CN203283230U - Automatic road unevenness identification system for vehicle - Google Patents

Abstract

The utility model relates to an automatic road unevenness identification system for a vehicle. The automatic road unevenness identification system comprises a vertical vibration acceleration sensor, a signal processing module, a hardware system module, a power module, a BDM (Background Debugger Mode) module, a CAN (controller area network) receiving and dispatching module and an automobile CAN bus, wherein the vertical vibration acceleration sensor is connected to the hardware system module through the signal processing module, the hardware system module is communicated with the automobile CAN bus through the CAN receiving and dispatching module, the BDM module burns system debugging and software program on the hardware system module, and the power module supplies electricity for the hardware system module. The automatic road unevenness identification system has the beneficial effects that the vertical vibration acceleration sensor is used for collecting road signals, and through corresponding data processing, the unevenness levels of the road are obtained, a logic criterion is provided for a control strategy, a program suitable for a control algorithm is selected, thus the vehicle modes of an automobile during running are automatically adjusted, the smoothness, the controllability and the comfortableness of the vehicle are improved.

Description

A kind of vehicle road out-of-flat automatic recognition system

Technical field

The utility model relates to a kind of road vehicle out-of-flat automatic identification technology field, relate in particular to a kind of hardware system, acquisition of signal and processing, software algorithm of comprising, also be specially adapted to the vehicle road out-of-flat automatic recognition system that half active/active vehicle current driving road roughness is surveyed.

Background technology

Along with progressive and scientific and technological development of epoch, people require more and more higher to driving safety and the traveling comfort of vehicle, road roughness normally is used for describing the fluctuating quantity on road surface, it is input stimulus main during vehicle pavement travels, directly have influence on the ride comfort of Vehicle Driving Cycle, traveling comfort, the various aspects such as safety.Many decades has also been carried out in the research of road roughness, and its method of measurement and measuring equipment are also very various.But be subject to the accurate foundation of double active/active suspension math modeling and the restriction of measurement technique, that a lot of methods exist is too loaded down with trivial details, performance difficulty, high in cost of production series of problems.

The utility model content

The purpose of this utility model is to overcome the deficiency that prior art exists, and provides a kind of simplicity of design survey precision high, good in real time, with low cost, simple to operate vehicle road out-of-flat automatic recognition system.

The purpose of this utility model is completed by following technical solution, and it comprises vertical shake acceleration pick-up, signal processing module, hardware system module, power module, BDM module, CAN transceiver module and automobile CAN-bus; Described vertical shake acceleration pick-up is connected on the hardware system module by signal processing module, and this hardware system module communicates by CAN transceiver module and automobile CAN-bus; Described BDM module is system debug and software program burning on the hardware system module, and described power module is the hardware system module for power supply, and vehicle-mounted 12V electricity is converted into the 5V electricity.

The recognition methods of the vehicle road out-of-flat automatic recognition system that the utility model adopts, comprise the steps:

1), by the vertical shake acceleration pick-up, gather the tire vibration Acceleration Signal;

2), the tire vibration Acceleration Signal that gathers being carried out filtering and signal in signal processing module amplifies;

3), be input into filtering and the tire vibration Acceleration Signal of amplifying in the hardware system module and carry out data and process with data and calculate, finally obtain the pavement-height curve;

4), the road pavement altitude curve carries out discrete Fourier transformation and obtains the pavement-height amplitude spectrum and amplitude spectrum carried out mean effective value calculate;

5), bilateral pavement-height amplitude spectrum is transformed to monolateral pavement-height amplitude spectrum, and divided by frequency resolution;

6), according to the speed of a motor vehicle of obtaining on spatial frequency power spectrum density and timefrequency power spectrum density mathematical relation and automobile CAN-bus, obtain road roughness and power spectrum, obtain by this road roughness grade.

As preferably, carry out data in described hardware system module and process with data and calculate,---the numerical integration that numerical integration---is removed trend term---that the steps include: average.

The beneficial effects of the utility model are: utilize the Vertical Acceleration sensor to gather the road surface signal and process and obtain the road roughness grade by relevant data; For control policy provides the logic basis for estimation, select to be fit to the control algorithm program, make automobile automatically adjust under steam vehicle mode, be conducive to improve vehicle ride comfort, handling and traveling comfort.

Description of drawings

Fig. 1 is systemic-function diagram of circuit of the present utility model.

Fig. 2 is hardware design block scheme of the present utility model.

Fig. 3 is the diagram of circuit of road roughness grade recognition system of the present utility model.

Fig. 4 is 8 grades of criteria for classifications of GB7031 road roughness.

Label in accompanying drawing is respectively: 1, vertical shake acceleration pick-up; 2, signal processing module; 3, hardware system module; 4, power module; 5, BDM module; 6, CAN transceiver module; 7, automobile CAN-bus.

The specific embodiment

Below in conjunction with accompanying drawing, the utility model is done detailed introduction: as shown in Figure 2, the utility model comprises vertical shake acceleration pick-up 1, signal processing module 2, hardware system module 3, power module 4, BDM module 5, CAN transceiver module 6 and automobile CAN-bus 7; Described vertical shake acceleration pick-up 1 is connected on hardware system module 3 by signal processing module 2, and this hardware system module 3 communicates by CAN transceiver module 6 and automobile CAN-bus 7; Described BDM module 5 is system debug and software program burning on hardware system module 3, and described power module 4 is 3 power supplies of hardware system module, and vehicle-mounted 12V electricity is converted into the 5V electricity.

The recognition methods of the vehicle road out-of-flat automatic recognition system that the utility model adopts comprises the steps (as shown in accompanying drawing 1,3):

1), by vertical shake acceleration pick-up 1, gather the tire vibration Acceleration Signal;

2), the tire vibration Acceleration Signal that gathers being carried out filtering and signal in signal processing module 2 amplifies;

3), be input into filtering and the tire vibration Acceleration Signal of amplifying in hardware system module 3 and carry out data and process with data and calculate, finally obtain the pavement-height curve;

4), the road pavement altitude curve carries out discrete Fourier transformation and obtains the pavement-height amplitude spectrum and amplitude spectrum carried out mean effective value calculate;

5), bilateral pavement-height amplitude spectrum is transformed to monolateral pavement-height amplitude spectrum, and divided by frequency resolution;

6), according to the speed of a motor vehicle of obtaining on spatial frequency power spectrum density and timefrequency power spectrum density mathematical relation and automobile CAN-bus 7, obtain road roughness and power spectrum, obtain by this road roughness grade.

According to 8 grades of criteria for classifications of the road roughness in the GB7031 standard such as accompanying drawing 4 can obtain survey road roughness grade.The logic basis for estimation is provided and selects for the master mode under the different brackets of road surface for control algorithm by the road roughness grade, by hardware system, actr is regulated, change vehicle vehicle parameter under steam, finally reach and improve vehicle ride comfort, traveling comfort and the handling effect of taking into account.

Carry out data in described hardware system module 3 and process with data and calculate,---the numerical integration that numerical integration---is removed trend term---that the steps include: average.

The utility model embodiment is the recognition methods of a kind of magneto-rheological semiactive suspension road roughness grade, and concrete steps are as follows:

1: according to Fig. 2 hardware block diagram, design corresponding hardware and complete the function of hardware and the communication interface debugging.

2: the tire equivalence is become rigid body, according to the characteristics of vibration acceleration signal, determine survey frequency bandwidth and sampling number and select the Vertical Acceleration sensor that is fit to, measure the tire Vertical Acceleration.Tire Vertical Acceleration curve is carried out the data processing with numerical calculation, obtain corresponding displacement curve.

3: the displacement curve in step 2 is carried out discrete Fourier transformation process, then the mean effective value of displacement curve amplitude spectrum.According to clock frequency and the memory size of control chip, the sampling frequency of vertical acceleration sensor and sampling number obtain the Road Surface Power Spectrum Density function.

4: obtain the speed of a motor vehicle from automobile CAN-bus, according to the Road Surface Power Spectrum Density function in step 3, by spatial frequency power spectrum density and timefrequency power spectrum density relational expression as shown in Equation 1 with road roughness power spectrum fitting expression suc as formula 2.Obtain the road roughness coefficient.

$\mathrm{Gq}\left(f\right)=\frac{1}{\mathrm{uGq}\left(n\right)}\mathrm{Gq}\left(n0\right)\left(\frac{f}{n0}\right)-u_{w-1}^w$ ---formula 1

$\mathrm{Gq}\left(n\right)=\mathrm{Gq}\left(n0\right){(n/n0)}^{-w}$ ---formula 2

5: see Fig. 4 according to 8 grades of criteria for classifications of road roughness in GB7031, the road roughness coefficient that obtains in 4 in steps, correspondence can obtain the grade of road roughness.

6: according to the road surface control program of different brackets, automatically select different control programs.

7: the soft or hard degree of current value change rheological suspension of the different sizes of control program output of different pavement grades is arranged, improve the traveling comfort of vehicle, ride comfort and handling in good time.

Be understandable that, for a person skilled in the art, design is equal to replace or change and all should be belonged to the protection domain of the appended claim of the utility model to the technical solution of the utility model and utility model.

Claims (1)

1. a vehicle road out-of-flat automatic recognition system, is characterized in that: comprise vertical shake acceleration pick-up (1), signal processing module (2), hardware system module (3), power module (4), BDM module (5), CAN transceiver module (6) and automobile CAN-bus (7); Described vertical shake acceleration pick-up (1) is connected on hardware system module (3) by signal processing module (2), and this hardware system module (3) communicates by CAN transceiver module (6) and automobile CAN-bus (7); Described BDM module (5) is system debug and software program burning on hardware system module (3), and described power module (4) is hardware system module (3) power supply, and vehicle-mounted 12V electricity is converted into the 5V electricity.

Images