CN115503725A - Road condition judging method, fire fault diagnosis method and device and computer equipment - Google Patents
Road condition judging method, fire fault diagnosis method and device and computer equipment Download PDFInfo
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- 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
- B60W40/02—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 ambient conditions
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
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- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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Abstract
The application relates to a road condition judging method, a fire fault diagnosis device and computer equipment.
Description
Technical Field
The application relates to the technical field of commercial vehicle road condition identification, in particular to a road condition judgment method, a fire fault diagnosis device and computer equipment.
Background
For a heavy vehicle adopting a spark ignition engine, a misfire fault needs to be monitored, at present, diagnosis is mainly performed through a crankshaft rotating speed sensor installed on the engine, and when the engine catches fire, the crankshaft angular acceleration is abnormal, so that the misfire diagnosis is performed.
However, this method cannot eliminate the influence of bad roads (bumpy road conditions) on the angular acceleration of the crankshaft, and therefore false alarm misfire may occur.
Therefore, how to identify a bad road based on the sensor configuration of the existing vehicle is very necessary.
Disclosure of Invention
Accordingly, it is necessary to provide a road condition determining method, a fire fault diagnosing device, and a computer apparatus capable of accurately identifying a bumpy road condition in view of the above technical problems.
In a first aspect, the present application provides a road condition determining method, including:
acquiring vehicle running data, wherein the vehicle running data comprises wheel speeds of all wheels;
calculating wheel acceleration of each wheel according to each wheel speed;
acquiring a wheel acceleration limit value according to vehicle running data;
and judging road conditions according to the wheel acceleration of each wheel and the wheel acceleration limit value.
In one embodiment, after the acquiring the vehicle driving data, the method includes:
judging whether the vehicle running data exceeds a limit value according to a preset wheel speed value, and judging whether the vehicle running data meets the clamping stagnation requirement;
if the vehicle running data exceeds the limit value and/or the vehicle running data does not meet the clamping stagnation requirement, performing anti-bounce processing on the vehicle running data;
and if the vehicle running data does not exceed the limit value and the vehicle running data meets the clamping stagnation requirement, calculating the wheel acceleration of each wheel according to each wheel speed.
In one embodiment, the calculating the wheel acceleration of each wheel based on the vehicle running data includes:
judging whether the vehicle driving data meet the rationality requirement or not;
if the vehicle running data meet the rationality requirement, differentiating the vehicle running data to obtain the wheel acceleration of each wheel;
and if the vehicle running data does not meet the rationality requirement, continuing the step of acquiring the vehicle running data.
In one embodiment, the obtaining of the wheel acceleration limit value according to the vehicle driving data includes:
acquiring a vehicle speed and a corresponding engine output torque from vehicle running data;
generating an acceleration limit table according to the vehicle speed and the corresponding engine output torque, wherein the acceleration limit table is used for representing the acceleration value corresponding to each vehicle speed;
acquiring an initial wheel acceleration limit value corresponding to each wheel according to the acceleration limit value table;
and correcting the initial wheel acceleration limit value according to a preset correction coefficient to obtain the wheel acceleration limit value.
In one embodiment, the determining the road condition according to the wheel acceleration of each wheel and the wheel acceleration limit value includes:
calculating the wheel acceleration of the front axle and the wheel acceleration of the rear axle according to the wheel acceleration;
and judging the road condition according to the wheel acceleration of the front shaft, the wheel acceleration of the rear shaft and the wheel acceleration limit value.
In one embodiment, the determining the road condition according to the wheel acceleration of the front axle, the wheel acceleration of the rear axle, and the wheel acceleration limit value includes:
and if the wheel acceleration of the front axle or the wheel acceleration of the rear axle exceeds the wheel acceleration limit value, judging the road condition as a bad road condition.
In a second aspect, the present application provides a road condition determining method, including:
judging the road condition by any road condition judging method in the first aspect;
when the result of the road condition judgment is a bad road condition, prohibiting fire fault diagnosis;
and when the road condition judgment result is not the bad road condition, continuing to diagnose the fire fault.
In a third aspect, the present application further provides a traffic status determining device, including:
the data acquisition module is used for acquiring vehicle running data, and the vehicle running data comprises wheel speeds of all wheels;
the acceleration calculation module is used for calculating the wheel acceleration of each wheel according to each wheel speed;
the limit value acquisition module is used for acquiring a wheel acceleration limit value according to vehicle running data;
and the road condition judgment module is used for judging the road condition according to the wheel acceleration of each wheel and the wheel acceleration limit value.
In a fourth aspect, the present application further provides a computer device comprising a memory storing a computer program and a processor implementing the method steps of any one of the first or second aspects when the computer program is executed by the processor.
In a fifth aspect, the present application further provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method steps of any one of the first or second aspects.
In a sixth aspect, the present application also provides a computer program product comprising a computer program that, when executed by a processor, performs the method steps of any one of the first or second aspects.
According to the road condition judging method, the fire fault diagnosis device and the computer equipment, the vehicle running data is obtained, the wheel acceleration of each wheel is calculated according to each wheel speed, the wheel acceleration limit value is obtained according to the vehicle running data, the road condition is judged according to the wheel acceleration and the wheel acceleration limit value of each wheel, whether the current road condition is the bad road condition or not can be accurately identified, and the fire fault diagnosis is not carried out when the road condition is the bad road condition, so that the accuracy of the fire fault diagnosis is guaranteed.
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Fig. 1 is an application environment diagram of a road condition determination method in an embodiment;
fig. 2 is a schematic flow chart of a traffic condition determining method according to an embodiment;
FIG. 3 is a schematic flow chart of step S203 in the embodiment shown in FIG. 2;
fig. 4 is a schematic flow chart of a traffic condition determining method in another embodiment;
FIG. 5 is a schematic flow chart illustrating a method for identifying bad road conditions based on wheel speed sensors according to an embodiment;
fig. 6 is a block diagram of a road condition determining device according to an embodiment;
FIG. 7 is a block diagram showing the construction of a misfire failure diagnostic apparatus in one embodiment;
FIG. 8 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The road condition determining method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Wherein the sensor 102 communicates with the control unit 104 via a bus. The data storage system may store data that the electronic control unit 104 needs to process. The data storage system may be integrated on the control unit 104, or may be located on the cloud or other network server. Among them, the sensor 102 is used to detect a vehicle signal, acquire vehicle driving data according to the detected signal, and transmit the vehicle driving data to the control unit 104 through the bus. The vehicle driving data includes wheel speeds of the wheels, and the control unit 104 calculates wheel accelerations of the wheels according to the wheel speeds, and obtains wheel acceleration limit values according to the vehicle driving data, so as to determine the road condition according to the wheel accelerations of the wheels and the wheel acceleration limit values. The sensor 102 refers to a sensor of an antilock brake system for detecting vehicle driving data. The Control Unit 104 is an Electronic Control Unit (ECU) and is composed of a Microcontroller (MCU), a memory (ROM, RAM), an input/output interface (I/O), an analog-to-digital converter (a/D), and a large scale integrated circuit such as a shaping circuit and a driving circuit.
In one embodiment, as shown in fig. 2, a method for determining a road condition is provided, which includes the following steps:
s201: vehicle travel data is acquired.
The vehicle running data comprises wheel speeds of all wheels, and specifically, the vehicle running data is measured by an Anti-lock Braking System (ABS) sensor on a vehicle, the speed of the vehicle is monitored by an inductance sensor in most ABS systems, the ABS sensor outputs a group of quasi-sinusoidal alternating current signals through the action of a gear ring rotating synchronously with the wheels, the frequency and the amplitude of the quasi-sinusoidal alternating current signals are related to the wheel speeds, and the output signals are transmitted to an ABS electronic control unit to realize real-time monitoring of the wheel speeds. In addition, the vehicle running data includes a vehicle speed of the vehicle and an engine output torque, which is a force by which the engine rotates and is a torque output from the crankshaft end of the engine. Under the condition of fixed power, the power is inversely proportional to the engine speed, namely the higher the speed and the smaller the torque, and the higher the speed and the torque, the acceleration capacity and the load capacity are directly reflected.
S202: wheel acceleration of each wheel is calculated from each wheel speed.
Before calculating the wheel acceleration, the wheel speed data needs to be checked through the vehicle speed and the engine output torque, and the checked reasonable wheel speed is used for calculating the wheel acceleration of the wheel. In practical application, since vehicle running data is acquired in a signal form, and in order to avoid data errors caused by doping of irrelevant signals in the signals, data processing needs to be performed on initial wheel acceleration data, and the wheel acceleration calculation method comprises the following three steps: (1) conversion of acceleration units, (2) taking absolute values, (3) acceleration filtering and limitation of acceleration maximum gradient. Specifically, the acceleration unit conversion is to convert a unit with km/h as a reference into a unit of m/s, take an absolute value of a wheel acceleration signal of a standardized unit, filter the absolute value through a filtering module to remove obviously wrong data, and obtain the maximum acceleration gradient generally from practical experience.
S203: wheel acceleration limits are obtained from vehicle travel data.
The wheel acceleration limit value refers to the maximum acceleration value of the vehicle in a normal driving state, and the normal driving refers to driving under a normal road condition. Specifically, the wheel acceleration is often obtained from the engine output torque and the vehicle speed during the vehicle running process, and when the whole vehicle is calibrated, the engine output torque and the vehicle speed are recorded in advance according to different vehicle types and engine models, and the wheel acceleration value during normal running is determined. Meanwhile, since torque transmission of the transmission system has an influence on torque actually acting on the wheels, the acceleration limit value needs to be corrected by a coefficient based on the torque ratio of the transmission system, and the correction coefficient is a coefficient added to process a calculation formula so as to reflect actual performance as much as possible when a deviation occurs due to ideal or realistic, realistic or research, etc. in data calculation, formula expression, etc., and is generally represented by α, etc.
S204: and judging the road condition according to the wheel acceleration of each wheel and the wheel acceleration limit value.
Wherein, when wheel acceleration exceedes a definite limit, it is great to show that vehicle current wheel acceleration is great, can be deem as going in bad road conditions, the road conditions of jolting promptly, under the road conditions of jolting, because the road surface unevenness can bring the influence to vehicle crankshaft angular acceleration to lead to the axle acceleration great, and the axle acceleration is represented by the wheel acceleration, consequently, can carry out road conditions judgement through the wheel acceleration and the wheel acceleration limit value of each wheel.
According to the road condition judging method, the vehicle running data is obtained, the wheel acceleration of each wheel is calculated according to each wheel speed, the wheel acceleration limit value is obtained according to the vehicle running data, and then the road condition is judged according to the wheel acceleration of each wheel and the wheel acceleration limit value, so that whether the current road condition is a bad road condition or not can be accurately identified.
In one embodiment, after the acquiring the vehicle driving data, the method includes: judging whether the vehicle running data exceeds a limit value according to a preset wheel speed value, and judging whether the vehicle running data meets a clamping stagnation requirement; if the vehicle driving data exceed the limit value and/or the vehicle driving data do not meet the clamping stagnation requirement, performing anti-bounce processing on the vehicle driving data; and if the vehicle running data does not exceed the limit value and the vehicle running data meets the clamping stagnation requirement, calculating the wheel acceleration of each wheel according to each wheel speed.
The determination of whether the vehicle driving data exceeds the threshold value according to the preset wheel speed value refers to determining whether the wheel speed exceeds an empirical threshold value, specifically, the empirical threshold value is related to the vehicle speed, for example, empirically, the vehicle speed does not exceed 300km/h, and the corresponding wheel speed also has a threshold value. The clamping requirement refers to whether the wheel speed signal is clamped, normally, the wheel speed signal is changed definitely when the vehicle is running, and if the wheel speed signal is not changed all the time within a certain time, the sensor can be considered to have a problem, and the signal is clamped. When the wheel speed exceeds the empirical limit or the wheel speed signal is stuck, the wheel speed is invalid, which results in a larger error in the calculation of the wheel acceleration.
In the above embodiment, whether the vehicle driving data exceeds the limit value is judged according to the preset wheel speed value, whether the vehicle driving data meets the jamming requirement is judged, and the step of calculating the wheel acceleration of each wheel according to each wheel speed is performed only when the vehicle driving data does not exceed the limit value and the vehicle driving data meets the jamming requirement, so that the validity of the data can be ensured, and the accuracy of wheel acceleration calculation is further improved.
In one embodiment, the calculating the wheel acceleration of each wheel based on the vehicle travel data includes: judging whether the vehicle driving data meet the rationality requirement or not; if the vehicle running data meet the rationality requirement, differentiating the vehicle running data to obtain the wheel acceleration of each wheel; and if the vehicle driving data do not meet the rationality requirement, continuing to acquire the vehicle driving data.
The rationality requirement refers to that wheel speeds of four vehicles are mutually verified, and when the wheel speed deviation obtained through verification is small, the rationality requirement is considered to be met. Since the wheel speeds of the four wheels are in a certain relationship, the deviation of the wheel speeds is small under normal conditions, and when the deviation of the wheel speeds is large, particularly under the condition of uneven road surface, the fluctuation of the rotating speeds of the four wheels is large, and the wheel speed signal is considered to be abnormal and not credible. Specifically, it is firstly determined whether the wheel has a slipping condition, and the ABS system has a slipping status bit of the wheel, which can be directly used to determine whether the wheel has a slipping condition, and if the wheel has a slipping condition, the deviation between the wheels is large. Secondly, whether the current vehicle speed is greater than 10km/h or not and when the vehicle speed is less than 10km/h are judged, the vehicle is probably not in a gear engaging state, and the road condition identification is not needed. And finally, judging whether the driver does not step on the brake, and if the driver steps on the brake, the deviation among the wheels is large. When any condition is not met, the wheel speed is considered not to meet the rationality requirement, vehicle running data needs to be obtained again for calculation, and when the wheel speed meets the rationality requirement, the current wheel speed can be used for calculating wheel acceleration.
In the above embodiment, through judging whether the vehicle driving data meets the rationality requirement, only when meeting the rationality requirement, the wheel acceleration is calculated, the rationality of the data can be ensured, and then the accuracy of the wheel acceleration calculation is improved.
In one embodiment, as shown in fig. 3, the obtaining of the wheel acceleration limit value according to the vehicle driving data includes:
s301: vehicle speed and corresponding engine output torque are obtained from vehicle travel data.
The engine output torque refers to the force of engine rotation, refers to the torque output by the engine from the crankshaft end, and the vehicle speed and the corresponding engine output torque need to be respectively calibrated for different vehicle types.
S302: an acceleration limit table is generated according to the vehicle speed and the corresponding engine output torque.
When the vehicle speed and the corresponding engine torque are different, the corresponding acceleration is also different, so that an acceleration limit table for indicating the acceleration value corresponding to each vehicle speed can be output according to the calibrated vehicle speed and torque.
S303: and acquiring an initial wheel acceleration limit value corresponding to each wheel according to the acceleration limit value table.
The acceleration limit table comprises a front axle acceleration limit table and a rear axle acceleration limit table, the front axle acceleration limit table is used for representing the acceleration of wheels corresponding to a front axle, the rear axle acceleration limit table is used for representing the acceleration of the wheels corresponding to a rear axle, the acceleration of the wheels corresponding to the front axle refers to the average value of the acceleration limit values corresponding to the left front wheel and the right front wheel of the vehicle, and the acceleration of the wheels corresponding to the rear axle refers to the average value of the acceleration limit values corresponding to the left rear wheel and the right rear wheel of the vehicle.
S304: and correcting the initial wheel acceleration limit value according to a preset correction coefficient to obtain the wheel acceleration limit value.
The correction coefficient is used for eliminating the influence of the torque transmission of the transmission system on the torque actually acting on the wheels, and the initial wheel acceleration limit value is corrected based on the coefficient of the torque ratio of the transmission system to obtain the final wheel acceleration limit value.
In the above embodiment, the vehicle speed and the corresponding engine output torque are obtained from the vehicle running data, and the acceleration limit table is generated according to the vehicle speed and the corresponding engine output torque, so that the initial wheel acceleration limit value corresponding to each wheel is obtained according to the acceleration limit table, and finally the initial wheel acceleration limit value is corrected according to the preset correction coefficient to obtain the wheel acceleration limit value, so that the accuracy of the wheel acceleration limit value can be ensured, and the road condition can be accurately identified.
In one embodiment, the determining the road condition according to the wheel acceleration of each wheel and the wheel acceleration limit value includes: calculating wheel acceleration of a front axle and wheel acceleration of a rear axle according to the wheel acceleration; and judging the road condition according to the wheel acceleration of the front shaft, the wheel acceleration of the rear shaft and the wheel acceleration limit value.
The wheel acceleration of the front axle is an average value of the wheel acceleration of the left front wheel and the wheel acceleration of the right front wheel, and the wheel acceleration of the rear axle is an average value of the wheel acceleration of the left rear wheel and the wheel acceleration of the right rear wheel.
In the above embodiment, the road condition can be accurately identified by calculating the wheel acceleration of the front axle and the wheel acceleration of the rear axle according to the wheel acceleration, and determining the road condition according to the wheel acceleration of the front axle, the wheel acceleration of the rear axle and the wheel acceleration limit value.
In one embodiment, the determining the road condition according to the wheel acceleration of the front axle, the wheel acceleration of the rear axle, and the wheel acceleration limit value includes: and if the wheel acceleration of the front axle or the wheel acceleration of the rear axle exceeds the wheel acceleration limit value, judging the road condition as a bad road condition.
The wheel acceleration of the current axle or the wheel acceleration of the rear axle exceeds the wheel acceleration limit value, that is, the current wheel speed is greater than the limit value during normal driving, and the vehicle is driven on an abnormal road surface, so that the current road condition is a bad road condition.
In the above embodiment, if the wheel acceleration of the front axle or the wheel acceleration of the rear axle exceeds the wheel acceleration limit value, it is determined that the road condition is a bad road condition, and the current road condition can be accurately identified, thereby avoiding an error in the fire fault diagnosis caused by the bad road condition.
In one embodiment, as shown in fig. 4, a method for determining a road condition is provided, which includes the following steps:
s1: vehicle travel data is acquired.
S2: judging whether the vehicle running data exceeds a limit value according to a preset wheel speed value, and judging whether the vehicle running data meets a clamping stagnation requirement; if the vehicle running data exceeds the limit value and/or the vehicle running data does not meet the clamping stagnation requirement, performing anti-bounce processing on the vehicle running data; and if the vehicle running data does not exceed the limit value and the vehicle running data meets the clamping stagnation requirement, calculating the wheel acceleration of each wheel according to each wheel speed.
S3: judging whether the vehicle driving data meet the rationality requirement or not; if the vehicle running data meets the rationality requirement, differentiating the vehicle running data to obtain the wheel acceleration of each wheel; and if the vehicle running data does not meet the rationality requirement, continuing the step of acquiring the vehicle running data.
S4: vehicle speed and corresponding engine output torque are obtained from vehicle travel data.
S5: an acceleration limit table is generated according to the vehicle speed and the corresponding engine output torque.
S6: and acquiring an initial wheel acceleration limit value corresponding to each wheel according to the acceleration limit value table.
S7: and correcting the initial wheel acceleration limit value according to a preset correction coefficient to obtain the wheel acceleration limit value.
S8: wheel acceleration of the front axle and wheel acceleration of the rear axle are calculated from the wheel acceleration.
S9: and if the wheel acceleration of the front axle or the wheel acceleration of the rear axle exceeds the wheel acceleration limit value, judging the road condition as a bad road condition.
In the above embodiment, by obtaining the vehicle driving data, calculating the wheel acceleration of each wheel according to each wheel speed, obtaining the wheel acceleration limit value according to the vehicle driving data, and then determining the road condition according to the wheel acceleration of each wheel and the wheel acceleration limit value, it is possible to accurately identify whether the current road condition is a bad road condition.
In one embodiment, there is provided a misfire fault diagnosis method including: judging the road condition by the road condition judging method; when the result of the road condition judgment is a bad road condition, prohibiting fire fault diagnosis; and when the result of the road condition judgment is not the bad road condition, continuing to diagnose the fire fault.
The misfire fault diagnosis refers to diagnosis according to a crankshaft rotation speed sensor installed on an engine, and when the engine misfires, the crankshaft angular acceleration is abnormal, so that the misfire diagnosis is performed. Since the bad road condition (bumpy road condition) also affects the crankshaft angular acceleration, the misfire fault diagnosis is continued only when the result of the road condition judgment is not the bad road condition.
In the above embodiment, when the result of the road condition judgment is not the bad road condition, the misfire fault diagnosis is continued, and when the result of the road condition judgment is the bad road condition, the misfire fault diagnosis is prohibited, so that the accuracy of the misfire fault diagnosis can be ensured.
In one embodiment, as shown in fig. 5, a method for identifying bad road conditions based on wheel speed sensors is provided, the method comprising the following steps:
1. and (3) diagnosing the signal rationality: and (4) comparing the wheel speed signal converted into m/s with a wheel speed maximum value limit value, and if the signal value is greater than the limit value and after anti-debounce processing is carried out, judging that the signal exceeds the limit value. And judging whether the wheel speed signal is stuck, wherein the step of diagnosis is not carried out when the fluctuation of the engine speed is small in order to avoid false triggering when the vehicle runs at a constant speed, when the vehicle speed is more than 3km/h and the change rate of the engine speed is more than a calibratable value, the signal is judged to be stuck when the wheel speed acceleration is zero and anti-bouncing processing is carried out. The signal rationality is judged by mutually checking four wheel speed signals, particularly in the case of an uneven road surface, the rotation speed fluctuation of four wheels is large, so that firstly the rotation speed signals are filtered, and then the following conditions are met, so that the diagnosis can be realized: (1) wheel no-slip condition (2) vehicle speed greater than 10km/h (3) no brake application (4) has passed the previous diagnosis of step 1 and step 2. After the condition is met and enabled, the four wheel speed signals are adjusted according to the turning radius of the vehicle (if the vehicle is on a flat road, the four wheel speed signals are directly compared), then deviation calculation is carried out mutually, and if any deviation is larger than a limit value, the signals are judged to fail mutual verification. If any one of the signals triggers judgment, the wheel speed signal is judged to be unreasonable, and the acceleration of the wheel cannot be calculated subsequently.
2. And (3) calculating wheel acceleration: wheel speed signalAfter the signal is diagnosed by rationality, the wheel speed signal is differentiated to obtain the wheel acceleration, and the acceleration signal is converted into m/s 2 And filtering the absolute value through a filtering module, and obtaining the wheel acceleration after the maximum gradient limitation.
3. Determination of wheel acceleration limits: wheel acceleration limits are determined by querying a MAP based on engine output torque and vehicle speed, which is calibrated at vehicle calibration, where wheel acceleration limits for front and rear axles are distinguished, i.e. there are two MAPs to calculate wheel acceleration limits for front and rear axles, respectively, and since torque transfer from the driveline has an effect on the actual torque acting on the wheels, the acceleration limits need to be corrected by a coefficient based on the driveline torque ratio.
4. Wheel acceleration overrun: and (3) comparing the calculated accelerations of the four wheels of the vehicle with a limit value to judge whether the road condition is bad, wherein the comparison logic is that the wheel accelerations of the left and right wheels of the front axle and the left and right wheels of the rear axle are respectively averaged to obtain the wheel acceleration of the front axle and the wheel acceleration of the rear axle, and then the wheel accelerations are respectively compared with the limit values of the front axle and the rear axle calculated in the step (2), wherein the wheel acceleration of any axle exceeds the limit value, and the road condition is judged to be bad at the moment.
In the above embodiment, the rationality determination is performed by designing the logic of the wheel speed signal rationality determination, that is, by determining whether the wheel speed signal exceeds the experience limit value, determining whether the wheel speed signal is stuck, and performing mutual verification on the four wheel speed signals, and simultaneously providing the enabling condition of determining whether the wheel speed signal is stuck and the enabling condition of performing mutual verification on the four wheel speed signals, so that the accuracy of road condition identification can be ensured.
It should be understood that, although the steps in the flowcharts related to the embodiments are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the above embodiments may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the present application further provides a traffic condition determination device for implementing the above related traffic condition determination method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so the specific limitations in one or more embodiments of the road condition determining device provided below can be referred to the limitations on the road condition determining method in the above, and are not described herein again.
In one embodiment, as shown in fig. 6, a road condition determining device is provided, which includes: the system comprises a data acquisition module 10, an acceleration calculation module 20, a limit value acquisition module 30 and a road condition judgment module 40, wherein:
a data acquisition module 10 for acquiring vehicle running data including wheel speeds of respective wheels;
an acceleration calculation module 20 for calculating wheel acceleration of each wheel according to each wheel speed;
a limit value obtaining module 30, configured to obtain a wheel acceleration limit value according to vehicle driving data;
and the road condition judging module 40 is used for judging the road condition according to the wheel acceleration of each wheel and the wheel acceleration limit value.
In one embodiment, the data acquiring module is further configured to determine whether the vehicle driving data exceeds a threshold value according to a preset wheel speed value, and determine whether the vehicle driving data meets a jamming requirement; if the vehicle running data exceeds the limit value and/or the vehicle running data does not meet the clamping stagnation requirement, performing anti-bounce processing on the vehicle running data; and if the vehicle running data does not exceed the limit value and the vehicle running data meets the clamping stagnation requirement, calculating the wheel acceleration of each wheel according to each wheel speed.
In one embodiment, the acceleration calculation module is further configured to determine whether the vehicle driving data meets a rationality requirement; if the vehicle running data meets the rationality requirement, differentiating the vehicle running data to obtain the wheel acceleration of each wheel; and if the vehicle running data does not meet the rationality requirement, continuing the step of acquiring the vehicle running data.
In one embodiment, the limit value obtaining module includes: a torque acquisition unit, an acceleration acquisition unit, a limit acquisition unit, and a limit correction unit, wherein:
a torque acquisition unit for acquiring a vehicle speed and a corresponding engine output torque from vehicle travel data;
the acceleration acquisition unit is used for generating an acceleration limit table according to the vehicle speed and the corresponding engine output torque, and the acceleration limit table is used for representing the acceleration value corresponding to each vehicle speed;
the limit value acquisition unit is used for acquiring the acceleration limit value of the initial wheel corresponding to each wheel according to the acceleration limit value table;
and the limit value correcting unit is used for correcting the initial wheel acceleration limit value according to a preset correction coefficient to obtain the wheel acceleration limit value.
In one embodiment, the road condition determining module includes: acceleration computing element and road conditions judgement unit, wherein:
an acceleration calculation unit for calculating a wheel acceleration of the front axle and a wheel acceleration of the rear axle from the wheel acceleration;
and the road condition judging unit is used for judging the road condition according to the wheel acceleration of the front shaft, the wheel acceleration of the rear shaft and the wheel acceleration limit value.
In one embodiment, when the road condition determining unit determines the road condition according to the wheel acceleration of the front axle, the wheel acceleration of the rear axle, and the wheel acceleration limit, the method includes: and if the wheel acceleration of the front axle or the wheel acceleration of the rear axle exceeds the wheel acceleration limit value, judging the road condition as a bad road condition.
In one embodiment, as shown in fig. 7, there is provided a misfire fault diagnosis apparatus including: a road condition judging module 50 and a fault diagnosing module 60, wherein:
a road condition judging module 50, configured to judge a road condition by using the road condition judging device;
the fault diagnosis module 60 is configured to prohibit fire fault diagnosis when the road condition determination result indicates a bad road condition; and when the result of the road condition judgment is not the bad road condition, continuing to diagnose the fire fault.
All modules in the road condition judging device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 8. The computer apparatus includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input device. The processor, the memory and the input/output interface are connected by a system bus, and the communication interface, the display unit and the input device are connected by the input/output interface to the system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The input/output interface of the computer device is used for exchanging information between the processor and an external device. The communication interface of the computer device is used for communicating with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a road condition judging or fire fault diagnosing method. The display unit of the computer device is used for forming a visual picture and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on a shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the configuration shown in fig. 8 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: acquiring vehicle running data, wherein the vehicle running data comprises wheel speeds of all wheels; calculating wheel acceleration of each wheel according to each wheel speed; acquiring a wheel acceleration limit value according to vehicle running data; and judging the road condition according to the wheel acceleration of each wheel and the wheel acceleration limit value.
In one embodiment, the processor, after acquiring vehicle travel data involved in executing the computer program, comprises: judging whether the vehicle running data exceeds a limit value according to a preset wheel speed value, and judging whether the vehicle running data meets a clamping stagnation requirement; if the vehicle driving data exceed the limit value and/or the vehicle driving data do not meet the clamping stagnation requirement, performing anti-bounce processing on the vehicle driving data; and if the vehicle running data does not exceed the limit value and the vehicle running data meets the clamping stagnation requirement, calculating the wheel acceleration of each wheel according to each wheel speed.
In one embodiment, the processor, when executing the computer program, is configured to calculate wheel accelerations for each wheel based on vehicle travel data, including: judging whether the vehicle driving data meet the rationality requirement or not; if the vehicle running data meets the rationality requirement, differentiating the vehicle running data to obtain the wheel acceleration of each wheel; and if the vehicle driving data do not meet the rationality requirement, continuing to acquire the vehicle driving data.
In one embodiment, the processor, when executing the computer program, is involved in obtaining a wheel acceleration limit from vehicle travel data, comprising: acquiring a vehicle speed and a corresponding engine output torque from vehicle running data; generating an acceleration limit table according to the vehicle speed and the corresponding engine output torque, wherein the acceleration limit table is used for representing the acceleration value corresponding to each vehicle speed; acquiring an initial wheel acceleration limit value corresponding to each wheel according to the acceleration limit value table; and correcting the initial wheel acceleration limit value according to a preset correction coefficient to obtain a wheel acceleration limit value.
In one embodiment, the determining the road condition based on the wheel acceleration of each wheel and the wheel acceleration limit involved in the execution of the computer program by the processor comprises: calculating wheel acceleration of a front axle and wheel acceleration of a rear axle according to the wheel acceleration; and judging the road condition according to the wheel acceleration of the front shaft, the wheel acceleration of the rear shaft and the wheel acceleration limit value.
In one embodiment, the determining the road condition based on the wheel acceleration of the front axle, the wheel acceleration of the rear axle, and the wheel acceleration limit involved in the execution of the computer program by the processor comprises: and if the wheel acceleration of the front axle or the wheel acceleration of the rear axle exceeds the wheel acceleration limit value, judging the road condition as a bad road condition.
In one embodiment, a computer device is provided, comprising a memory having a computer program stored therein and a processor that when executing the computer program performs the steps of: judging the road condition by the road condition judging method; when the result of the road condition judgment is a bad road condition, prohibiting fire fault diagnosis; and when the road condition judgment result is not the bad road condition, continuing to diagnose the fire fault.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring vehicle running data, wherein the vehicle running data comprises wheel speeds of all wheels; calculating the wheel acceleration of each wheel according to each wheel speed; acquiring a wheel acceleration limit value according to vehicle running data; and judging road conditions according to the wheel acceleration of each wheel and the wheel acceleration limit value.
In one embodiment, the computer program, after being executed by the processor, is directed to acquiring vehicle travel data, comprising: judging whether the vehicle running data exceeds a limit value according to a preset wheel speed value, and judging whether the vehicle running data meets the clamping stagnation requirement; if the vehicle driving data exceed the limit value and/or the vehicle driving data do not meet the clamping stagnation requirement, performing anti-bounce processing on the vehicle driving data; and if the vehicle running data does not exceed the limit value and the vehicle running data meets the clamping stagnation requirement, calculating the wheel acceleration of each wheel according to each wheel speed.
In one embodiment, the computer program, when executed by the processor, relates to calculating wheel acceleration for each wheel from vehicle travel data, comprising: judging whether the vehicle driving data meet the rationality requirement or not; if the vehicle running data meets the rationality requirement, differentiating the vehicle running data to obtain the wheel acceleration of each wheel; and if the vehicle driving data do not meet the rationality requirement, continuing to acquire the vehicle driving data.
In one embodiment, the computer program, when executed by the processor, is directed to obtaining wheel acceleration limits based on vehicle travel data, comprising: acquiring a vehicle speed and a corresponding engine output torque from vehicle running data; generating an acceleration limit table according to the vehicle speed and the corresponding engine output torque, wherein the acceleration limit table is used for representing the acceleration value corresponding to each vehicle speed; acquiring an initial wheel acceleration limit value corresponding to each wheel according to the acceleration limit value table; and correcting the initial wheel acceleration limit value according to a preset correction coefficient to obtain a wheel acceleration limit value.
In one embodiment, the determining the road condition based on the wheel acceleration of each wheel and the wheel acceleration limit when the computer program is executed by the processor comprises: calculating wheel acceleration of a front axle and wheel acceleration of a rear axle according to the wheel acceleration; and judging the road condition according to the wheel acceleration of the front shaft, the wheel acceleration of the rear shaft and the wheel acceleration limit value.
In one embodiment, the determining road conditions based on wheel acceleration of the front axle, wheel acceleration of the rear axle, and wheel acceleration limit when executed by the processor comprises: and if the wheel acceleration of the front axle or the wheel acceleration of the rear axle exceeds the wheel acceleration limit value, judging the road condition as a bad road condition.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: judging the road condition by the road condition judging method; when the result of the road condition judgment is a bad road condition, prohibiting fire fault diagnosis; and when the result of the road condition judgment is not the bad road condition, continuing to diagnose the fire fault.
In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of: acquiring vehicle running data, wherein the vehicle running data comprises wheel speeds of all wheels; calculating wheel acceleration of each wheel according to each wheel speed; acquiring a wheel acceleration limit value according to vehicle running data; and judging the road condition according to the wheel acceleration of each wheel and the wheel acceleration limit value.
In one embodiment, the computer program, after being executed by the processor, relates to acquiring vehicle travel data, comprising: judging whether the vehicle running data exceeds a limit value according to a preset wheel speed value, and judging whether the vehicle running data meets a clamping stagnation requirement; if the vehicle driving data exceed the limit value and/or the vehicle driving data do not meet the clamping stagnation requirement, performing anti-bounce processing on the vehicle driving data; and if the vehicle running data does not exceed the limit value and the vehicle running data meets the clamping stagnation requirement, calculating the wheel acceleration of each wheel according to each wheel speed.
In one embodiment, the computer program, when executed by the processor, relates to calculating wheel acceleration for each wheel from vehicle travel data, comprising: judging whether the vehicle driving data meet the rationality requirement or not; if the vehicle running data meets the rationality requirement, differentiating the vehicle running data to obtain the wheel acceleration of each wheel; and if the vehicle running data does not meet the rationality requirement, continuing the step of acquiring the vehicle running data.
In one embodiment, the computer program, when executed by the processor, is directed to obtaining wheel acceleration limits based on vehicle travel data, comprising: acquiring a vehicle speed and a corresponding engine output torque from vehicle running data; generating an acceleration limit table according to the vehicle speed and the corresponding engine output torque, wherein the acceleration limit table is used for representing the acceleration value corresponding to each vehicle speed; acquiring an initial wheel acceleration limit value corresponding to each wheel according to the acceleration limit value table; and correcting the initial wheel acceleration limit value according to a preset correction coefficient to obtain the wheel acceleration limit value.
In one embodiment, the determining the road condition based on the wheel acceleration of each wheel and the wheel acceleration limit when the computer program is executed by the processor comprises: calculating wheel acceleration of a front axle and wheel acceleration of a rear axle according to the wheel acceleration; and judging the road condition according to the wheel acceleration of the front shaft, the wheel acceleration of the rear shaft and the wheel acceleration limit value.
In one embodiment, the determining the road condition based on the wheel acceleration of the front axle, the wheel acceleration of the rear axle, and the wheel acceleration limit when the computer program is executed by the processor comprises: and if the wheel acceleration of the front axle or the wheel acceleration of the rear axle exceeds the wheel acceleration limit value, judging that the road condition is a bad road condition.
In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of: judging the road condition by the road condition judging method; when the result of the road condition judgment is a bad road condition, prohibiting fire fault diagnosis; and when the result of the road condition judgment is not the bad road condition, continuing to diagnose the fire fault.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware that is instructed by a computer program, and the computer program may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), for example. The databases involved in the embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the various embodiments provided herein may be, without limitation, general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, or the like.
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. A road condition judging method is characterized by comprising the following steps:
acquiring vehicle running data, wherein the vehicle running data comprises wheel speeds of all wheels;
calculating a wheel acceleration of each wheel from each wheel speed;
acquiring a wheel acceleration limit value according to the vehicle running data;
and judging the road condition according to the wheel acceleration of each wheel and the wheel acceleration limit value.
2. The method of claim 1, wherein after obtaining vehicle travel data, comprising:
judging whether the vehicle running data exceeds a limit value according to a preset wheel speed value, and judging whether the vehicle running data meets a clamping stagnation requirement;
if the vehicle running data exceeds a limit value and/or the vehicle running data does not meet the clamping stagnation requirement, performing anti-bounce processing on the vehicle running data;
and if the vehicle running data does not exceed the limit value and the vehicle running data meets the clamping stagnation requirement, calculating the wheel acceleration of each wheel according to each wheel speed.
3. The method of claim 1, wherein said calculating wheel accelerations for said wheels from said vehicle travel data comprises:
judging whether the vehicle driving data meet the rationality requirement or not;
if the vehicle running data meets the rationality requirement, differentiating the vehicle running data to obtain the wheel acceleration of each wheel;
and if the vehicle running data does not meet the rationality requirement, continuing to acquire the vehicle running data.
4. The method of claim 1, wherein the obtaining wheel acceleration limits from the vehicle travel data comprises:
acquiring a vehicle speed and a corresponding engine output torque from the vehicle running data;
generating an acceleration limit table according to the vehicle speed and the corresponding engine output torque, wherein the acceleration limit table is used for representing the acceleration value corresponding to each vehicle speed;
acquiring an initial wheel acceleration limit value corresponding to each wheel according to the acceleration limit value table;
and correcting the initial wheel acceleration limit value according to a preset correction coefficient to obtain a wheel acceleration limit value.
5. The method of claim 1, wherein the determining the road condition based on the wheel acceleration of each wheel and the wheel acceleration limit comprises:
calculating the wheel acceleration of a front axle and the wheel acceleration of a rear axle according to the wheel acceleration;
and judging road conditions according to the wheel acceleration of the front shaft, the wheel acceleration of the rear shaft and the wheel acceleration limit value.
6. The method of claim 5, wherein the determining the road condition according to the wheel acceleration of the front axle, the wheel acceleration of the rear axle, and the wheel acceleration limit value comprises:
and if the wheel acceleration of the front axle or the wheel acceleration of the rear axle exceeds the wheel acceleration limit value, judging the road condition as a bad road condition.
7. A misfire fault diagnostic method characterized by comprising:
the road condition judgment is carried out by the road condition judgment method according to any one of claims 1 to 6;
when the result of the road condition judgment is a bad road condition, prohibiting fire fault diagnosis;
and when the result of the road condition judgment is not the bad road condition, continuing to diagnose the fire fault.
8. A traffic condition determining apparatus, comprising:
the data acquisition module is used for acquiring vehicle running data, and the vehicle running data comprises wheel speeds of all wheels;
an acceleration calculation module for calculating wheel acceleration of each wheel according to each wheel speed;
the limit value acquisition module is used for acquiring a wheel acceleration limit value according to the vehicle running data;
and the road condition judgment module is used for judging the road condition according to the wheel acceleration of each wheel and the wheel acceleration limit value.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 6 or 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6 or 7.
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