CN1853107A - 确定机动车辆加速度的方法和装置 - Google Patents
确定机动车辆加速度的方法和装置 Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/04—Smoothing ratio shift
- F16H61/06—Smoothing ratio shift by controlling rate of change of fluid pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/48—Inputs being a function of acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/66—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for continuously variable gearings
- F16H61/664—Friction gearings
- F16H61/6648—Friction gearings controlling of shifting being influenced by a signal derived from the engine and the main coupling
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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
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/16—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by evaluating the time-derivative of a measured speed signal
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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
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/16—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by evaluating the time-derivative of a measured speed signal
- G01P15/165—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by evaluating the time-derivative of a measured speed signal for measuring angular accelerations
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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
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/66—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for continuously variable gearings
- F16H61/664—Friction gearings
Abstract
公开了一种用于得到表示机动车辆加速度的信号的方法。该方法包括得到高通滤波车辆加速度信号和低通滤波车辆加速度信号。这些信号之一(优选地是高通滤被信号)是基于应用于车辆的净驱动力得到的,可以将其用于通过自适应车辆模型(28)得到加速度的估计值。另一个信号是通过测量得到的,例如通过相对时间对测量的车辆速度信号求微分。将该两个滤波信号加在一起以给出潜在优质的加速度信号。
Description
本发明涉及一种确定机动车辆加速度的方法和装置。
通过例如某种类型的加速度计或者可替换地通过测量车轮的速度并相对于时间求微分来测量车辆加速度显然是已知的。不幸地的是,车辆由于其悬架等等以及传动系统由于其柔度在一定频率具有动力学表现谐振,该频率在汽车中可以低至2Hz,在更大的车辆中还小。这会在被测加速度信号中产生相应的振荡。信号噪声也是一个问题。可以过滤该信号以提高其质量,但是具有足够长的时间常数以去除低频振荡的滤波器会引入明显的时间延迟。
在结合用于车辆动力系控制的电子系统中可以遇到该问题。实际上已经研制了本发明在一种系统中使用,该系统利用所谓的“扭矩控制”型(该术语在本领域中是公知的,并且例如在授予Torotrak(Development)Limited的欧洲专利832376及其美国同族US6071209中描述了这种类型的传动装置)连续可变的传动装置控制动力系。在这种传动装置中,不是直接设置变速器比,而是传动比能够根据发动机和车辆速度的改变而改变。为了确定比率变化的速度,需要车辆加速度。在控制动力系中需要不同目的比率变化的速度。如果将简单的低通滤波器与足够长的时间常数一起使用,以从车辆加速度的被测值中去除低频振荡,则控制系统的响应速度将是不能接受的折衷。
根据本发明的第一个方面,提供一种确定机动车辆加速度的方法,包括得到高通滤波加速度信号和低通滤波加速度信号,所滤波的加速度信号之一是基于应用于车辆净驱动力得到的,而另一个是通过测量得到的,将该两个滤波加速度信号相加以得到表示车辆加速度的输出信号。
现在,参照附图,仅通过举例描述本发明的特定实施方式,其中:
图1是体现本发明的软件实现的滤波策略的方块图;
图2是在图1的策略中使用的实际滤波器,其还是以方块图的形式更详细地表示。
图3是表示实际的和测量的车辆速度值(垂直轴)对时间(水平轴)的曲线图。
下面描述的本发明的实施方式提供了表示车辆速度和加速度的改进的质量信号,并且利用测量的和预测的车辆速度/加速度值的组合实现。
预测的车辆加速度值在由车辆的动力系和制动应用的力的基础上获得。在图1中,在框10输入的变量TrqWhlEst表示扭矩的预计的、未滤波值,该扭矩通过动力系应用到车辆的从动轮,并且从该动力系的电子模型获得。在12将该扭矩除以车辆从动轮的滚动半径,给出由该动力系应用的力的值(ForceDrive),以加速该车辆。为了允许制动应用额外的力,测量制动压力,然后基于该制动的压力/力特性计算制动力(图1中的ForceBraking)。制动压力和制动力之间的关系基本上是线性的,因此这是直接的计算。图1中标为14的功能块接收ForceBraking和ForceDrive,以及车辆行进的方向(正向/反向)和车辆驱动控制的位置的指示,并且根据它们输出制动力的校正值ForceBrakingCorr。在18,将其加到ForceDrive,给出表示由发动机和制动应用的净驱动力的未滤波的信号ForceVehEstRaw,以加速车辆。
将信号ForceVehEstRaw传到多阶滤波器20,其可以在图2中更详细地看到,并且包括一系列用于滤波该净驱动力信号ForceVehEstRaw的数字实现的低通一阶滤波器22,还包括另一系列用于滤波车辆速度信号的相同的滤波器24,如下所述。将一个滤波器,诸如将22的输出(Out或Output)送到其相邻的22’以及其系列中等等的输入(In或Input),以便它们一起提供具有相对灵敏的频率截止和时间常数TC的高阶低通滤波器,该时间常数TC是输入到该滤波器的公共参数。
术语“低通滤波器”是本领域的技术人员公知的,在此使用的是其常规的含义,指的是能够通过选定频率(由时间常数规定)但是排斥更高的频率的信号分量的滤波器。在此还使用了术语“高通滤波器”,也使用的是其常规并且公知的含义,指的是通频带从选定频率向上延伸、排斥更低的频率的滤波器。
滤波器20输出的是作用于车辆的力的低通滤波的估计值ForceVehEstFilt(图1)。在26,从未滤波的值ForceVehEstRaw将其减去,以提供有效的高通滤波型式ForceVehEstHPFilt。然后将其输入到车辆的自适应模型28。该模型用来输出车辆加速度的高通滤波估计值AccVehEstHPFilt。
最简单的可行模型28仅包括将驱动力ForceVehEstFilt除以车辆质量所得到的商。对于更精确的来说,需要考虑车辆质量、道路坡度、阻力以及潜在的其它因素。质量和坡度当然是变量,并且不能直接测量。因此需要适应更完善的模型,其基于车辆的响应校正这些变量。
已经基于车辆质量和应用于其的力得到AccVehEstHPFilt。另一种得到车辆加速度的值的方法是测量车辆速度,并且相对于时间求微分。在图1中,被测车辆速度本身是一个加入了大量噪声的信号,其在30由SpdVeh表示,并且输入到多阶滤波器20,特别输入到滤波器24的系列。将得到的低通滤被信号传到数字微分器32,以提供车辆加速度的低通滤波估计值AccVehFiltRaw。
在34,将高通滤波信号AccVehEstHPFilt与低通滤波信号AccVehFiltRaw相加,以在35提供输出信号AccVehFilt,该输出信号非常精确地接近车辆加速度的真实值,如试验证实的一样。由于驱动线振荡,已经通过对被测车辆速度信号进行低通滤波将低频噪声去除。由低通滤波器引入的时滞已经通过增加基于传动/制动力的加速度的高通滤波估计值校正。
现在解释如何得到车辆速度的可用值,注意到车辆加速度的低通滤波值AccVehFiltRaw由被测车辆速度的微分得到,其被传送给乘法器36,该乘法器还接收多阶滤波器20的时间常数TC。将AccVehFiltRaw乘以TC给出偏移量SpdVehFiltOfst,其是由于滤波器20的时滞引入的车辆速度的实际值和滤波值之间的差异。在38,将该偏移量与低通滤波被测车辆速度信号SpdVehFiltBase相加,以给出改进的、滤波的车辆速度信号SpdVehFilt。
图3是为了使偏移量SpdVehFiltOfst的重要性更清楚。VA表示实际的车辆速度,在本范例中,其是对应于恒定的车辆加速度的直线。在实际速度VA和被测滤波信号VFILT之间具有由时间常数TC确定的时滞。因此,对任意选定的时间点t0,滤波信号VFILT的值SpdVehFiltBase不同于实际速度Spd。在所示的范例中,该差异等于滤波信号VFILT的坡度,将该滤波信号乘以时滞TC。加上偏移量SpdVehFiltOfst,如上所述地计算,这样给出值SpdVehFilt,该值等于真实值Spd。该偏移量仅在本范例中精确地校正,因为车辆加速度是恒定的。如果加速度变化,则在SpdVehFilt和Spd之间会有一些偏差,但是本方法在未处理的滤波值之上提供了一种重大的改进。
复位(Reset)功能块42接收被测以及滤波的车辆速度信号SpdVeh和SpdVehFilt并且当这些指示车辆静止时复位滤波器20。图1和2中所示的所有的功能块典型地通过适当的程序微处理器实现。
Claims (10)
1、一种确定机动车辆加速度的方法,包括得到高通滤波加速度信号和低通滤波加速度信号,所滤波的加速度信号之一是基于应用于车辆的净驱动力得到的,而另一个是通过测量得到的,将两个滤波加速度信号相加以得到表示车辆加速度的输出信号。
2、如权利要求1所述的方法,其中得到该低通滤波加速度信号包括测量车辆速度并相对于时间求微分。
3、如权利要求1或2所述的方法,其中该高通滤波加速度信号是基于应用于该车辆的净驱动力得到的,而该低通滤波加速度信号是通过测量得到的。
4、如权利要求3所述的方法,其中该净驱动力由从通过驱动车轮应用的驱动力减去车辆制动力得到。
5、如权利要求3或4所述的方法,其中将该净驱动力提供到自适应车辆模型以得到车辆加速度的估计值。
6、如权利要求5所述的方法,其中该净驱动力在提供到该自适应模型之前要进行高通滤波。
7、如前任一权利要求所述的方法,其中高通滤波是通过低通滤波并且将该低通滤波的和未滤波的信号加在一起实现的。
8、一种确定机动车辆加速度的装置,包括得到高通滤波加速度信号的设备,得到低通滤波信号的设备,所滤波的加速度信号之一是基于应用于该车辆的净驱动力得到的,而另一个是通过测量得到的,将该两个滤波加速度信号相加以得到表示车辆加速度的输出信号。
9、如权利要求8所述的装置,其中包括以数字形式处理该信号的微处理器。
10、如权利要求8或9所述的装置,其中基于应用于该车辆的净驱动力得到该高通滤波信号,而通过测量得到该低通滤波信号。
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GB0316382.1 | 2003-07-12 | ||
GBGB0316382.1A GB0316382D0 (en) | 2003-07-12 | 2003-07-12 | Continuously variable ratio transmission assembly and method of control of same |
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CN100554971C CN100554971C (zh) | 2009-10-28 |
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CNB2004800198680A Active CN100554971C (zh) | 2003-07-12 | 2004-06-03 | 确定机动车辆加速度的方法和装置 |
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Cited By (8)
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CN102171085A (zh) * | 2009-01-08 | 2011-08-31 | 株式会社小松制作所 | 车辆速度推算装置及牵引控制装置 |
US8538635B2 (en) | 2009-01-08 | 2013-09-17 | Komatsu Ltd. | Vehicle speed estimator and traction control device |
CN102171085B (zh) * | 2009-01-08 | 2014-02-26 | 株式会社小松制作所 | 车辆速度推算装置及牵引控制装置 |
US8682535B2 (en) | 2009-01-08 | 2014-03-25 | Komatsu Ltd. | Vehicle speed estimator and traction control device |
US8694212B2 (en) | 2009-01-08 | 2014-04-08 | Komatsu Ltd. | Vehicle speed estimator and traction control device |
CN109642914A (zh) * | 2016-08-19 | 2019-04-16 | 罗伯特·博世有限公司 | 用于确定旋转滚动体的转速的装置和方法 |
CN110596425A (zh) * | 2019-09-23 | 2019-12-20 | 成都航空职业技术学院 | 一种无人机mems加速度传感器噪声消除方法 |
CN110728771A (zh) * | 2019-10-10 | 2020-01-24 | 清华大学 | 一种自动驾驶系统加速度快速在线估计方法及装置 |
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US8989970B2 (en) | 2015-03-24 |
GB2418712B (en) | 2006-08-09 |
GB2417780B (en) | 2008-01-09 |
GB0600395D0 (en) | 2006-02-15 |
CN100473878C (zh) | 2009-04-01 |
DE112004001278T5 (de) | 2006-06-01 |
US8489299B2 (en) | 2013-07-16 |
WO2005015244A1 (en) | 2005-02-17 |
US20070142163A1 (en) | 2007-06-21 |
GB0600398D0 (en) | 2006-02-15 |
GB0316382D0 (en) | 2003-08-13 |
DE112004001278B4 (de) | 2020-10-29 |
JP2007528963A (ja) | 2007-10-18 |
WO2005015060A1 (en) | 2005-02-17 |
CN100554971C (zh) | 2009-10-28 |
GB2418712A (en) | 2006-04-05 |
US20070112495A1 (en) | 2007-05-17 |
DE112004001280T5 (de) | 2006-05-24 |
JP2007528999A (ja) | 2007-10-18 |
CN1849475A (zh) | 2006-10-18 |
GB2417780A (en) | 2006-03-08 |
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