CN206132049U - Car is with real -time slope sensor - Google Patents
Car is with real -time slope sensor Download PDFInfo
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- CN206132049U CN206132049U CN201620806901.4U CN201620806901U CN206132049U CN 206132049 U CN206132049 U CN 206132049U CN 201620806901 U CN201620806901 U CN 201620806901U CN 206132049 U CN206132049 U CN 206132049U
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Abstract
The utility model provides a car is with real -time slope sensor, motion processing module and speed of a motor vehicle caliber have been add to it on treater, CAN communication module's basis, motion processing module includes accelerometer, gyroscope, wherein, motion processing module provide the tripartite ascending acceleration measurement value of XYZ, wind the triaxial inclination of XYZ measured value for the treater in real time, speed of a motor vehicle caliber can provide real -time speed of a motor vehicle signal for the treater, during the use, handling in order to obtain equivalent slope value speed of a motor vehicle signal earlier, simultaneously, handling in order to obtain the inclination the acceleration measurement value, reuse inclination, equivalent slope value are once revised, then with carrying out the slope signal of secondary correction in order to obtain the final output around the triaxial inclination of XYZ measured value, a correction value. The utility model discloses not only be suitable for dynamic measurement, the accuracy is higher, does benefit to the dynamic property and economic nature that improve the vehicle and travel, the compatibility is strong moreover, the cost is very low, easily popularizes and applies.
Description
Technical field
This utility model is related to a kind of automobile sensor, belongs to the sensor technical field used on automobile, more particularly to
A kind of real-time Slope Transducer of automobile, it is particularly applicable to carry out high-precision dynamic to the vehicle-mounted gradient in vehicle traveling process
Measurement.
Background technology
Traditional mechanical automatic gearbox（AMT）System, because obtaining grade signal, its Shifting is only in accordance with car
Speed and the two parameters of throttle signal are calculating change speed gear box target gear, in changeable road condition, two parameter Shifting
Excessively mechanization, calculates change speed gear box target gear with two parameter Shiftings, dynamic property of the vehicle on ramp road surface is being ensured
When, and fuel economy cannot be taken into account, in VE Vehicle Economy to be lifted, then cannot ensure the driving dynamics on ramp road surface
Property, in some instances it may even be possible to produce circulation gearshift phenomenon.
Application publication number is CN103353299A, and Shen Qing Publication day is that the application for a patent for invention on October 16th, 2013 is disclosed
A kind of vehicle-mounted road grade detection device of high accuracy and method, the device are made up of main controlled node and multiple detection nodes, it
Be articulated in vehicle-mounted CAN bus, during use, detection node with earth's surface horizontal plane as a reference plane, by three axles accelerate
The output valve of degree sensor is calculated and reference plane inclination angle, and sends it to main controlled node by CAN, and main controlled node leads to
The mode of overpolling collects detection node data, then carries out blunder error rejecting, least square fitting and card successively to which
The fusion treatments such as Kalman Filtering, obtain the optimal estimation value of the car body travel gradient.Although the invention can calculate vehicle-mounted
The gradient of road, but which still has following defect：
First, this is designed without introducing GES this parameter, causes its main uses be that to calculate vehicle quiet
During state, the gradient of vehicle position, and when vehicle is in dynamic, its certainty of measurement to the gradient is substantially reduced；
Secondly, the design needs multiple detection nodes are set up on vehicle body, not only increases the quantity of parts and installs
Difficulty, improves application cost, and in use, needs to coordinate multiple measurement data, and processing mode is loaded down with trivial details, easily reduces its survey
Amount degree of accuracy.
The content of the invention
The purpose of this utility model is to overcome to be not suitable for the relatively low defect of kinetic measurement, degree of accuracy present in prior art
With problem, there is provided a kind of to be suitable for the higher real-time Slope Transducer of automobile of kinetic measurement, degree of accuracy.
To realize object above, technical solution of the present utility model is：A kind of real-time Slope Transducer of automobile, bag
Include processor, CAN, remaining module and power module, outfan and processor, the CAN communication of the power module
Module, the electric end of entering of remaining module are electrically connected, signal input part and CAN, remaining module of the processor
Signal output part carry out signal connection；
Described remaining module is motion process module, the motion process module include chip piece and it is integrated thereon plus
Velometer, gyroscope, signal input part and the vehicle speed measurement device of the CAN carry out signal and are connected.
The CAN is connected with vehicle speed measurement device signal by CAN, and the processor passes through iic bus
It is connected with motion process module by signal.
The vehicle speed measurement device is gear box control unit.
The processor be embedded processor, model STM32F103 of its chip taken.
Model MPU6050 of the chip taken in the motion process module.
The input voltage of the power module is 5 volts, and output voltage is 3.3 volts.
Compared with prior art, the beneficial effects of the utility model are：
1st, a kind of automobile of this utility model is increased on the basis of processor, CAN with real-time Slope Transducer
If motion process module, the motion process module includes chip piece and accelerometer integrated thereon, gyroscope, together
When, GES is introduced by vehicle speed measurement device also, during use, motion process module can provide XYZ tri- in real time to processor
Acceleration measurement, the measurement of dip angle value of tri- axles of XYZ on direction, vehicle speed measurement device can provide real-time speed letter to processor
Number, so as to fully reflect the Real-time and Dynamic situation of vehicle, beneficial to processor to the higher slope of degree of accuracy is obtained after its data processing
Degree signal, and then enter Mobile state adjustment to Shifting, meet dynamic property of the driver to gearshift, the requirement of economy so that
Vehicle both can guarantee that the economy of Plain high-speed working condition, while the dynamic property of hills operating mode can be taken into account, can greatly promote car
Performance and strengthen driver comfort.Therefore, this utility model is not only suitable for kinetic measurement, and degree of accuracy is higher, and is beneficial to
Enter Mobile state adjustment to Shifting, improve dynamic property, the economy of vehicle traveling.
2nd, a kind of automobile of this utility model is with real-time Slope Transducer, the particular type to parts, and signal is passed
The communication mode passed all has the further requirement that its advantage difference is as follows：First, lead between CAN, vehicle speed measurement device
CAN transmission signal being crossed, between processor, motion process module, signal being transmitted by iic bus, the design can be with car load
Wiring carry out compatibility, reduce installation difficulty, and beneficial to the transmission efficiency of signal is improved, strengthen the degree of accuracy of data processing；
Secondly, vehicle speed measurement device adopts gear box control unit, and this is designed to obtain more accurately GES, beneficial to raising data
The degree of accuracy of process；Again, processor is embedded processor, and model STM32F103 of the chip taken, motion process
Model MPU6050 of the chip taken in module, the design can not only strengthen data operation function, and easily former with car load
This data processor is mutually compatible, beneficial to the degree of accuracy for improving data.Therefore, not only degree of accuracy is higher for this utility model, and
And compatibility is stronger.
3rd, a kind of automobile of this utility model has carried out altogether two with real-time Slope Transducer when data processing is carried out
Secondary amendment, deducts equivalent value of slope with inclination angle for the first time, is that measurement of dip angle value, a correction value are weighted averagely for the second time
Calculate to obtain second-order correction value, the as grade signal of final output, this data processing method not only passes through modified twice
The degree of accuracy of final data is improve, and the operating procedure corrected every time all targeted are very strong, operate venation clear, drop significantly
The low interference of fault rate and lengthy and tedious signal.Therefore, degree of accuracy of the present utility model is higher.
4th, a kind of automobile of this utility model, is employed various when processing to data with real-time Slope Transducer
The processing mode of optimization, such as array, FIFO operations, mean filter, inverse, quaternary number calculating method, Weighted Average Algorithm, these numbers
Can be further to improve the accurate of final roll attitude signal on the basis of script higher accuracy according to the optimization of processing mode
Degree.Therefore, degree of accuracy of the present utility model is higher.
5th, a kind of automobile of this utility model compared with prior art, only need to set up a biography with real-time Slope Transducer
Sensor, need to only adopt a measurement point, and quantity is few, and easy to install, cost is lower.Therefore, cost of the present utility model is very low,
Application easy to spread.
Description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is workflow diagram of the present utility model.
In figure：Processor 1, CAN 2, motion process module 3, accelerometer 31, gyroscope 32, power module
4th, vehicle speed measurement device 5.
Specific embodiment
This utility model is described in further detail below in conjunction with description of the drawings and specific embodiment.
Referring to Fig. 1 and Fig. 2, a kind of real-time Slope Transducer of automobile, including processor 1, CAN 2, its complementary modul
Block and power module 4, outfan and the electric end of entering of processor 1, CAN 2, remaining module of the power module 4 are entered
Row electrical connection, the signal input part of the processor 1 carry out signal company with the signal output part of CAN 2, remaining module
Connect；Described remaining module is motion process module 3, and the motion process module 3 includes chip piece and acceleration integrated thereon
Degree meter 31, gyroscope 32, the signal input part of the CAN 2 carry out signal with vehicle speed measurement device 5 and are connected.
The CAN 2 is connected with 5 signal of vehicle speed measurement device by CAN, and the processor 1 is total by IIC
Line is connected with 3 signal of motion process module.
The vehicle speed measurement device 5 is gear box control unit.
The processor 1 be embedded processor, model STM32F103 of its chip taken.
Model MPU6050 of the chip taken in the motion process module 3.
The input voltage of the power module 4 is 5 volts, and output voltage is 3.3 volts.
Principle of the present utility model is described as follows：
The purpose of this utility model be on the basis of existing Shifting only relies on speed, throttle the two parameters,
Increase a new parameter --- grade signal, so as to overcome present in prior art in changeable road condition, two ginsengs
Number Shifting excessively mechanization, it is impossible to take into account dynamic property and fuel economy, or even the defect for producing circulation gearshift phenomenon.When
After grade signal is introduced as the |input paramete of Shifting, it becomes possible to which dynamic adjusts Shifting to tackle the dynamic of driver
Power demand, after the gradient is as gearshift parameter, vehicle both can guarantee that the economy of Plain high-speed working condition, while hills can be taken into account
The dynamic property of operating mode, for lifting vehicle performance and strengthening driver comfort, has effect well.
From the foregoing, it will be observed that grade signal is serviced for dynamic adjustment Shifting, this requires the degree of accuracy of grade signal
Must be very high and it is necessary to be dynamic, it is real-time signal.For this purpose, this utility model is additionally arranged motion process on hardware
Module and vehicle speed measurement device, wherein, the accelerometer, gyroscope in motion process module can obtain instant tri- directions of XYZ
On acceleration measurement, the measurement of dip angle value of tri- axles of XYZ, vehicle speed measurement device can obtain instant GES, so as to true
The utility model that breaks even finally obtains dynamic, high-precision grade signal.
Vehicle speed measurement device：Take gear box control unit（transmission control unit）When degree of accuracy most
It is high.
Power module：It is to provide suitable running voltage to process chip, not limiting the specific electricity of its offer
Pressure value.At present, conventional situation is input voltage for 5 volts, and output voltage is 3.3 volts, and this is and conventional processor and various
In module, the running voltage of chip is typically all what 3.3V matched, can burn chip with 5V.
Embodiment 1：
Referring to Fig. 1 and Fig. 2, at a kind of real-time Slope Transducer of automobile, including processor 1, CAN 2, motion
Reason module 3 and power module 4, outfan and processor 1, CAN 2, the motion process module 3 of the power module 4
Electric end of entering be electrically connected, the signal input part of the processor 1 and CAN 2, the signal of motion process module 3
Outfan carries out signal connection, and the signal input part of CAN 2 carries out signal with vehicle speed measurement device 5 and is connected, and moves
Processing module 3 includes chip piece and accelerometer 31 integrated thereon, gyroscope 32.
A kind of using method of above-mentioned automobile with real-time Slope Transducer, the using method are comprised the following steps：
The first step：The GES that vehicle speed measurement device 5 is collected is read by CAN 2 by processor 1 first, then
GES to collecting is processed to obtain equivalent value of slope；
Second step：While the first step is carried out, processor 1 is collected to accelerometer 31 in motion process module 3
XYZ tripartite's acceleration measurement upwards is processed to obtain inclination angle；
3rd step：First equivalent value of slope in the first step is deducted to obtain a correction value with the inclination angle in second step, together
When, processor 1 reads measurement of dip angle value of the gyroscope 32 around tri- axles of XYZ by motion process module 3, then uses the measurement of dip angle
Value carries out second-order correction to obtain second-order correction value to a correction value, and the second-order correction value is the gradient letter of final output
Number.
Embodiment 2：
Substance with embodiment 1, difference is：
The CAN 2 is connected with 5 signal of vehicle speed measurement device by CAN, and the processor 1 is total by IIC
Line is connected with 3 signal of motion process module.The vehicle speed measurement device 5 is gear box control unit.The processor 1 is embedded
Processor, model STM32F103 of its chip taken；The model of the chip taken in the motion process module 3
MPU6050.The input voltage of the power module 4 is 5 volts, and output voltage is 3.3 volts.
Embodiment 3：
Substance with embodiment 1, difference is：
In the first step, the described pair of GES for collecting is processed to be referred to obtaining equivalent value of slope：Process
Device 1 first sets up an array, a data in a GES correspondence array, and logarithm according to the GES for collecting
Data in group carry out FIFO operations, then carry out mean filter to the data of the first half in array and later half respectively, then will
Two filter values of gained subtract each other, then divided by the time, it is to calculate longitudinal direction of car acceleration, then anti-with longitudinal direction of car acceleration
Calculate equivalent value of slope.
The data in array carry out FIFO operations and refer to：Using the GES that collects as data, data are pressed
Array is stored according to sequencing, per a data are newly received, the data in array are moved along one, and new data is stored in array end
Tail, it is after array is filled with, every time mobile, all can by that data deletion of array head, so as at array end newly to receive
Data provide space.
Embodiment 4：
Substance with embodiment 1, difference is：
In the second step, tri- directions of XYZ that the processor 1 is collected to accelerometer 31 in motion process module 3
On acceleration measurement processed to refer to inclination angle：Processor 1 first passes through motion process module 3 and reads accelerometer
31 acceleration measurements in XYZ tripartite upwards, then mean filter is carried out to XYZ tripartite acceleration measurement upwards,
Then quaternary number calculating method is utilized, XYZ tripartite's acceleration upwards is converted to into inclination angle.
Embodiment 5：
Substance with embodiment 1, difference is：
In 3rd step, the mode of the second-order correction is Weighted Average Algorithm, i.e., to the inclination angle of the measurement of gyroscope 32
Mono- weight coefficient a of measured value X, gives correction value Y mono- weight coefficient b, and weight coefficient meets a<B, a+b=1, then export
Second-order correction value be aX+bY.
Claims (6)
1. a kind of real-time Slope Transducer of automobile, including processor（1）, CAN（2）With power module（4）, it is described
Power module（4）Outfan and processor（1）, CAN（2）Electric end of entering be electrically connected, the processor（1）
Signal input part and CAN（2）Signal output part carry out signal connection, it is characterised in that：
The real-time Slope Transducer of the automobile also includes motion process module（3）, the motion process module（3）Including one piece of core
Piece and accelerometer integrated thereon（31）, gyroscope（32）, the CAN（2）Signal input part and speed
Measuring device（5）Carry out signal connection.
2. the real-time Slope Transducer of a kind of automobile according to claim 1, it is characterised in that：The CAN
（2）By CAN and vehicle speed measurement device（5）Signal connects, the processor（1）By iic bus and motion process module
（3）Signal connects.
3. the real-time Slope Transducer of a kind of automobile according to claim 1 and 2, it is characterised in that：The vehicle speed measurement
Device（5）For gear box control unit.
4. the real-time Slope Transducer of a kind of automobile according to claim 1 and 2, it is characterised in that：The processor（1）
For embedded processor, model STM32F103 of its chip taken.
5. the real-time Slope Transducer of a kind of automobile according to claim 1 and 2, it is characterised in that：The motion process
Module（3）In model MPU6050 of chip taken.
6. the real-time Slope Transducer of a kind of automobile according to claim 1 and 2, it is characterised in that：The power module
（4）Input voltage be 5 volts, output voltage be 3.3 volts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620806901.4U CN206132049U (en) | 2016-07-29 | 2016-07-29 | Car is with real -time slope sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620806901.4U CN206132049U (en) | 2016-07-29 | 2016-07-29 | Car is with real -time slope sensor |
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| CN206132049U true CN206132049U (en) | 2017-04-26 |
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| CN201620806901.4U Active CN206132049U (en) | 2016-07-29 | 2016-07-29 | Car is with real -time slope sensor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106052643A (en) * | 2016-07-29 | 2016-10-26 | 东风商用车有限公司 | Real gradient sensor for automobile and use method thereof |
| CN109045407A (en) * | 2018-08-31 | 2018-12-21 | 四川省肿瘤医院 | A kind of real-time transfusion monitoring system of gravity type stabilization based on ZigBee-network |
| CN110702428A (en) * | 2019-06-10 | 2020-01-17 | 辽宁龙马安泰网络技术有限责任公司 | Method for detecting instantaneous braking performance of automobile during running |
-
2016
- 2016-07-29 CN CN201620806901.4U patent/CN206132049U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106052643A (en) * | 2016-07-29 | 2016-10-26 | 东风商用车有限公司 | Real gradient sensor for automobile and use method thereof |
| CN106052643B (en) * | 2016-07-29 | 2019-04-30 | 东风商用车有限公司 | A kind of real-time Slope Transducer of automobile and its application method |
| CN109045407A (en) * | 2018-08-31 | 2018-12-21 | 四川省肿瘤医院 | A kind of real-time transfusion monitoring system of gravity type stabilization based on ZigBee-network |
| CN110702428A (en) * | 2019-06-10 | 2020-01-17 | 辽宁龙马安泰网络技术有限责任公司 | Method for detecting instantaneous braking performance of automobile during running |
| CN110702428B (en) * | 2019-06-10 | 2021-06-04 | 辽宁龙马安泰网络技术有限责任公司 | Method for detecting instantaneous braking performance of automobile during running |
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