WO2023019951A1 - 一种轮胎自定位系统及其定位方法 - Google Patents
一种轮胎自定位系统及其定位方法 Download PDFInfo
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- WO2023019951A1 WO2023019951A1 PCT/CN2022/083068 CN2022083068W WO2023019951A1 WO 2023019951 A1 WO2023019951 A1 WO 2023019951A1 CN 2022083068 W CN2022083068 W CN 2022083068W WO 2023019951 A1 WO2023019951 A1 WO 2023019951A1
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 10
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- 238000010586 diagram Methods 0.000 description 18
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/02—Signalling devices actuated by tyre pressure
- B60C23/04—Signalling devices actuated by tyre pressure mounted on the wheel or tyre
- B60C23/0408—Signalling devices actuated by tyre pressure mounted on the wheel or tyre transmitting the signals by non-mechanical means from the wheel or tyre to a vehicle body mounted receiver
- B60C23/0415—Automatically identifying wheel mounted units, e.g. after replacement or exchange of wheels
- B60C23/0416—Automatically identifying wheel mounted units, e.g. after replacement or exchange of wheels allocating a corresponding wheel position on vehicle, e.g. front/left or rear/right
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/02—Signalling devices actuated by tyre pressure
- B60C23/04—Signalling devices actuated by tyre pressure mounted on the wheel or tyre
- B60C23/0408—Signalling devices actuated by tyre pressure mounted on the wheel or tyre transmitting the signals by non-mechanical means from the wheel or tyre to a vehicle body mounted receiver
- B60C23/0471—System initialisation, e.g. upload or calibration of operating parameters
Definitions
- the invention relates to the technical field of vehicle tire positioning, in particular to a tire self-positioning system and a positioning method thereof.
- the tire condition monitoring system is a safety system to ensure the good operation of the vehicle.
- the tire condition monitoring system has developed rapidly in the automobile market in recent years. Because it can monitor the running status of automobile tires in real time, when the tires have abnormal conditions such as air leakage or ultra-high temperature, it can send warnings to the driver in time, so that tire damage can be avoided to the greatest extent, and a good environment for safe operation of vehicles can be provided. Assure.
- the tire condition monitoring system can not only prevent the vehicle from blowing out, but also avoid accidents.
- inflating the tires to the recommended standard pressure value can also reduce the fuel consumption of the vehicle, so that the tires can be used for a longer period of time.
- the present invention proposes a tire self-positioning system and its positioning method, which are used to solve the problem of reverse motion of the tire and improve the success rate of active learning.
- the present invention proposes a tire self-positioning method, comprising steps:
- the wireless signal can be indexed to the time corresponding to when the first signal reaches the reference point, the first signal includes at least the acceleration information of the tire, the The wired signal includes a second signal and corresponding position information of the tire, and the second signal includes at least rotation angle information of the tire;
- the tire rotation angle information includes the number of ABS teeth that the tire rotates.
- step S1 the wired signal is acquired, the ABS teeth number is saved, and a coded value is generated.
- a plurality of coded values form queue of encoded values;
- step S2 calculate the reference rotation angle information of the tire corresponding to when the first signal reaches the reference point according to the currently received wireless signal and wired signal, and record it as a reference code value;
- step S3 if there is a reverse rotation of the tire, the reference code value acquired after the tire reverse rotation is compensated.
- step S3 if the tire has multiple reverse rotations, after each reverse rotation, the reference code value obtained after the reverse rotation should be compensated.
- the step of compensating the reference encoding value in step S3 includes:
- n is a natural number, adjust n to make AbsEnd+n*ABS_CODE_MAXVAL greater than AbsStart, and ABS_CODE_MAXVAL is the number of teeth added by the ABS for one rotation of the tire;
- step S31 includes:
- the step of compensating the reference encoding value in step S3 includes:
- ABS_CODE_MAXVAL is the number of teeth added by the ABS for one revolution of the tire, n is a natural number, and n is adjusted so that the reference code value ABS_ref+(ABS_CODE_MAXVAL*n) is greater than 2*AbsTotalDelta.
- step S3 in step S3, if there are n reverse rotations of the tire, it is necessary to compensate the reference code value obtained after n reverse rotations, including steps:
- AbsTotalStart Record the total number of ABS teeth at the beginning of the first reverse movement, denoted as AbsTotalStart 1, record the total number of ABS teeth at the end of the first reverse movement, denoted as AbsTotalEnd 1, and calculate the number of ABS teeth increased during the first reverse movement
- AbsTotalDelta 1 AbsTotalEnd 1-AbsTotalStart 1;
- ABS modified ABS total tooth number AbsTotalAdjusted% ABS_CODE_MAXVAL take remainder;
- the reference coded value ABS_ref is compensated by compensating the reference coded value ABS.
- step S2 includes:
- index time T3 backtracking time T2 - time interval T1;
- the backtracking time T2 is a set fixed value, or a specific value calculated by a specific algorithm.
- the present invention also provides a tire self-positioning system, which is used to implement the aforementioned tire self-positioning method, and the tire self-positioning system includes:
- a tire condition detection device arranged on the tire, used to collect the first signal and the pressure, temperature and identification code of the tire, and generate the wireless signal;
- a second signal sensor arranged on the tire, for collecting the second signal
- the second signal controller is electrically connected to the second signal sensor, the second signal controller receives the second signal and generates a wired signal, and the wired signal includes the coded value corresponding to the second signal and the The position information of the tire where the second signal sensor is located;
- a communication bus and a signal receiving processor receives the wired signal through the communication bus, the signal receiving processor receives the wireless signal, and the signal receiving processor receives the wired signal according to the wireless signal and the wired signal signal to perform the steps of data conversion, data compensation and data statistics.
- the first signal acquisition sensor is an acceleration sensor
- the second signal sensor is an ABS gear tooth pulse sensor
- the tire self-positioning system and its positioning method provided by the present invention can improve the success rate of active learning and mainly solve the problem of data deviation caused by reverse motion of tires.
- Fig. 1 shows a block flow diagram of a tire self-positioning method according to an embodiment of the present invention.
- Fig. 2 shows a block diagram 1 of step S3 in the tire self-alignment method according to an embodiment of the present invention.
- Fig. 3 shows the second flow chart of step S3 in the tire self-positioning method according to an embodiment of the present invention.
- Fig. 4 shows a flow chart of step S2 in the tire self-positioning method according to an embodiment of the present invention.
- Fig. 5 shows a schematic structural diagram of a tire self-positioning system according to an embodiment of the present invention.
- Fig. 6 shows a schematic diagram of ABS tooth numbers according to an embodiment of the present invention.
- Fig. 7 shows characteristic curves of the first signal and the second signal of an embodiment of the present invention.
- FIG. 8 shows characteristic curves of ABS coding and ABS variables according to an embodiment of the present invention.
- FIG. 9 shows a characteristic curve of the acceleration of the first signal and the number of ABS teeth of the second signal according to an embodiment of the present invention.
- Fig. 10 shows a schematic diagram of obtaining a reference coded value by indexing the coded value of the second signal according to an embodiment of the present invention.
- Fig. 11 shows a comparison table before and after ABS tooth number compensation according to an embodiment of the present invention.
- FIG. 12 shows a first schematic diagram of calculating the compensation value ABS according to an embodiment of the present invention.
- FIG. 13 shows a second schematic diagram of calculating the compensation value ABS according to an embodiment of the present invention.
- FIG. 14 shows a schematic diagram 1 of compensating reference coded values according to an embodiment of the present invention.
- FIG. 15 shows a second schematic diagram of compensating reference coded values according to an embodiment of the present invention.
- orientation words such as “front, back, up, down, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom” etc. indicate the orientation Or positional relationship is generally based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description. In the absence of a contrary statement, these orientation words do not indicate or imply the device or element referred to It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as limiting the protection scope of the present application; the orientation words “inner and outer” refer to the inner and outer relative to the outline of each component itself.
- spatially relative terms may be used here, such as “on !, “over !, “on the surface of !, “above”, etc., to describe the The spatial positional relationship between one device or feature shown and other devices or features. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, devices described as “above” or “above” other devices or configurations would then be oriented “beneath” or “above” the other devices or configurations. under other devices or configurations”. Thus, the exemplary term “above” can encompass both an orientation of “above” and “beneath”. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.
- the wired signal of the tire (RL) on the left side of the front can form a queue of four sets of tooth number information.
- the set of teeth information with the smallest degree of deviation assuming that the wired signal of the front left tire (FL) corresponds to the smallest degree of deviation, the corresponding tire condition monitoring system is determined to be installed on the front left tire (FL) FL).
- Fig. 1 shows a block flow diagram of a tire self-positioning method according to an embodiment of the present invention. As shown in the figure, a tire self-positioning method provided by the present invention includes steps:
- the wireless signal can be indexed to the time corresponding to when the first signal reaches the reference point, the first signal includes at least the acceleration information of the tire, the The wired signal includes a second signal and corresponding position information of the tire, and the second signal includes at least rotation angle information of the tire;
- the tire rotation angle information includes the number of ABS teeth rotated by the tire.
- step S1 the wired signal is obtained, the number of ABS teeth is saved, and an encoded value is generated.
- a plurality of encoded values form an encoded value queue;
- step S2 calculate the reference rotation angle information of the tire corresponding to when the first signal reaches the reference point according to the currently received wireless signal and wired signal, and record it as a reference code value;
- step S3 if there is reverse rotation of the tire, the reference code value obtained after the tire reverse rotation is compensated.
- step S3 if the tire has multiple reverse rotations, after each reverse rotation, the reference code value obtained after the reverse rotation should be compensated.
- the encoding value includes the number of ABS teeth or the ABS angle corresponding to the number of ABS teeth, and the conversion formula between the number of ABS teeth and the ABS angle is as follows:
- AbsAngle (AbsPhyCurrent/ABS_CODE_MAXVAL)*360
- AbsAngle is the angle of ABS
- AbsPhyCurrent is the number of ABS teeth
- ABS_CODE_MAXVAL is the number of teeth that the ABS increases by one rotation of the tire.
- Fig. 2 shows a block diagram 1 of step S3 in the tire self-alignment method according to an embodiment of the present invention.
- step S3 includes:
- ABS_CODE_MAXVAL is the number of teeth added by ABS for one rotation of the tire
- step S31 includes:
- step S3 includes:
- ABS_CODE_MAXVAL is the number of teeth added by the ABS for one revolution of the tire, n is an integer, and n is adjusted so that the reference code value ABS_ref+(ABS_CODE_MAXVAL*n) is greater than 2*AbsTotalDelta.
- step S3 if there are n times of reverse rotation of the tire, it is necessary to compensate the reference code value obtained after n times of reverse rotation, including the steps of:
- AbsTotalStart Record the total number of ABS teeth at the beginning of the first reverse movement, denoted as AbsTotalStart 1, record the total number of ABS teeth at the end of the first reverse movement, denoted as AbsTotalEnd 1, and calculate the number of ABS teeth increased during the first reverse movement
- AbsTotalDelta 1 AbsTotalEnd 1-AbsTotalStart 1;
- ABS modified ABS total tooth number AbsTotalAdjusted% ABS_CODE_MAXVAL take remainder;
- the reference coded value ABS_ref is compensated by compensating the reference coded value ABS.
- step S2 includes:
- index time T3 backtracking time T2 - time interval T1;
- step S26 includes:
- the backtracking time T2 is a fixed value set, or a specific value calculated by a specific algorithm.
- the characteristic curve of the first signal is a sinusoidal curve, and a specific angle of the first signal is selected as a reference point.
- the position of the reference point is determined.
- the reference point may be the highest point or the lowest point of the first signal characteristic curve, or the position where the tire contacts the ground, or any other angular position. More preferably, the highest point of the sinusoidal curve of the first signal is selected as a reference point for data conversion.
- Fig. 5 shows a schematic structural diagram of a tire self-positioning system according to an embodiment of the present invention.
- the present invention also provides a tire self-alignment system 400 for implementing the aforementioned tire self-alignment method.
- the tire self-positioning system 400 mainly includes a tire 401 , a tire condition detection device 402 , a second signal sensor 403 , a second signal controller 404 , a communication bus 405 and a signal receiving processor 406 .
- the tire condition detecting device 402 and the second signal sensor 403 are arranged on the tire 401 .
- the tire condition detection device 402 is used to collect the first signal and the pressure, temperature and identification code of the tire, and generate a wireless signal.
- the second signal sensor 403 is used to collect the second signal.
- the second signal controller 404 is electrically connected to the second signal sensor 403 .
- the second signal controller 404 receives the second signal and generates a wired signal.
- the wired signal includes a coded value corresponding to the second signal and position information of the tire where the second signal sensor is located.
- Signal receive processor 406 receives wired signals via communication bus 405 .
- the signal receiving processor 406 simultaneously receives wireless signals.
- the signal receiving processor 406 executes steps S2 to S4 in the tire self-positioning method according to the wireless signal and the wired signal, and finally determines the specific position of the tire corresponding to the first signal of the reference point.
- the communication bus 405 may be a CAN communication bus.
- the tire condition detection device 402 includes a first signal collecting sensor and a wireless transmitting circuit, the first signal collecting sensor is used to collect the first signal, and the generated wireless signal is sent to the signal receiving processor 406 through the wireless transmitting circuit.
- the tire condition detection device 402 is installed in the tire.
- the tire condition detecting device 402 also includes a tire air pressure sensor, a temperature sensor and the like.
- the tire condition detection device 402 can process the tire condition information collected by each sensor through the micro control unit integrated on its chip, and at the same time combine the collected tire pressure value, temperature value, etc. The signal is sent out.
- the first signal acquisition sensor is an acceleration sensor
- the second signal sensor 403 is an ABS tooth pulse sensor of an anti-lock braking system.
- the first signal exhibits a sinusoidal characteristic.
- the vehicle is equipped with multiple tires 401.
- the vehicle has four tires 401, namely the left front tire (FL), the right front tire (FR), the right rear tire (RR), and the left rear tire (RL).
- Each tire is provided with a tire condition detection device 402 , and each tire condition detection device 402 has a unique identifier, which is called the ID of the tire condition detection device 402 .
- the wireless signal sent by the tire condition detection device 402 includes an identifier, pressure, sending time and so on.
- Fig. 6 shows a schematic diagram of ABS tooth numbers according to an embodiment of the present invention. As shown in the figure, starting from the positive X axis, it is recorded as the minimum code ABS_CODE_MIN. In the counterclockwise direction, the code increases by 1 tooth every time the tire rotates, until the code reaches the maximum value ABS_CODE_MAX after the tire rotates for one cycle, and then the code changes from Minimal coding to start with.
- Fig. 7 shows characteristic curves of the first signal and the second signal of an embodiment of the present invention. As shown in the figure, the characteristic curve of the first signal (acceleration signal) is at the top, and the characteristic curve of the second signal (ABS gear tooth coding signal) is at the bottom, and the two are synchronized.
- the second signal controller 404 receives the ABS tooth number data output by the second signal sensor 403, and stores the ABS tooth number data in an accumulated form in an internal variable. After the internal variable is accumulated to the maximum value ABS_MAX of the ABS variable, it will start from the minimum The value ABS_MIN restarts counting.
- the second signal controller 404 processes the ABS variable into a data format conforming to the bus protocol, and roughly periodically sends it to the bus.
- the value range of the ABS code value can be 0-47; the value range of the ABS variable can be 0-47.
- the signal receiving processor 406 is arranged on the vehicle body side and is configured to receive wireless signals from each tire condition detection device 402 at any random time.
- the signal receiving processor 406 receives the wired signal from the second signal controller 404.
- the wired signal includes the second signal.
- the wired signal is roughly periodic. In this embodiment, the wired signal includes FL/FR/RR/RL four The second signal of position.
- the backtracking time T2 is a fixed value and included in the wireless signal.
- the backtracking time T2 can also be calculated by the tire condition detecting device 402 and the signal receiving processor 406 to obtain a specific value through the same specific algorithm. Specifically, any angle of the first signal is selected as a reference point for data conversion, and there is a traceback time T2 between the moment of sending and the moment of receiving the wireless signal.
- the backtracking time T2 can be generated by a specific algorithm, that is, the agreed backtracking time. The same algorithm is executed on the side of the tire condition detection device 402 and the signal receiving processor 406 , and finally a synchronous backtracking time T2 is obtained on the side of the tire condition detecting device 402 and the signal receiving processor 406 .
- the specific value can be calculated according to the pressure, temperature or identification code of the tire.
- Fig. 9 is a characteristic graph showing the acceleration of the first signal and the number of ABS teeth of the second signal according to an embodiment of the present invention.
- the acceleration characteristic curve of the first signal from the tire condition detection device 402 in Fig. 11 and the second signal located in the bottom The characteristic curve presents a synchronous law.
- the selected reference point is at the same angle of the characteristic curve of the first signal
- the encoding values of the second signal corresponding to the coaxial axis are aggregated at a specific value.
- the dotted line position in the figure is the highest point of the sinusoidal curve of the first signal selected as a reference point.
- the wired signal contains the rotation angle information of the second signal, that is, the ABS tooth number information, it is possible to use the known rotation angle information of the second signal and the synchronous relationship between the first signal characteristic curve and the second signal characteristic curve to realize tire rotation.
- Position identification of the condition detection device 402 is possible to use the known rotation angle information of the second signal and the synchronous relationship between the first signal characteristic curve and the second signal characteristic curve to realize tire rotation.
- Fig. 10 shows a schematic diagram of obtaining a reference coded value by indexing the coded value of the second signal according to an embodiment of the present invention.
- Receive_RF is the current wireless signal received by the signal receiving processor 406, and ABS_ref is the reference code value when the first signal reaches the reference point.
- T2 is the backtracking time, which refers to the time interval between the currently received wireless signal Receive_RF and the first signal reaching the reference point, which can be included in the wireless signal or obtained by calculation in the form of a time stamp.
- the coded value of the second signal of the cable signal currently obtained is denoted as ABS[n], as a starting point, indexed back, and the reference coded value ABS_Ref at the reference point is calculated. The acquisition of the reference code value will be described in detail in conjunction with what is shown in FIG. 6 .
- index time T3 transmission time T2 - time interval T1, which is the time from the reference point to ABS[n].
- step S26 includes:
- ABS_ref ABS tooth number difference between the two
- ABS_search ABS tooth number difference between the two
- each tire corresponds to four sets of reference code value ABS_ref data.
- the 4 tires correspond to 16 sets of reference code value ABS_ref data.
- the degree of data deviation is analyzed for the 4 sets of reference code values ABS_ref corresponding to each tire, and the minimum value of the variance is judged as the minimum degree of deviation.
- Fig. 11 shows a comparison table before and after ABS tooth number compensation according to an embodiment of the present invention.
- the upper part shows that when the vehicle is running normally, the ABS converges around 14, and when the vehicle travels in the reverse direction, when driving forward again, the ABS converges around 32. It can be calculated that the relative offset of the ABS during reverse driving is 18 teeth, and the offset is compensated. The compensated ABS in the figure below converges around 14 again. Specifically, offset compensation is performed on the reference encoding values during reverse driving, so that the alignment of the reference encoding values remains convergent.
- FIG. 14 shows a schematic diagram 1 of compensating reference coded values according to an embodiment of the present invention.
- FIG. 15 shows a second schematic diagram of compensating reference coded values according to an embodiment of the present invention.
- the current reference code value ABS_ref ⁇ compensation value ABS, then the compensation reference code value ABS reference code value ABS_ref+ABS_CODE_MAXVAL ⁇ compensation value ABS.
- AbsAngle (AbsPhyCurrent/ABS_CODE_MAXVAL)*360
- AbsAngle is the angle of ABS
- AbsPhyCurrent is the number of ABS teeth
- ABS_CODE_MAXVAL is the number of teeth that the ABS increases by one rotation of the tire.
- AngleStart (AbsStart/ABS_CODE_MAXVAL)*360.
- AngleEnd (AbsEnd/ABS_CODE_MAXVAL)*360.
- the reference coding value can also be compensated by using the ABS angle, which will not be repeated here.
- the time for the signal receiving processor 406 to execute the tire condition ID learning process should be controlled within 10 minutes.
- the tire condition detection device sends a total of 40 packets of wireless signals, each packet of wireless signal contains 3 frames of data, and each frame of data can be indexed to the position of the reference point.
- the interval between packets is 15s, and the frame interval in each packet is a random time of 60-200ms.
- the mechanism of random frame interval is adopted, so that the position of sending wireless signals is changed randomly, which can improve the probability of receiving wireless signals.
Abstract
Description
Claims (10)
- 一种轮胎自定位方法,包括步骤:S1,数据采集,获取所述轮胎的无线信号和有线信号,所述无线信号能索引到第一信号达到参考点时对应的时间,所述第一信号至少包含所述轮胎的加速度信息,所述有线信号包含第二信号及对应的所述轮胎的位置信息,所述第二信号至少包含所述轮胎的转动角度信息;S2,数据转换,根据当前接收到的所述无线信号和有线信号来计算所述第一信号达到参考点时对应的所述轮胎的参考转动角度信息;S3,数据补偿,若所述轮胎存在反向转动,对在所述轮胎反向转动之后所获取的参考转动角度信息进行补偿;S4,数据统计,重复执行步骤S1至S3,对获取的所述参考转动角度信息的队列进行偏离程度统计;S5,根据统计结果判定所述第一信号对应的所述轮胎的具体位置。
- 如权利要求1所述的轮胎自定位方法,其特征在于,所述轮胎转动角度信息包含所述轮胎转动的ABS齿数,在步骤S1中获取所述有线信号,保存所述ABS齿数,生成编码值,多个所述编码值形成编码值队列;在步骤S2,根据当前接收到的所述无线信号和有线信号来计算第一信号达到参考点时对应的所述轮胎的参考转动角度信息,记为参考编码值;在步骤S3,若所述轮胎存在反向转动,对在所述轮胎反向转动之后所获取的参考编码值进行补偿。
- 如权利要求2所述的轮胎自定位方法,其特征在于,在步骤S3中对所述参考编码值进行补偿的步骤包括:S31,记录反向运动开始时的ABS齿数,记作AbsStart,记录反向运动结束时的ABS齿数,记作AbsEnd;S32,计算补偿值ABS,补偿值ABS=[2*(AbsEnd+n*ABS_CODE_MAXVAL- AbsStart)]%ABS_CODE_MAXVAL取余;n为自然数,调整n使AbsEnd+n*ABS_CODE_MAXVAL大于AbsStart,ABS_CODE_MAXVAL为所述轮胎旋转一圈ABS增加的齿数;S33,对在所述轮胎反向转动之后所获取的参考编码值进行补偿,若当前参考编码值ABS_ref≥补偿值ABS,则补偿参考编码值ABS=参考编码值ABS_ref-补偿值ABS;若当前参考编码值ABS_ref<补偿值ABS,则补偿参考编码值ABS=参考编码值ABS_ref+ABS_CODE_MAXVAL-补偿值ABS。
- 如权利要求3所述的轮胎自定位方法,其特征在于,步骤S31包括:S311,记录反向运动开始时的ABS总齿数,记作AbsTotalStart,记录反向运动结束时的ABS总齿数,记作AbsTotalEnd;S312,计算反向运动开始时的ABS齿数,AbsStart=AbsTotalStart%ABS_CODE_MAXVAL取余,计算反向运动结束时的ABS齿数,AbsEnd=AbsTotalEnd%ABS_CODE_MAXVAL取余。
- 如权利要求2所述的轮胎自定位方法,其特征在于,在步骤S3中对所述参考编码值进行补偿的步骤包括:S31’,记录反向运动开始时的ABS总齿数,记作AbsTotalStart,记录反向运动结束时的ABS总齿数,记作AbsTotalEnd;S32’,计算反向运动期间累计增加的ABS齿数AbsTotalDelta=AbsTotalEnd-AbsTotalStart;S33’,对在所述轮胎反向转动之后所获取的参考编码值进行补偿,补偿参考编码值ABS=〔参考编码值ABS_ref+(ABS_CODE_MAXVAL*n)–(2*AbsTotalDelta)〕%ABS_CODE_MAXVAL取余;其中,ABS_CODE_MAXVAL为所述轮胎旋转一圈ABS增加的齿数,n为自然数,调整n使参考编码值ABS_ref+(ABS_CODE_MAXVAL*n)大于2*AbsTotalDelta。
- 如权利要求2所述的轮胎自定位方法,其特征在于,在步骤S3中,若所 述轮胎存在n次反向转动,需对n次反向转动之后所获取的参考编码值进行补偿,包括步骤:记录第一次反向运动开始时的ABS总齿数,记作AbsTotalStart 1,记录第一次反向运动结束时的ABS总齿数,记作AbsTotalEnd 1,计算第一次反向运动期间增加的ABS齿数AbsTotalDelta 1=AbsTotalEnd 1-AbsTotalStart 1;依据上述步骤,记录第二次反向运动直至第n次反向运动增加的ABS齿数,累计从第一反向运动至第n次反向运动增加的ABS齿数,累计增加的ABS齿数AbsTotalDelta=AbsTotalDelta 1+AbsTotalDelta 2+……+AbsTotalDelta n;修正ABS总齿数AbsTotalAdjusted=(参考编码值ABS_ref+(ABS_CODE_MAXVAL*n)–2*AbsTotalDelta)%ABS_CODE_MAXVAL取余,n为自然数,调整n的值使得参考编码值ABS_ref+(ABS_CODE_MAXVAL*n)大于2*AbsTotalDelta;补偿参考编码值ABS=修正ABS总齿数AbsTotalAdjusted%ABS_CODE_MAXVAL取余;通过补偿参考编码值ABS对参考编码值ABS_ref进行补偿。
- 如权利要求2所述的轮胎自定位方法,其特征在于,步骤S2包括:S21,记录当前接收的所述无线信号和有线信号的时间间隔T1;S22,获取所述第一信号达到参考点至接收所述无线信号的回溯时间T2;S23,索引时间T3=回溯时间T2-时间间隔T1;S24,计算需要往回索引的编码值的个数,该个数为索引时间T3/第二信号的周期ABS_period取整;S25,根据往回索引的个数,记录在所述编码值的队列中索引到的编码值ABS_search;S26,修正编码值ABS_search,获取所述参考编码值ABS_ref。
- 如权利要求7所述的轮胎自定位方法,其特征在于,所述回溯时间T2是设定的一个固定值,或是由特定算法计算获得的一个特定值。
- 一种轮胎自定位系统,执行权利要求1所述的轮胎自定位方法,其特征在于,所述轮胎自定位系统包括:轮胎;轮胎状况检测装置,设置于所述轮胎上,用于采集所述第一信号以及所述轮胎的压力、温度和识别码,并生成所述无线信号;第二信号传感器,设置于所述轮胎上,用于采集所述第二信号;第二信号控制器,与所述第二信号传感器电连接,所述第二信号控制器接收所述第二信号并生成有线信号,所述有线信号包含所述第二信号对应的编码值及所述第二信号传感器所在轮胎的位置信息;通信总线和信号接收处理器,所述信号接收处理器通过所述通信总线接收所述有线信号,所述信号接收处理器接收所述无线信号,所述信号接收处理器根据所述无线信号和有线信号来执行所述数据转换、数据补偿和数据统计的步骤。
- 如权利要求9所述的轮胎自定位系统,其特征在于,所述第一信号采集传感器为加速度传感器,所述第二信号传感器为ABS轮齿脉冲传感器。
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