to run;
the speed reducer and the differential mechanism transmit power to the tires through the transmission shaft, and finally the rotation of the tires realizes the running of the vehicle;
the wheel speed sensor collects the rotating speed information of the tire by collecting the pulse signals generated by the convex teeth.
A rotating speed acquisition method suitable for an unmanned position to sense hydrogen energy automobile is applied to a rotating speed acquisition system suitable for an unmanned position to sense hydrogen energy automobile and comprises the following steps:
s1, the driver starts the vehicle by electrifying;
s2, the VCU of the vehicle control unit collects the pulse signal information of the wheel speed sensor;
s3, importing vehicle state matching information including the number N of convex teeth of a circle of the vehicle tire and the circumference L of the circle of the vehicle tire into the VCU vehicle controller;
s4, the VCU selects a driving mode according to the driving intention of the vehicle, and different driving modes correspond to different time base numbers of the counter and the counting difference of each time base number;
s5, substituting the counter time base numbers and the count differences corresponding to different driving modes into an algorithm to obtain the real-time vehicle speed V under different driving modes, wherein V is 3.6 ni/N*L*ti；niRepresents the count difference, t, of the base number per time period corresponding to the ith driving modeiIndicates the ith driving mode pairThe corresponding counter time base;
and S6, sending the real-time vehicle speed V in different modes.
The driving modes comprise a mode I, a mode II and a mode III;
when the vehicle is in the mode one, the time base of the design counter is t1The VCU calculates the counting difference n of each time base in real time1；
When the vehicle is in the second mode, the time base of the design counter is t2The VCU calculates the counting difference n of each time base in real time2；
When the vehicle is in the third mode, the time base of the design counter is t3The VCU calculates the counting difference n of each time base in real time3；
The mode one, the mode two and the mode three can coexist, the priority of the mode one is highest, and the mode one always exists regardless of any mode.
Referring to fig. 3, when a tooth passes through the wheel speed sensor, the wheel speed sensor generates a pulse signal, the VCU controller collects the pulse signal and then counts the pulse signal, and finally obtains the related vehicle speed information through counting the pulse signal and a related algorithm.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. A rotating speed acquisition system suitable for an unmanned driving position to sense hydrogen energy automobile is characterized by comprising a left front wheel speed sensor, a right front wheel speed sensor, a left rear wheel speed sensor, a right rear wheel speed sensor, an instrument display screen, a vehicle control unit VCU, a hydrogen fuel cell system, a high-voltage distribution box, a power battery system, a motor controller, a motor, a speed reducer and a differential mechanism;
the VCU acquires wheel speed information and driver intention information and controls the vehicle to start and run;
the hydrogen fuel cell system and the power cell system provide energy sources for driving the whole vehicle;
the high-voltage distribution box transmits high-voltage power provided by the hydrogen fuel cell system and the power cell system to the motor controller and the motor;
the motor controller drives the motor to provide power for the vehicle to run;
the speed reducer and the differential mechanism transmit power to the tires through the transmission shaft, and finally the rotation of the tires realizes the running of the vehicle;
the wheel speed sensor collects the rotating speed information of the tire by collecting the pulse signals generated by the convex teeth.
2. The method for acquiring the rotating speed of the hydrogen energy automobile suitable for being sensed by the unmanned position is applied to the system for acquiring the rotating speed of the hydrogen energy automobile suitable for being sensed by the unmanned position as claimed in claim 1, and comprises the following steps of:
s1, the driver starts the vehicle by electrifying;
s2, the VCU of the vehicle control unit collects the pulse signal information of the wheel speed sensor;
s3, importing vehicle state matching information including the number N of convex teeth of a circle of the vehicle tire and the circumference L of the circle of the vehicle tire into the VCU vehicle controller;
s4, the VCU selects a driving mode according to the driving intention of the vehicle, and different driving modes correspond to different time base numbers of the counter and the counting difference of each time base number;
s5, substituting the counter time base numbers and the count differences corresponding to different driving modes into an algorithm to obtain the real-time vehicle speed V under different driving modes, wherein V is 3.6 ni/N*L*ti；niRepresents the count difference, t, of the base number per time period corresponding to the ith driving modeiCounter for indicating ith driving modeA time base;
and S6, sending the real-time vehicle speed V in different modes.
3. The method for acquiring the rotating speed of the hydrogen energy automobile by sensing the unmanned position according to claim 2, wherein the driving modes comprise a mode one, a mode two and a mode three;
when the vehicle is in the mode one, the time base of the design counter is t1The VCU calculates the counting difference n of each time base in real time1；
When the vehicle is in the second mode, the time base of the design counter is t2The VCU calculates the counting difference n of each time base in real time2；
When the vehicle is in the third mode, the time base of the design counter is t3The VCU calculates the counting difference n of each time base in real time3；
Wherein at least one or more modes are selected for operation, mode one having the highest priority, and mode one always exists regardless of any mode.
4. The method as claimed in claim 2, wherein the wheel speed sensor generates a pulse signal every time a tooth passes through the wheel speed sensor, the VCU controller collects the pulse signal and counts the pulse signal, and the relevant vehicle speed information is finally obtained by counting the pulse signal and the relevant algorithm.
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| CN202110418064.3A CN113147627A (en) | 2021-04-19 | 2021-04-19 | System and method for acquiring rotating speed of hydrogen energy automobile by sensing unmanned position |
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| CN202110418064.3A CN113147627A (en) | 2021-04-19 | 2021-04-19 | System and method for acquiring rotating speed of hydrogen energy automobile by sensing unmanned position |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114750548A (en) * | 2022-03-21 | 2022-07-15 | 广州汽车集团股份有限公司 | Tire pressure learning method, device, vehicle and storage medium |
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2021
- 2021-04-19 CN CN202110418064.3A patent/CN113147627A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114750548A (en) * | 2022-03-21 | 2022-07-15 | 广州汽车集团股份有限公司 | Tire pressure learning method, device, vehicle and storage medium |
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