CN1971234A - Transverse acceleration and yaw rate signal acquisition system - Google Patents
Transverse acceleration and yaw rate signal acquisition system Download PDFInfo
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- CN1971234A CN1971234A CN 200510124027 CN200510124027A CN1971234A CN 1971234 A CN1971234 A CN 1971234A CN 200510124027 CN200510124027 CN 200510124027 CN 200510124027 A CN200510124027 A CN 200510124027A CN 1971234 A CN1971234 A CN 1971234A
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Abstract
A signal acquisition system of transverse acceleration and weaving angular speed is supplied, the system contains sensor module, said sensor module includes transverse acceleration transducer and weaving angular speed sensor; it is characterized in that it comprises data reception module and data processing module, said data reception module is connected with the sensor module, said data processing module is connected with the data reception module; said data reception module receives the signal come from transverse acceleration transducer and weaving angular speed sensor; said data processing module digital filters the signal come from data reception module. The signal acquisition system of transverse acceleration and weaving angular speed supplied in the invention has preprocessing capability to signal, improves the accuracy of signal collected by sensor, so the calculated load of ECU of other applied system is lightened.
Description
Technical field
The present invention relates to a kind of signal acquiring system, more specifically relate to the signal acquiring system of a kind of transverse acceleration and yaw velocity.
Background technology
Transverse acceleration and yaw velocity are to describe two the key physical amounts of vehicle side to motion state, transverse acceleration is to describe the parameter of the lateral forces situation that vehicle is subjected to, yaw velocity is a parameter of describing the situation that vehicle rotatablely moves around its gravity axis, and these two parameters are to estimate the important indicator of vehicle its operational stability, active safety and riding comfort when doing sideway movement.For example: the suspension control system of vehicle need obtain transverse acceleration signal, and the roll stability when guaranteeing Vehicular turn improves comfortableness.In addition, auto-cruising control unit, GPS etc. also need the yaw velocity signal.By the turning track of transverse acceleration and yaw velocity signal judgement vehicle reality, and by certain control algolithm, the stability when guaranteeing Vehicular turn prevents understeer or ovdersteering
At present, ESP (Electronic Stability Program (ESP)) system configuration of some high-grade car configuration has the sensor element of gathering transverse acceleration and yaw velocity, but it just exists as parts, does not have operation independent and storage capacity, can not use as acquisition system separately.The signal accuracy of gathering by transverse acceleration and yaw-rate sensor is not high, need the electronic control unit (hereinafter to be referred as ECU) of application system to carry out pre-service to guarantee precision, this processing mode is higher to the performance requirement of ECU, increase the computational load of ECU, reduced the performance performance of total system.
Summary of the invention
The objective of the invention is provides a kind of acquisition system with transverse acceleration signal and yaw velocity signal of pre-service ability in order to overcome the defective that transverse acceleration and yaw rate signal acquisition parts in the prior art lack the pre-service ability.
Transverse acceleration provided by the invention and yaw rate signal acquisition system comprise sensor assembly, and described sensor assembly comprises lateral acceleration sensor and yaw-rate sensor; It is characterized in that also comprise data reception module and data processing module, described data reception module is connected with sensor assembly, described data processing module is connected with data reception module; Described data reception module receives the signal from lateral acceleration sensor and yaw-rate sensor collection; Described data processing module carries out digital filtering to the signal from data reception module to be handled.
Transverse acceleration provided by the invention and yaw rate signal acquisition system possess the pre-service ability to the signal that is collected.Owing to adopted data processing module to carry out the digital filtering processing to transverse acceleration and the yaw-rate sensor signal that sensor assembly is gathered, make the precision of the signal that sensor collected improve like this, thereby alleviated the computational load of the ECU of other application systems.
Description of drawings
Fig. 1 is the structural representation of transverse acceleration of the present invention and yaw rate signal acquisition system;
Fig. 2 is the structural representation of the preferred implementation of transverse acceleration of the present invention and yaw rate signal acquisition system;
Fig. 3 is the workflow diagram of transverse acceleration of the present invention and yaw rate signal acquisition system;
Fig. 4 is the communication module of transverse acceleration of the present invention and yaw rate signal acquisition system and the synoptic diagram that peripheral control unit carries out data communication.
Embodiment
Fig. 1 is the structural representation of transverse acceleration of the present invention and yaw rate signal acquisition system.Transverse acceleration as shown in Figure 1 and yaw rate signal acquisition system 100 comprise sensor assembly 10, and described sensor assembly comprises lateral acceleration sensor 11 and yaw-rate sensor 12; It is characterized in that also comprise data reception module 21 and data processing module 22, described data reception module 21 is connected with sensor assembly 10, described data processing module 22 is connected with data reception module 21; Described data reception module 21 receives the signal from lateral acceleration sensor 11 and yaw-rate sensor 12 collections; 22 pairs of signals from data reception module 21 of described data processing module carry out digital filtering to be handled.
Wherein, described lateral acceleration sensor 11 is preferably capacitance acceleration transducer, places near the vehicle centroid position, is used for the collection vehicle transverse acceleration.
Described yaw-rate sensor 12 is preferably the gyroscope angular-rate sensor, and for example tuning-fork type gyroscope, lasergyro, fibre optic gyroscope, liquid floated gyroscope etc. place near the vehicle centroid position, are used for the collection vehicle yaw velocity.
Described lateral acceleration sensor 11 and described yaw-rate sensor 12 can be integrated on lateral acceleration sensor integrated chip and the yaw-rate sensor integrated chip, are analog voltage signal (for example 0-5 volt) and output with lateral acceleration sensor signal and yaw-rate sensor conversion of signals.The lateral acceleration sensor integrated chip and the yaw-rate sensor integrated chip that can use ADI company to produce, these two kinds of chips are highly sensitive, and good stability has self-checking function, measures accurately.
Described data reception module 21 comprises the A/D modular converter, and the analog signal conversion that described A/D modular converter will receive from described sensor assembly 10 be a digital signal so that data processing module 22 is handled it.Preferably adopt one by one comparison A/D converter, the acquisition precision height.
Described data processing module 22 comprises central processing unit (hereinafter to be referred as CPU), and described CPU carries out digital filtering to the signal from data reception module 21 to be handled, for example segmentation average, fine away peak, denoising etc.Described digital filtering is handled and can be realized by the known mode of those skilled in the art such as DSP.Handle and to be optimized to the received signal by digital filtering like this, to guarantee the precision of signal.Data after the processing can be used by peripheral control module 30.For example, the transverse acceleration signal that collects according to native system of ESP system and the yaw velocity signal side drift angle that calculates vehicle according to formula.In addition, known as those skilled in the art, CPU also can control data receiver module 21 and other modules that links with it.
Under the preferable case, system 100 provided by the present invention also comprises memory module 23, and described memory module 23 is connected with data processing module 22, the data after storage data processing module 22 is handled.Can conveniently carry out other data analysis like this.Described memory module 23 is preferably FLASH or eeprom memory.
Under the preferable case, system 100 provided by the present invention also comprises communication module 24, and described communication module 24 is connected with data processing module 22, the data after output data processing module 22 is handled.
Described communication module 24 is a serial communication module, for example SCI module, SCP module or CAN module.When adopting the CAN mode, the CAN module is that communication module 24 comprises CAN controller and CAN transceiver.Adopt the CAN bus transfer data, the CAN bus is as a kind of fieldbus that is widely used in automotive environment, have very high anti-electromagnetic interference capability and reliable fault processing and error-detection mechanism, can guarantee the accuracy of data transmission, and high bit rate can reach 1 megahertz, can guarantee real time of data transmission.
Described communication module 24 can be connected with peripheral control module 30, carries out data communication, and collecting signal is offered peripheral control module 30.Wherein, described peripheral control module 30 can be the ECU of one or more vehicle application systems, for example ECU of the ECU of the ECU of ESP system, gps system, cruise system or the like.Described peripheral control module 30 also can be passed through the steering order that communication module 24 sends the processing needs of data according to self needs, for example A/D sample mode, sampling time, the baud rate of CAN transmitting-receiving, the digital filtering method that data processing module 22 adopted etc.
Under the preferable case, described data reception module 21, data processing module 22 and communication module 24 are integrated on the single-chip microcomputer.Generally speaking, single-chip microcomputer internal storage capacity is less, and memory module 23 is preferably external memory storage and is connected with single-chip microcomputer by the I/O interface, the formation of described I/O interface and to be connected to those skilled in the art known.
Fig. 2 is the structural representation of the preferred implementation of transverse acceleration of the present invention and yaw rate signal acquisition system.As shown in Figure 2, the system of this preferred implementation adopts 8 single-chip microcomputers (for example MC68HC908 series monolithic of motorola inc), integrated CPU, A/D converter, SCI module, CAN controller in the described single-chip microcomputer, described system also comprises CAN transceiver, external memory storage (for example FLASH or EEPROM) and lateral acceleration sensor, yaw-rate sensor.
Fig. 3 is the workflow diagram of transverse acceleration of the present invention and yaw rate signal acquisition system.At first, transverse acceleration of the present invention and yaw rate signal acquisition system start; After the startup, system carries out initialization; Afterwards, the signal that data reception module 21 receiving sensor modules 10 are collected, the signal that the A/D modular converter that passes through is gathered the sensor assembly 10 that receives carry out the A/D conversion; Digital signal after the A/D conversion is sent to data processing module 22; 22 pairs of described digital signals of data processing module are carried out digital filtering and are handled; Data storage after handling in memory module 23, also can be sent to corresponding peripheral control module 30 by communication module 24.
In addition, the steering order that data processing module 22 can need by the processing of 30 pairs of data of the communication module 24 peripheral control modules of reception makes system have operability flexibly.For example, peripheral control module 30 can be stipulated the A/D sample mode, sampling time, the baud rate of CAN transmitting-receiving, the parameters such as digital filtering method that data processing module 22 is adopted of native system according to self needs.
Fig. 4 is the communication module 24 of transverse acceleration of the present invention and yaw rate signal acquisition system 100 and the synoptic diagram that peripheral control unit 30 carries out data communication.As shown in Figure 4, dual mode is adopted in data communication, and the one, by the SCI module communication, another is via the CAN bus network communication by the CAN module.Wherein the CAN module comprises CAN controller and CAN transceiver.On the CAN bus, signal is with the form transmission of a pair of differential voltage CAN_H and CAN_L.
Those skilled in the art should understand that, in the present invention, can gather separately, also can gather together the signal of vehicle lateral acceleration or yaw velocity, therefore, lateral acceleration sensor or yaw-rate sensor or both are installed simultaneously can only be installed.
Claims (14)
1. transverse acceleration and yaw rate signal acquisition system (100), this system (100) comprises sensor assembly (10), described sensor assembly comprises lateral acceleration sensor (11) and yaw-rate sensor (12); It is characterized in that this system (100) also comprises data reception module (21) and data processing module (22), described data reception module (21) is connected with sensor assembly (10), and described data processing module (22) is connected with data reception module (21); Described data reception module (21) receives the signal from lateral acceleration sensor (11) and yaw-rate sensor (12) collection; Described data processing module (22) carries out digital filtering to the signal from data reception module (21) to be handled.
2. transverse acceleration according to claim 1 and yaw rate signal acquisition system is characterized in that, described lateral acceleration sensor (11) is a capacitance acceleration transducer.
3. transverse acceleration according to claim 1 and yaw rate signal acquisition system is characterized in that, described yaw-rate sensor (12) is the gyroscope angular-rate sensor.
4. transverse acceleration according to claim 1 and yaw rate signal acquisition system, it is characterized in that, described lateral acceleration sensor (11) and described yaw-rate sensor (12) are integrated in lateral acceleration sensor integrated chip and yaw-rate sensor integrated chip, are analog voltage signal and output with lateral acceleration sensor signal and yaw-rate sensor conversion of signals.
5. transverse acceleration according to claim 1 and yaw rate signal acquisition system, it is characterized in that, described data reception module (21) comprises the A/D modular converter, and the analog signal conversion that described A/D modular converter will receive from described sensor assembly (10) is a digital signal.
6. transverse acceleration according to claim 5 and yaw rate signal acquisition system is characterized in that, described A/D modular converter is comparison A/D converter one by one.
7. transverse acceleration according to claim 1 and yaw rate signal acquisition system, it is characterized in that, described data processing module (22) comprises central processing unit, and described central processing unit carries out digital filtering to the signal from data reception module (21) to be handled.
8. transverse acceleration according to claim 1 and yaw rate signal acquisition system, it is characterized in that, described system (100) also comprises memory module (23), and described memory module (23) is connected with data processing module (22), the data after storage data processing module (22) is handled.
9. transverse acceleration according to claim 8 and yaw rate signal acquisition system is characterized in that, described memory module (23) is FLASH or eeprom memory.
10. transverse acceleration according to claim 1 and yaw rate signal acquisition system, it is characterized in that, described system (100) also comprises communication module (24), and described communication module (24) is connected with data processing module (22), the data after output data processing module (22) is handled.
11. transverse acceleration according to claim 10 and yaw rate signal acquisition system is characterized in that, described communication module (24) is a serial communication module.
12. transverse acceleration according to claim 11 and yaw rate signal acquisition system is characterized in that, described communication module (24) comprises CAN controller and CAN transceiver.
13. transverse acceleration according to claim 1 and yaw rate signal acquisition system is characterized in that, described data reception module (21), data processing module (22) and communication module (24) are integrated on the single-chip microcomputer.
14. transverse acceleration according to claim 13 and yaw rate signal acquisition system is characterized in that, described memory module (23) is an external memory storage, and is connected with single-chip microcomputer by the I/O interface.
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| CN 200510124027 CN1971234A (en) | 2005-11-23 | 2005-11-23 | Transverse acceleration and yaw rate signal acquisition system |
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| CN 200510124027 CN1971234A (en) | 2005-11-23 | 2005-11-23 | Transverse acceleration and yaw rate signal acquisition system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105716479A (en) * | 2016-01-18 | 2016-06-29 | 南京理工大学 | Accelerated speed recording device applied to range test |
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2005
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105716479A (en) * | 2016-01-18 | 2016-06-29 | 南京理工大学 | Accelerated speed recording device applied to range test |
| CN105716479B (en) * | 2016-01-18 | 2017-10-13 | 南京理工大学 | A kind of accelerogram device applied to shooting range measurment |
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