CN218037768U - Vehicle chassis calibration system and vehicle - Google Patents
Vehicle chassis calibration system and vehicle Download PDFInfo
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- CN218037768U CN218037768U CN202221557395.1U CN202221557395U CN218037768U CN 218037768 U CN218037768 U CN 218037768U CN 202221557395 U CN202221557395 U CN 202221557395U CN 218037768 U CN218037768 U CN 218037768U
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Abstract
The embodiment of the application discloses vehicle chassis calibration system and vehicle belongs to intelligent driving technical field, and this system includes: a control center; the calibration and verification module is arranged on the vehicle, receives a control command sent by the control center, and tests the chassis of the vehicle to obtain test data; the data analysis module receives the test data and analyzes the test data to obtain an analysis result; and the debugging data center judges the analysis result, remotely adjusts the parameters of the chassis according to the analysis result under the condition that the error of the analysis result is greater than a preset error threshold value, and performs data test on the adjusted chassis again through the calibration and verification module until the test data meets the condition. According to the method and the device, the vehicle chassis data are verified and calibrated through remote control, and the calibration and calibration module acquires the vehicle chassis data, so that the subjectivity of manual detection is avoided, and the method and the device are more accurate. In addition, remote calibration is not needed, and the system is more convenient to go to the site.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a vehicle chassis calibration system and a vehicle.
Background
In the process of measuring and calibrating vehicle chassis data, the vehicle chassis calibration in the traditional vehicle enterprises at present is performed on-site manual calibration in various bus modes, the calibration process mainly depends on the experience of calibration personnel, but the results of calibration performed by the calibration personnel with different experiences are different, so that the vehicle consistency is poor. For vehicles, the requirement of the vehicles on the consistency of the chassis is high, so that the traditional method for calibrating and checking the chassis manually is not suitable for the mass production stage of the vehicles. And the manual calibration method needs manual work on site, so that the efficiency is very low, and meanwhile, the great labor cost needs to be consumed.
SUMMERY OF THE UTILITY MODEL
The application provides a vehicle chassis calibration system and a vehicle, which are used for solving the problems that the consistency of calibration results is poor, the efficiency is low and the large labor cost is required to be consumed in the existing manual calibration method when the vehicle chassis is checked and calibrated.
In a first aspect, the present application provides a vehicle chassis calibration system, including: the control center is arranged at the remote control end and sends out a control instruction according to a calibration requirement; the calibration and verification module is arranged on the unmanned vehicle, is in wireless connection with the control center, receives the control instruction, and tests the chassis of the unmanned vehicle according to the control instruction to obtain test data; the data analysis module is connected with the calibration and verification module, receives the test data and analyzes the test data to obtain an analysis result; and the debugging data center is connected with the data analysis module, receives and judges the analysis result, adjusts parameters of the chassis according to the analysis result under the condition that the error of the analysis result is greater than a preset error threshold value, calibrates the parameters of the chassis through the calibration and verification module, and performs data test again until the error of the test data corresponding to the analysis result is not greater than the preset error threshold value.
Optionally, the calibration and verification module includes: and the steering module is used for receiving a control command sent by the control center, testing the steering performance of the chassis to obtain the feedback delay time under the preset steering angle, and transmitting the feedback delay time to the data analysis module.
Optionally, the calibration and verification module further includes: and the braking module is used for receiving the control command sent by the control center, testing the braking performance of the chassis to obtain the braking distance and the braking pressure under different road conditions, and transmitting the braking distance and the braking pressure to the data analysis module.
Optionally, the calibration and verification module further includes: and the speed module is used for receiving a control command sent by the control center, testing the speed performance of the chassis to obtain the feedback speed at a given speed, and transmitting the feedback speed to the data analysis module.
Optionally, the calibration and verification module further includes: and the fault detection module is used for receiving a control command sent by the control center, testing the fault feedback performance of the chassis to obtain fault feedback data under a given fault, and transmitting the fault feedback data to the data analysis module.
Optionally, after the data analysis module receives the test data, an error between the test data and the standard data is calculated.
Optionally, the debugging data center judges the error and the corresponding error threshold, and performs corresponding parameter adjustment on the chassis under the condition that the error is greater than the error threshold.
In a second aspect, the application provides a vehicle, where a calibration and verification module is mounted on the vehicle, and the calibration and verification module is wirelessly connected with a control center on a remote control end, receives a control instruction sent by the control center, and tests a chassis of the vehicle according to the control instruction to obtain test data; the data analysis module is connected with the calibration and verification module, receives the test data and analyzes the test data to obtain an analysis result; the debugging data center is connected with the data analysis module, receives the analysis result and judges the analysis result, carries out parameter adjustment on the chassis according to the analysis result under the condition that the error of the analysis result is larger than a preset error threshold value, carries out parameter calibration on the chassis through the calibration and verification module and carries out data test again until the error of the test data corresponding to the analysis result is not larger than the preset error threshold value.
According to the embodiment of the application, the vehicle chassis data are verified and calibrated through remote control, and the calibration and calibration module acquires the vehicle chassis data, so that the subjectivity of manual detection is avoided, and the method is more accurate. Meanwhile, through remote data calibration, personnel do not need to arrive at the site, and the method is more convenient.
Drawings
FIG. 1 is a schematic view of one embodiment of a vehicle chassis calibration system of the present application;
FIG. 2 is a schematic diagram of one example of chassis steering pattern analysis;
FIG. 3 is a schematic diagram of a graphical example of chassis velocity analysis;
fig. 4 is a schematic structural diagram of a vehicle according to the present application.
Detailed Description
The following detailed description of the preferred embodiments of the present application, taken in conjunction with the accompanying drawings, will provide those skilled in the art with a better understanding of the advantages and features of the present application, and will make the scope of the present application more clear and definite.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising 8230; \8230;" comprise 8230; "do not exclude the presence of additional identical elements in any process, method, article, or apparatus that comprises the element.
In the process of measuring and calibrating vehicle chassis data, the vehicle chassis calibration in the traditional vehicle enterprises at present is manually calibrated on site in various bus modes, the calibration process mainly depends on the experience of calibration personnel, but the vehicle calibration results of the calibration personnel with different experiences are different, so that the vehicle consistency is poor. For vehicles, the requirement for the consistency of the vehicle to the chassis is high, so that the traditional calibration and verification method by manual work is not suitable for the vehicle mass production stage. And the manual calibration method needs manual work on site, so that the efficiency is low, and meanwhile, the labor cost is high.
In order to solve the problems, the application provides a vehicle chassis calibration system and a vehicle, wherein the system comprises a control center; the calibration and verification module is arranged on the vehicle, receives a control command sent by the control center, and tests the chassis of the vehicle to obtain test data; the data analysis module receives the test data and analyzes the test data to obtain an analysis result; and the debugging data center judges the analysis result, performs remote parameter adjustment on the chassis according to the analysis result under the condition that the error of the analysis result is greater than a preset error threshold value, and performs data test on the adjusted chassis again through the calibration and verification module until the test data meets the condition.
According to the method and the device, the vehicle chassis data are verified and calibrated through remote control, and the calibration and calibration module acquires the vehicle chassis data, so that the subjectivity of manual detection is avoided, and the method and the device are more accurate. Meanwhile, remote data calibration is carried out, the user does not need to go to the site, and the system is more convenient. By the method, remote data acquisition is carried out, and an algorithm analysis drawing image is automatically carried out according to the data. And adjusting parameters according to the image, and performing data acquisition and graphic analysis again to finally finish the functions of calibrating and checking the vehicle chassis.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific examples. The specific embodiments described below can be combined with each other to form new embodiments. The same or similar ideas or processes described in one embodiment may not be repeated in other embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of one embodiment of a vehicle chassis calibration system of the present application.
In the embodiment shown in fig. 1, the vehicle chassis calibration system of the present application includes: and the control center 101 is arranged at a remote control end and sends out a control instruction according to the calibration requirement.
In this embodiment, the control center performs control of the entire chassis calibration process. And carrying out a corresponding control process by sending a corresponding control instruction.
In the embodiment shown in fig. 1, the vehicle chassis calibration system of the present application includes: and the calibration and verification module 102 is installed on the unmanned vehicle, is in wireless connection with the control center, receives the control instruction, and tests the chassis of the unmanned vehicle according to the control instruction to obtain test data.
In the embodiment, the calibration and verification module is installed on the real vehicle, is in wireless connection with the control center of the remote control end, receives the control command sent by the control center, tests the chassis of the vehicle according to the control command, and acquires corresponding test data. The calibration and verification module is arranged at the vehicle end, so that the remote test and verification of the vehicle chassis data can be performed through the remote control end, and the trouble of performing field test and field verification is avoided.
Optionally, the calibration and verification module includes: and the steering module is used for receiving a control command sent by the control center, testing the steering performance of the chassis to obtain the feedback delay time under the preset steering angle, and transmitting the feedback delay time to the data analysis module.
In this alternative embodiment, the steering test of the chassis is performed by the steering module at the time of the test of the vehicle chassis data. After the steering module receives a control instruction sent by the control center, the steering module tests the steering performance of the chassis to obtain the feedback delay time under a preset steering angle, and then the test data is transmitted to the data analysis module for subsequent data analysis.
Specifically, FIG. 2 illustrates an example of chassis steering pattern analysis.
As shown in fig. 2, the horizontal axis of the graph represents time(s), the vertical axis represents angle value (deg), the curve of fig. 2 is a graph of chassis angle changing with control angle according to fixed frequency, if the delay time of chassis feedback is within 300ms at a given steering angle, the steering analysis of the chassis is considered to be qualified, the result is displayed on the upper computer of the remote control end, and the drawn graph is stored.
Optionally, the calibration and verification module includes: and the braking module is used for receiving the control command sent by the control center, testing the braking performance of the chassis to obtain the braking distance and the braking pressure under different road conditions, and transmitting the braking distance and the braking pressure to the data analysis module.
In this alternative embodiment, the braking performance of the vehicle chassis is tested by the intelligence module. The braking module receives a control command sent by the control center, tests relevant data of braking pressure and braking distance under different road conditions, and transmits the data to the data analysis module for subsequent data analysis.
Optionally, the calibration and verification module includes: and the speed module is used for receiving a control command sent by the control center, testing the speed performance of the chassis to obtain the feedback speed at a given speed, and transmitting the feedback speed to the data analysis module.
In the optional embodiment, the speed performance of the vehicle chassis is tested through the speed module, the speed module receives a control command sent by the control center, tests the feedback speed of the chassis at a given speed, and transmits the acquired data to the data analysis module for data analysis.
In particular, FIG. 3 shows a graphical example of chassis velocity analysis.
In the example shown in fig. 3, the horizontal axis in fig. 3 represents time(s), the vertical axis in fig. 3 represents speed (km/h), and the graph in fig. three represents a graph in which the feedback speed of the vehicle changes with a given speed change. In the process of testing the vehicle chassis, the control center sets a given speed, measures the actual feedback speed of the vehicle chassis, judges the performance of the vehicle chassis in the speed aspect by comparing the difference between the given speed and the feedback speed with the reaction time of the vehicle chassis from zero to the feedback speed, and if a larger error exists, needs to carry out subsequent parameter calibration.
Optionally, the calibration and verification module includes: and the fault detection module is used for receiving a control command sent by the control center, testing the fault feedback performance of the chassis to obtain fault feedback data under a given fault, and transmitting the fault feedback data to the data analysis module.
In the optional embodiment, the fault feedback performance of the vehicle chassis is tested through the fault detection module, the fault detection module receives a control command sent by the control center, tests fault feedback data of the chassis under a given fault, and transmits the fault feedback data to the data analysis module for a subsequent data analysis process.
Specifically, each calibration and verification module is installed at the vehicle end, and each module can be remotely controlled through automatic software to test corresponding data of the vehicle chassis, so that the remote test of the data of the vehicle chassis is realized, the remote test is not needed at the vehicle site, the convenience is realized, and the efficiency of the data test of the vehicle chassis is improved. The embodiment of the application mainly verifies and calibrates the vehicle chassis by remote and fixed excitation function methods, and performs data storage analysis. The chassis calibration can be quickly carried out by a tester through the excitation function fixed in the calibration and calibration module, the requirements on experience of the tester are low, and the chassis data are analyzed, so that the accuracy and the stability of the chassis calibration are greatly improved
In the embodiment shown in fig. 1, the vehicle chassis calibration system of the present application includes: and the data analysis module 103 is connected with the calibration and verification module, receives the test data, and analyzes the test data to obtain an analysis result.
In this embodiment, the data analysis module receives the vehicle chassis test data transmitted by each test module, analyzes the test data, and determines whether there is a problem. Specifically, the data analysis module can be arranged on a vehicle and is connected with the calibration and verification module through a data line to perform data transmission; or the data analysis module can be arranged on the remote control end and is in wireless connection with the calibration and verification module to transmit data.
Optionally, after the data analysis module receives the test data, calculating to obtain an error between the test data and the standard data; and under the condition that the error exceeds the error threshold value, judging that the chassis has corresponding hidden danger.
In the optional embodiment, the data analysis module compares the vehicle chassis data acquired by each test module with the standard data, analyzes whether the acquired data exceeds an allowable range, and performs subsequent adjustment of the vehicle chassis if the acquired data exceeds the allowable range.
Specifically, the data analysis module receives feedback delay time of the vehicle chassis at a preset turning angle acquired by the steering module, and the data analysis module compares the feedback delay time with a time threshold value to judge whether the steering performance of the vehicle chassis is in a problem. Wherein the predetermined turning angle may be set to an angle of 5 °, the frequency of the angle signal is 1Hz, and the time threshold may be set to 300ms. That is, at a predetermined turning angle, the feedback delay time of the vehicle chassis does not exceed 300ms, and the steering performance of the vehicle chassis is considered to be good; when the feedback delay time of the vehicle chassis is more than 300ms, the steering performance of the vehicle chassis is considered to have a problem, and a subsequent adjusting process is required. It should be noted that, specific values of the predetermined turning angle and the time threshold may be reasonably selected according to actual test conditions, and the above values are only preferred examples and do not limit the scope of the present application.
Specifically, the data analysis module receives the braking distance and the braking pressure of the vehicle chassis under different road conditions, which are acquired by the braking module. The specific numerical value of the brake pressure under a certain road condition and a certain braking distance is compared with a set brake pressure standard value, and whether the brake performance of the vehicle chassis has a problem or not is judged. For example, the brake pressure corresponding to the vehicle is tested at a set distance of 20 meters, and if the brake pressure is smaller than a brake pressure standard value corresponding to the road condition, it indicates that the set pressure of the vehicle chassis is insufficient, and an accident occurs due to untimely braking easily during actual driving. Therefore, at this time, it is necessary to adjust the braking parameters of the vehicle chassis to improve the braking performance of the vehicle chassis.
Specifically, the data analysis module receives feedback speed data of the vehicle chassis at a given speed, which is acquired by the speed module, calculates an error between the given speed and the feedback speed, and tests the speed performance of the vehicle chassis according to the error and a speed difference threshold value. Wherein the speed difference threshold may be set to 0.5m/s. That is, when the speed difference between the given speed and the feedback speed of the vehicle is greater than 0.5m/s, it means that the vehicle cannot accelerate to the specified speed, and the relevant speed parameter of the vehicle chassis needs to be adjusted and corrected. It should be noted that, the specific values of the speed difference threshold and the given speed can be reasonably selected according to actual test conditions, and the above values are only preferred examples and do not limit the protection scope of the present application.
Specifically, the data analysis module receives fault feedback data of the vehicle chassis under a given fault, which is acquired by the fault detection module, and the data analysis module determines the reaction condition of the vehicle when the fault occurs by comparing the fault feedback data with a set fault feedback threshold value. For example, in the fault condition that a signal of a vehicle controlled by a remote control end is lost for 1s, the distance of the vehicle deviating from a track at the highest speed is measured, the relationship between the distance and a distance threshold is judged, and when the distance is greater than the corresponding distance threshold, it is indicated that the vehicle may be out of control in the fault condition, and there is a risk of collision between the vehicle deviating from the current running track and other vehicles, and it is necessary to subsequently adjust related parameters, so that the stability of the vehicle in the fault condition is improved, and the running safety is improved. It should be noted that the above is an example of a vehicle failure because there are many types of vehicle failures. In an actual scenario, corresponding analysis can be performed according to different vehicle faults and corresponding fault measurement data thereof.
In the embodiment shown in fig. 1, the vehicle chassis calibration system of the present application includes: and the debugging data center 104 is connected with the data analysis module, receives the analysis result, judges the analysis result, adjusts parameters of the chassis according to the analysis result under the condition that the error of the analysis result is greater than a preset error threshold, calibrates the parameters of the chassis through the calibration and verification module, and performs data test again until the error of the test data corresponding to the analysis result is not greater than the preset error threshold. Specifically, the data analysis module may be disposed on the vehicle or on the remote control end, and performs data transmission through wired connection such as a data line or wireless connection such as a mobile signal.
In this embodiment, the commissioning data center adjusts and recalibrates the vehicle chassis parameters that are in question. Thereby making the vehicle chassis in a good condition. In order to ensure the debugging result, after the vehicle chassis is debugged, the debugged vehicle chassis is tested again, so that the final test data all accord with the corresponding conditions.
In an example of the present application, when the vehicle chassis calibration system of the present application performs a specific calibration process, firstly, a worker sends a control instruction for calibration in a control center of a remote control end in a wireless communication manner. After receiving the instruction, the calibration and verification module at the vehicle end tests relevant data of the vehicle chassis, for example, testing the braking performance, the acceleration performance and the like of the vehicle chassis, and obtains test data. And then, analyzing the test data by using a data analysis module of the obtained remote control end of the test data sending end in a wireless communication mode, and judging whether the test data has larger deviation. If a certain test data has a large deviation from the standard data, the vehicle is indicated to have a fault or the risk of vehicle accidents exists. And obtaining the numerical value of the vehicle chassis which needs to be subjected to chassis parameter adjustment through a debugging data center of the remote control end. And sending the vehicle chassis adjustment data to a calibration and verification module at the vehicle end in a wireless communication mode, adjusting the vehicle chassis data or vehicle chassis parameters, testing the vehicle chassis part data again after the adjustment is finished, and finishing the remote calibration and verification process of the vehicle chassis if the test data meets the preset standard.
The vehicle chassis calibration system verifies and calibrates vehicle chassis data through remote control, and the calibration and calibration module acquires the vehicle chassis data, so that subjectivity of manual detection is avoided, and the vehicle chassis calibration system is more accurate. Meanwhile, remote data calibration is carried out, the site is not needed, and the method is more convenient.
FIG. 4 illustrates one embodiment of a vehicle of the present application.
As shown in fig. 4, a calibration and calibration module is mounted on the vehicle, and the calibration and calibration module is wirelessly connected with a control center on the remote control end, receives a control instruction sent by the control center, and tests a chassis of the vehicle according to the control instruction to obtain test data; the data analysis module is connected with the calibration and verification module, receives the test data and analyzes the test data to obtain an analysis result; the debugging data center is connected with the data analysis module, receives the analysis result and judges the analysis result, carries out parameter adjustment on the chassis according to the analysis result under the condition that the error of the analysis result is larger than a preset error threshold value, carries out parameter calibration on the chassis through the calibration and verification module and carries out data test again until the error of the test data corresponding to the analysis result is not larger than the preset error threshold value. The working principle of each module is consistent with the description in the above example, and the description of the present application is not repeated here.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is only a logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above description is only an example of the present application, and is not intended to limit the scope of the present application, and all equivalent structural changes made by using the contents of the specification and drawings, or any other related technical fields, are all included in the scope of the present application.
Claims (8)
1. A vehicle chassis calibration system, comprising:
the control center is arranged at the remote control end and sends out a control instruction according to the calibration requirement;
the calibration and verification module is arranged on the unmanned vehicle, is in wireless connection with the control center, receives the control instruction, and tests the chassis of the unmanned vehicle according to the control instruction to obtain test data;
the data analysis module is connected with the calibration and verification module, receives the test data and analyzes the test data to obtain an analysis result;
and the debugging data center is connected with the data analysis module, receives and judges the analysis result, performs parameter adjustment on the chassis according to the analysis result under the condition that the error of the analysis result is greater than a preset error threshold value, performs parameter calibration on the chassis through the calibration and verification module, and performs data test again until the error of the analysis result corresponding to the test data is not greater than the preset error threshold value.
2. The vehicle chassis calibration system of claim 1, wherein the calibration and verification module comprises:
and the steering module is used for receiving a control command sent by the control center, testing the steering performance of the chassis to obtain the feedback delay time under a preset steering angle, and transmitting the feedback delay time to the data analysis module.
3. The vehicle chassis calibration system of claim 2, wherein the calibration and verification module further comprises:
and the braking module is used for receiving the control command sent by the control center, testing the braking performance of the chassis to obtain the braking distance and the braking pressure under different road conditions, and transmitting the braking distance and the braking pressure to the data analysis module.
4. The vehicle chassis calibration system of claim 3, wherein the calibration and verification module further comprises:
and the speed module is used for receiving a control command sent by the control center, testing the speed performance of the chassis to obtain a feedback speed at a given speed, and transmitting the feedback speed to the data analysis module.
5. The vehicle chassis calibration system of claim 4, wherein the calibration and verification module further comprises:
and the fault detection module is used for receiving a control command sent by the control center, testing the fault feedback performance of the chassis to obtain fault feedback data under a preset fault, and transmitting the fault feedback data to the data analysis module.
6. The vehicle chassis calibration system of claim 1, wherein the data analysis module calculates an error between the test data and standard data after receiving the test data;
and under the condition that the error exceeds an error threshold value, judging that the chassis has corresponding hidden danger.
7. The vehicle chassis calibration system of claim 1, wherein the commissioning data center makes a corresponding parameter adjustment to the chassis if the error exceeds the error threshold.
8. A vehicle is characterized in that a calibration and verification module is mounted on the vehicle, is in wireless connection with a control center on a remote control end, receives a control command sent by the control center, and tests a chassis of the vehicle according to the control command to obtain test data; the data analysis module is connected with the calibration and verification module, receives the test data and analyzes the test data to obtain an analysis result; and the debugging data center is connected with the data analysis module, receives and judges the analysis result, performs parameter adjustment on the chassis according to the analysis result under the condition that the error of the analysis result is greater than a preset error threshold, performs parameter calibration on the chassis through the calibration and verification module, and performs data test again until the error of the analysis result corresponding to the test data is not greater than the preset error threshold.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117991662A (en) * | 2024-04-03 | 2024-05-07 | 凯朴硕科技(杭州)有限公司 | Chassis control rack system of simulation new energy automobile |
| CN117991662B (en) * | 2024-04-03 | 2024-06-07 | 凯朴硕科技(杭州)有限公司 | Chassis control rack system of simulation new energy automobile |
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2022
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117991662A (en) * | 2024-04-03 | 2024-05-07 | 凯朴硕科技(杭州)有限公司 | Chassis control rack system of simulation new energy automobile |
| CN117991662B (en) * | 2024-04-03 | 2024-06-07 | 凯朴硕科技(杭州)有限公司 | Chassis control rack system of simulation new energy automobile |
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