CN114575225B - Washboard pavement recognition method, washboard pavement recognition device, washboard pavement recognition medium and washboard pavement controller - Google Patents
Washboard pavement recognition method, washboard pavement recognition device, washboard pavement recognition medium and washboard pavement controller Download PDFInfo
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- CN114575225B CN114575225B CN202110720138.9A CN202110720138A CN114575225B CN 114575225 B CN114575225 B CN 114575225B CN 202110720138 A CN202110720138 A CN 202110720138A CN 114575225 B CN114575225 B CN 114575225B
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- 230000010355 oscillation Effects 0.000 claims abstract description 94
- 238000010586 diagram Methods 0.000 claims description 25
- 238000004590 computer program Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 3
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- KLDZYURQCUYZBL-UHFFFAOYSA-N 2-[3-[(2-hydroxyphenyl)methylideneamino]propyliminomethyl]phenol Chemical compound OC1=CC=CC=C1C=NCCCN=CC1=CC=CC=C1O KLDZYURQCUYZBL-UHFFFAOYSA-N 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
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Abstract
The disclosure relates to a washboard pavement recognition method, a washboard pavement recognition device, a washboard pavement recognition medium and a washboard pavement recognition controller, and belongs to the field of vehicles. A washboard pavement recognition method comprises the following steps: acquiring the speed of a vehicle and the real-time rotating speed of a driving motor; calculating the oscillation amplitude and the oscillation frequency of the real-time rotating speed of the driving motor; and identifying a washboard pavement based on the vehicle speed, the oscillation amplitude and the oscillation frequency. When a vehicle passes through the washboard pavement, the real-time rotating speed of the motor can be severely fluctuated due to the bumping of the pavement, so that the washboard pavement can be effectively identified by utilizing the vehicle speed, the oscillating frequency and the oscillating amplitude of the real-time rotating speed of the driving motor, and the accuracy of the washboard pavement identification is improved.
Description
Technical Field
The disclosure relates to the field of vehicles, in particular to a washboard pavement recognition method, a washboard pavement recognition device, a washboard pavement recognition medium and a washboard pavement recognition controller.
Background
The washboard pavement is a pavement shaped like a washboard for clothes washing. However, no effective method is available at present, so that when a vehicle passes through the washboard pavement, the phenomenon of vehicle shake, running and the like easily occurs.
Disclosure of Invention
The invention aims to provide a washboard pavement identification method, a washboard pavement identification device, a washboard pavement identification medium and a washboard pavement identification controller, which can effectively identify a washboard pavement.
In order to achieve the above object, the present disclosure provides a washboard pavement recognition method, including: acquiring the speed of a vehicle and the real-time rotating speed of a driving motor; calculating the oscillation amplitude and the oscillation frequency of the real-time rotating speed of the driving motor; and identifying a washboard pavement based on the vehicle speed, the oscillation amplitude and the oscillation frequency.
Optionally, the identifying the washboard road surface based on the vehicle speed, the oscillation amplitude and the oscillation frequency includes: if the vehicle speed is in a preset vehicle speed range, and a first condition and a second condition are simultaneously met and the first condition and the second condition are respectively and continuously met for preset times, the current road surface is identified as the washboard road surface, wherein the first condition is that the oscillation amplitude is larger than a preset amplitude threshold value, and the second condition is that the oscillation frequency is in a preset frequency range.
Optionally, the preset vehicle speed range is 2kph to 100kph.
Optionally, the preset number of times is at least 5 times.
Optionally, the preset amplitude threshold is at least 300 revolutions per minute.
Optionally, the preset frequency range is 5hz to 18hz.
Optionally, the calculating the oscillation amplitude and the oscillation frequency of the real-time rotation speed of the driving motor includes: acquiring a real-time rotating speed sine waveform chart based on the real-time rotating speed of the driving motor; converting the real-time rotating speed sine waveform diagram into a real-time rotating speed square waveform diagram; and calculating the oscillation amplitude and the oscillation frequency of the real-time rotating speed of the driving motor based on the real-time rotating speed square wave diagram.
Optionally, the converting the real-time rotational speed sinusoidal waveform map into a real-time rotational speed square waveform map includes: if n (t) > n (t-1) and n (t-1) > n (t-2), the level of the real-time rotational speed square wave chart is a first level; if n (t) < n (t-1) and n (t-1) < n (t-2), the level of the real-time tachometer square wave plot is a second level, wherein the second level is a level opposite to the first level; wherein n (t), n (t-1) and n (t-2) respectively represent the real-time rotation speeds of the driving motor at the t-th, t-1 and t-2 moments.
In order to achieve the object of the present disclosure, there is also provided a washboard pavement recognition device including: the acquisition module is used for acquiring the speed of the vehicle and the real-time rotating speed of the driving motor; the calculation module is used for calculating the oscillation amplitude and the oscillation frequency of the real-time rotating speed of the driving motor; and the identification module is used for identifying the washboard pavement based on the vehicle speed, the oscillation amplitude and the oscillation frequency.
Optionally, the identifying the washboard road surface based on the vehicle speed, the oscillation amplitude and the oscillation frequency includes: if the vehicle speed is in a preset vehicle speed range, and a first condition and a second condition are simultaneously met and the first condition and the second condition are respectively and continuously met for preset times, the current road surface is identified as the washboard road surface, wherein the first condition is that the oscillation amplitude is larger than a preset amplitude threshold value, and the second condition is that the oscillation frequency is in a preset frequency range.
Optionally, the preset vehicle speed range is 2kph to 100kph.
Optionally, the preset number of times is at least 5 times.
Optionally, the preset amplitude threshold is at least 300 revolutions per minute.
Optionally, the preset frequency range is 5hz to 18hz.
Optionally, the calculating the oscillation amplitude and the oscillation frequency of the real-time rotation speed of the driving motor includes: acquiring a real-time rotating speed sine waveform chart based on the real-time rotating speed of the driving motor; converting the real-time rotating speed sine waveform diagram into a real-time rotating speed square waveform diagram; and calculating the oscillation amplitude and the oscillation frequency of the real-time rotating speed of the driving motor based on the real-time rotating speed square wave diagram.
Optionally, the converting the real-time rotational speed sinusoidal waveform map into a real-time rotational speed square waveform map includes: if n (t) > n (t-1) and n (t-1) > n (t-2), the level of the real-time rotational speed square wave chart is a first level; if n (t) < n (t-1) and n (t-1) < n (t-2), the level of the real-time tachometer square wave plot is a second level, wherein the second level is a level opposite to the first level; wherein n (t), n (t-1) and n (t-2) respectively represent the real-time rotation speeds of the driving motor at the t-th, t-1 and t-2 moments.
The present disclosure also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of the present disclosure.
The present disclosure also provides a controller comprising: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the method of the present disclosure.
Through adopting above-mentioned technical scheme, obtain speed of a motor and driving motor real-time rotational speed at first, then calculate driving motor real-time rotational speed's oscillation amplitude and oscillation frequency, then discern the washboard road surface based on speed of a motor, oscillation amplitude and oscillation frequency, because the vehicle is when passing the washboard road surface, road surface jolt can lead to motor real-time rotational speed to fluctuate severely, consequently utilize speed of a motor, driving motor real-time rotational speed's oscillation frequency and oscillation amplitude can effectively discern the washboard road surface, improve the degree of accuracy of washboard road surface discernment.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:
fig. 1 is a flowchart of a washboard pavement recognition method according to an embodiment of the present disclosure.
FIG. 2 is a schematic diagram of an exemplary vehicle real-time speed profile.
FIG. 3 is a schematic diagram of an exemplary drive motor real-time rotational speed sinusoidal waveform.
FIG. 4 is a schematic diagram of an exemplary converted real-time tacho square wave.
Fig. 5 is a schematic block diagram of a washboard pavement recognition device according to an embodiment of the present disclosure.
Fig. 6 is a block diagram of a controller, according to an example embodiment.
Detailed Description
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.
Fig. 1 is a flowchart of a washboard pavement recognition method according to an embodiment of the present disclosure. As shown in fig. 1, the method includes the following steps S11 to S13.
In step S11, the vehicle speed and the real-time rotational speed of the drive motor are acquired.
The inventor of the present disclosure found that when a vehicle runs on a washboard road surface, abrupt torque changes of a gearbox, a crankshaft and the like easily occur, so that the phenomena of vehicle shake, jogging and the like are caused, and even extremely dangerous working conditions such as broken shafts and the like are generated. Moreover, due to road bumps, the frequency of fluctuation of the real-time rotational speed of the drive motor (i.e., the frequency of change in the real-time rotational speed per unit time) will increase, whereas the change in the real-time rotational speed of the drive motor per unit time is not severe when the vehicle is traveling on a normal road, as shown in the exemplary vehicle real-time rotational speed graph of fig. 2.
In step S12, the oscillation amplitude and the oscillation frequency of the real-time rotational speed of the drive motor are calculated.
Here, the oscillation amplitude of the real-time rotational speed of the drive motor refers to the difference between the peak and peak values of the real-time rotational speed of the drive motor, for example, the difference between the peak value and the trough value.
The oscillation frequency of the real-time rotation speed of the driving motor refers to the fluctuation frequency of the real-time rotation speed of the driving motor in unit time.
In step S13, the washboard road surface is identified based on the vehicle speed, the oscillation amplitude, and the oscillation frequency.
Through adopting above-mentioned technical scheme, obtain speed of a motor and driving motor real-time rotational speed at first, then calculate driving motor real-time rotational speed's oscillation amplitude and oscillation frequency, then discern the washboard road surface based on speed of a motor, oscillation amplitude and oscillation frequency, because the vehicle is when passing the washboard road surface, road surface jolt can lead to motor real-time rotational speed to fluctuate severely, consequently utilize speed of a motor, driving motor real-time rotational speed's oscillation frequency and oscillation amplitude can effectively discern the washboard road surface, improve the degree of accuracy of washboard road surface discernment.
In some embodiments, identifying a washboard surface based on the vehicle speed, the oscillation amplitude, and the oscillation frequency described in step S13 includes: if the vehicle speed is in a preset vehicle speed range, and the first condition and the second condition are simultaneously met and the first condition and the second condition are respectively and continuously met for preset times, the current road surface is identified as a washboard road surface, wherein the first condition is that the oscillation amplitude of the real-time rotating speed of the driving motor is larger than a preset amplitude threshold value, and the second condition is that the oscillation frequency of the real-time rotating speed of the driving motor is in a preset frequency range.
In some embodiments, the preset vehicle speed range may be 2kph to 100kph, preferably 5kph to 80kph.
In some embodiments, the preset number of times may be at least 5 times, for example, may be 10 times. The preset number of times is set as the parameter that the single real-time rotation speed fluctuation of the driving motor is insufficient to indicate that the current road surface is a washboard road surface, and only if the oscillation amplitude and the oscillation frequency of the real-time rotation speed of the driving motor continuously and repeatedly meet the first condition and the second condition respectively, the current road surface is possibly indicated to be the washboard road surface.
In some embodiments, the preset amplitude threshold may be at least 300 revolutions per minute, for example, may be 400 revolutions per minute.
In some embodiments, the predetermined frequency range may be 5hz to 18hz, preferably 8 to 13hz.
By adopting the technical scheme, the washboard pavement can be identified by utilizing the vehicle speed, the oscillation frequency and the oscillation amplitude of the real-time rotating speed of the driving motor, so that the washboard pavement can be effectively identified, and the accuracy of the washboard pavement identification is improved.
In some embodiments, calculating the oscillation amplitude and the oscillation frequency of the real-time rotation speed of the driving motor in step S12 includes: acquiring a real-time rotating speed sine waveform chart based on the real-time rotating speed of the driving motor; converting the real-time rotating speed sine wave pattern into a real-time rotating speed square wave pattern; and calculating the oscillation amplitude and the oscillation frequency of the real-time rotating speed of the driving motor based on the real-time rotating speed square wave diagram.
Since the real-time rotation speed of the driving motor is changed severely and continuously when the vehicle runs on the washboard road surface, the real-time rotation speed of the driving motor can be simplified into a sine wave curve to be processed, and the sine wave diagram of the real-time rotation speed of the driving motor is shown in the example driving motor shown in fig. 3.
In some embodiments, the real-time tachometer sinogram may be converted to a real-time tachometer sinogram by: if n (t) > n (t-1) and n (t-1) > n (t-2), the level of the real-time rotational speed square wave chart is a first level; if n (t) < n (t-1) and n (t-1) < n (t-2), the level of the real-time rotation speed square wave chart is a second level, wherein the second level is opposite to the first level, and n (t), n (t-1) and n (t-2) respectively represent the real-time rotation speeds of the driving motor at the times of t, t-1 and t-2. FIG. 4 is a schematic diagram of an exemplary converted real-time tacho square wave, wherein the first level is low and the second level is high.
After the real-time rotating speed square wave diagram is obtained, the oscillating amplitude of the real-time rotating speed of the driving motor can be obtained by utilizing the difference between the high level and the low level of the square wave diagram, and the oscillating frequency of the real-time rotating speed of the driving motor can be obtained by utilizing the oscillating frequency of the square wave diagram.
By adopting the technical scheme, the oscillation amplitude and the oscillation frequency of the real-time rotating speed can be calculated in real time, so that whether the current road surface is a washboard road surface or not can be conveniently identified.
Fig. 5 is a schematic block diagram of a washboard pavement recognition device according to an embodiment of the present disclosure. As shown in fig. 5, the apparatus includes: an acquisition module 51, configured to acquire a vehicle speed and a real-time rotational speed of a driving motor; the calculation module 52 is used for calculating the oscillation amplitude and the oscillation frequency of the real-time rotating speed of the driving motor; an identification module 53 for identifying a washboard road surface based on the vehicle speed, the oscillation amplitude and the oscillation frequency.
By adopting the technical scheme, the washboard pavement can be identified by utilizing the vehicle speed, the oscillation frequency and the oscillation amplitude of the real-time rotating speed of the driving motor, so that the washboard pavement can be effectively identified, and the accuracy of the washboard pavement identification is improved.
Optionally, the identifying the washboard road surface based on the vehicle speed, the oscillation amplitude and the oscillation frequency includes: if the vehicle speed is in a preset vehicle speed range, and a first condition and a second condition are simultaneously met and the first condition and the second condition are respectively and continuously met for preset times, the current road surface is identified as the washboard road surface, wherein the first condition is that the oscillation amplitude is larger than a preset amplitude threshold value, and the second condition is that the oscillation frequency is in a preset frequency range.
Optionally, the preset vehicle speed range is 2kph to 100kph.
Optionally, the preset number of times is at least 5 times.
Optionally, the preset amplitude threshold is at least 300 revolutions per minute.
Optionally, the preset frequency range is 5hz to 18hz.
Optionally, the calculating the oscillation amplitude and the oscillation frequency of the real-time rotation speed of the driving motor includes: acquiring a real-time rotating speed sine waveform chart based on the real-time rotating speed of the driving motor; converting the real-time rotating speed sine waveform diagram into a real-time rotating speed square waveform diagram; and calculating the oscillation amplitude and the oscillation frequency of the real-time rotating speed of the driving motor based on the real-time rotating speed square wave diagram.
Optionally, the converting the real-time rotational speed sinusoidal waveform map into a real-time rotational speed square waveform map includes: if n (t) > n (t-1) and n (t-1) > n (t-2), the level of the real-time rotational speed square wave chart is a first level; if n (t) < n (t-1) and n (t-1) < n (t-2), the level of the real-time tachometer square wave plot is a second level, wherein the second level is a level opposite to the first level; wherein n (t), n (t-1) and n (t-2) respectively represent the real-time rotation speeds of the driving motor at the t-th, t-1 and t-2 moments.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
Fig. 6 is a block diagram illustrating a controller 700 according to an exemplary embodiment. As shown in fig. 6, the controller 700 may include: a processor 701, a memory 702. The controller 700 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.
The processor 701 is configured to control the overall operation of the controller 700 to perform all or part of the steps in the above-described washboard pavement recognition method. The memory 702 is used to store various types of data to support operation at the controller 700, which may include, for example, instructions for any application or method operating on the controller 700, as well as application-related data, such as contact data, messages sent and received, pictures, audio, video, and so forth. The Memory 702 may be implemented by any type or combination of volatile or non-volatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM for short), electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM for short), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM for short), programmable Read-Only Memory (Programmable Read-Only Memory, PROM for short), read-Only Memory (ROM for short), magnetic Memory, flash Memory, magnetic disk, or optical disk.
In an exemplary embodiment, the controller 700 may be implemented by one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated ASIC), digital signal processor (Digital Signal Processor, abbreviated DSP), digital signal processing device (Digital Signal Processing Device, abbreviated DSPD), programmable logic device (Programmable Logic Device, abbreviated PLD), field programmable gate array (Field Programmable Gate Array, abbreviated FPGA), microcontroller, microprocessor, or other electronic components for performing the washboard pavement identification method described above.
In another exemplary embodiment, a computer readable storage medium is also provided, comprising program instructions which, when executed by a processor, implement the steps of the washboard pavement identification method described above. For example, the computer readable storage medium may be the memory 702 including program instructions described above, which are executable by the processor 701 of the controller 700 to perform the washboard pavement recognition method described above.
The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations are not described further in this disclosure in order to avoid unnecessary repetition.
Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.
Claims (10)
1. The method for recognizing the washboard pavement is characterized by comprising the following steps of:
acquiring the speed of a vehicle and the real-time rotating speed of a driving motor;
calculating the oscillation amplitude and the oscillation frequency of the real-time rotating speed of the driving motor;
identifying a washboard road surface based on the vehicle speed, the oscillation amplitude and the oscillation frequency;
wherein said identifying a washboard road surface based on said vehicle speed, said oscillation amplitude and said oscillation frequency comprises:
if the vehicle speed is in a preset vehicle speed range, and a first condition and a second condition are simultaneously met and the first condition and the second condition are respectively and continuously met for preset times, the current road surface is identified as the washboard road surface, wherein the first condition is that the oscillation amplitude is larger than a preset amplitude threshold value, and the second condition is that the oscillation frequency is in a preset frequency range.
2. The method of claim 1, wherein the predetermined vehicle speed range is 2kph to 100kph.
3. The method of claim 1, wherein the predetermined number of times is at least 5 times.
4. The method of claim 1, wherein the preset amplitude threshold is at least 300 revolutions per minute.
5. The method of claim 1, wherein the predetermined frequency range is 5hz to 18hz.
6. The method according to any one of claims 1 to 5, wherein said calculating the oscillation amplitude and the oscillation frequency of the real-time rotational speed of the drive motor comprises:
acquiring a real-time rotating speed sine waveform chart based on the real-time rotating speed of the driving motor;
converting the real-time rotating speed sine waveform diagram into a real-time rotating speed square waveform diagram;
and calculating the oscillation amplitude and the oscillation frequency of the real-time rotating speed of the driving motor based on the real-time rotating speed square wave diagram.
7. The method of claim 6, wherein said converting said real-time tacho sinusoidal waveform map to a real-time tacho square waveform map comprises:
if n (t) > n (t-1) and n (t-1) > n (t-2), the level of the real-time rotational speed square wave chart is a first level;
if n (t) < n (t-1) and n (t-1) < n (t-2), the level of the real-time tachometer square wave plot is a second level, wherein the second level is a level opposite to the first level;
wherein n (t), n (t-1) and n (t-2) respectively represent the real-time rotation speeds of the driving motor at the t-th, t-1 and t-2 moments.
8. A washboard pavement recognition device, comprising:
the acquisition module is used for acquiring the speed of the vehicle and the real-time rotating speed of the driving motor;
the calculation module is used for calculating the oscillation amplitude and the oscillation frequency of the real-time rotating speed of the driving motor;
the identifying module is used for identifying the washboard pavement based on the vehicle speed, the oscillation amplitude and the oscillation frequency;
wherein said identifying a washboard road surface based on said vehicle speed, said oscillation amplitude and said oscillation frequency comprises: if the vehicle speed is in a preset vehicle speed range, and a first condition and a second condition are simultaneously met and the first condition and the second condition are respectively and continuously met for preset times, the current road surface is identified as the washboard road surface, wherein the first condition is that the oscillation amplitude is larger than a preset amplitude threshold value, and the second condition is that the oscillation frequency is in a preset frequency range.
9. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor realizes the steps of the method according to any of claims 1-7.
10. A controller, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110720138.9A CN114575225B (en) | 2021-06-28 | 2021-06-28 | Washboard pavement recognition method, washboard pavement recognition device, washboard pavement recognition medium and washboard pavement controller |
| PCT/CN2022/098457 WO2023273859A1 (en) | 2021-06-28 | 2022-06-13 | Washboard road surface recognition method and apparatus, medium, and controller |
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| CN202110720138.9A CN114575225B (en) | 2021-06-28 | 2021-06-28 | Washboard pavement recognition method, washboard pavement recognition device, washboard pavement recognition medium and washboard pavement controller |
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| CN114575225B (en) * | 2021-06-28 | 2023-10-27 | 长城汽车股份有限公司 | Washboard pavement recognition method, washboard pavement recognition device, washboard pavement recognition medium and washboard pavement controller |
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| CN114575225B (en) * | 2021-06-28 | 2023-10-27 | 长城汽车股份有限公司 | Washboard pavement recognition method, washboard pavement recognition device, washboard pavement recognition medium and washboard pavement controller |
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- 2022-06-13 WO PCT/CN2022/098457 patent/WO2023273859A1/en unknown
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| WO2023273859A1 (en) | 2023-01-05 |
| CN114575225A (en) | 2022-06-03 |
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