CN104764897B - Measuring vehicle speed device and speed investigating method - Google Patents
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Abstract
The invention discloses a kind of measuring vehicle speed device and speed investigating method, including speed controller, wheel Declinometer, wheel velocity measuring instrument and gravity sensor, by the speed and deflection angle that measure two front-wheels in real time, speed by two front-wheels of vehicle right and left in automobile turning around instantaneous movement, the translational speed at autocentre is converted into respectively, and using the average value of two car speeds at autocentre as actual travel speed during automobile turning, while can be according to the stressing conditions regulation speed of two front-wheel wheel shafts.It efficiently solves the measuring vehicle speed device of prior art using output shaft of gear-box rotating speed conversion speed, and the speed degree of accuracy is not high when there is automobile turning, cause the problem of control accuracy reduces and easily triggers driving accident, with very high practical value.
Description
Technical field
The present invention relates to field of automobile control, more particularly, to it is a kind of can be effectively to automobile turning when speed survey
The measuring vehicle speed device and speed investigating method of control.
Background technology
The automobile of prior art is mainly converted into automobile speed by measuring the rotating speed of output shaft of gear-box, but becomes
The rotating speed of fast case output shaft represents the speed of automotive wheel, when automobile straight-line travelling, the translational speed and automobile of automotive wheel
Overall translational speed is consistent, and automobile is when turning, and the track of the overall movement locus of automobile and automobile driving wheel is simultaneously differed
Cause, therefore then there is error instead of automobile bulk velocity with the wheel velocity of automobile.With Hyundai Motor intelligent level
Improve constantly, to the accuracy requirements of the parameters of automobile, also more and more higher, especially automobile are easier to occur when turning
Generation security incident, therefore for the accuracy requirement also more and more higher of running car leading indicator speed, to realize to vapour
The accurate control of car turning driving state.Therefore, how accurately to measure speed of the automobile in turning and had according to speed
Effect control, is reduced due to the driving accident that speed is forbidden to cause false judgment and triggered when turning, it is ensured that traffic safety, is one
The problem become more and more important.Publication date is on 2 15th, 2012, and Publication No. CN102662077A Chinese patent literature is disclosed
A kind of vehicle speed measurement and speed limit alarm device, the device set mould by the magnetoelectric transducer, single-chip microcomputer, speed for measuring speed
Block, alarm unit composition, the magnetoelectric transducer, speed setting module are connected with the signal input part of single-chip microcomputer respectively, monolithic
The signal output part of machine is connected with alarm unit.The present invention detects that wheel rotation speed signals input single-chip microcomputer by magnetoelectric transducer,
Single-chip microcomputer is shown over the display by being calculated to signal progress processing after speed, can be set for different regions by speed
Module selection correspondence speed, after actual vehicle speed exceedes setting value, carries out audio alert, increases travel safety.But the program
The problem of actual speed when not accounting for automobile turning and inconsistent wheel velocity, Automobile during automobile turning is not solved
Fast accurate measurement and control problem.
The content of the invention
The purpose of the present invention is to use output shaft of gear-box rotating speed conversion car to solve the measuring vehicle speed device of prior art
Speed, the speed degree of accuracy is not high when there is automobile turning, causing the problem of control accuracy reduces and easily triggers driving accident, there is provided one
Plant speed when can accurately measure automobile turning in real time, and the measuring vehicle speed device being control effectively to automobile and speed observing and controlling
Method.
The present invention is that a kind of measuring vehicle speed device is installed to solve the concrete technical scheme that above-mentioned technical problem is used
On four-wheel automobile, including speed controller, on two front-wheels of automobile be used for measure wheel deflection angle wheel it is inclined
Angle measuring instrument, it is used on two front-wheels of automobile to measure the wheel velocity measuring instrument of wheel velocity, the wheel drift angle is surveyed
Amount instrument and wheel velocity measuring instrument are electrically connected with speed controller.The present invention passes through two on two front-wheels of automobile
Velocity measuring device and wheel deflection angle measuring device measure speed (translation of the wheel relative to road surface of two front-wheels in real time
Speed) and deflection angle, speed that can be by two front-wheels of vehicle right and left in automobile turning around instantaneous movement is converted into vapour
The translational speed of car central spot, and then automobile speed is represented using the translational speed at autocentre point.With prior art
Output shaft of gear-box rotating speed is directly converted into speed and compared, and the speed surveyed in automobile turning of the present invention has higher accurate
Property, more accurately data can be provided for modern intelligent automobile or automatic automobile, so as to realize more accurate more effectively control
System, it is ensured that traffic safety.
Preferably, speed measuring device also includes the gravity sensor being arranged on two front-wheel wheel shafts, the gravity sensitive
Device is electrically connected with speed controller.Gravity sensor can provide the force-bearing situation of vehicle front, be provided for automobile speed control
Necessary vehicle parameter.
Preferably, speed measuring device also includes alarm, alarm connection speed controller, the alarm includes sound
Alarm and/or visual alarm, the voice guard are arranged in driver's cabin, and the visual alarm is arranged on instrument board
On.Alarm can or centre-of gravity shift very fast in automobile speed etc. easily there is driving accident in the case of remind driver's note
Meaning.
The automobile speed measuring method of above-mentioned measuring vehicle speed device, comprises the following steps：
A, the intrinsic parameter for obtaining four-wheel automobile, the intrinsic parameter of automobile include wheelbase 2b, the wheelspan 2a of automobile of automobile；It is real
When measure the near front wheel bias angle theta1With left front wheel speed v1, off-front wheel bias angle theta2With off-front wheel speed v2, then the central point of automobile four-wheel
The distance of G and left and right sides front wheels and rear wheels axial connecting line is a, central point G and front-wheel axial line or rear axis line away from
From being b.
B, the drift angle for determining vehicle front and yawing moment, when the drift angle average value of left and right front-wheel is less than 2.5 degree, automobile
The speed of central spot presses the left front wheel speed v of automobile1With off-front wheel speed v2Average value determine；When the drift angle of left and right front-wheel is put down
When average is more than or equal to 2.5 degree, according to motor turning state and autocentre is calculated on the basis of the near front wheel and off-front wheel respectively
Speed at point.
C, the speed v on the basis of the near front wheel at calculating autocentreG1：
1. the near front wheel, is calculated with instantaneous O apart from r1Calculation formula is：
2. the central angle θ formed between autocentre point G, instantaneous O and rear axis line, is calculatedG, calculation formula is：When wherein automobile turns left, i=1, when automobile is turned right, i=-1.
3., calculate instantaneous O and central point G apart from rG, calculation formula is：
4. the speed v at autocentre point, is calculatedG1, calculation formula is：
D, the speed v on the basis of off-front wheel at calculating autocentreG2：
1. off-front wheel, is calculated with instantaneous O apart from r2, calculation formula is：
2. the central angle θ formed between autocentre point G, instantaneous O and rear axis line, is calculatedG, calculation formula is：When wherein automobile turns left, i=1, when automobile is turned right, i=-1.
3., calculate instantaneous O and central point G apart from rG, calculation formula is：
4. the speed v at autocentre point, is calculatedG2, calculation formula is：
Central spot average speed v when E, calculating motor turningGFor：
The present invention is filled by two velocity measuring devices on two front-wheels of automobile and the measurement of wheel deflection angle
The speed (point-to-point speed of the wheel relative to road surface) and deflection angle of two front-wheels of measurement in real time are put, while consolidating according to automobile
Have parameter wheelbase 2b (i.e. the distance between two axles before and after automobile) and wheelspan 2a (i.e. the distance between vehicle right and left two-wheeled, generally
Wheel base is identical) determine the central point G of automobile, the movement by two front-wheels of vehicle right and left in automobile turning around instantaneous O
Speed, is converted into the translational speed of automobile four-wheel central spot respectively.Require that system ensures that each wheel makees pure rolling during automobile turning
Dynamic, here instantaneous is exactly the same central point that each wheel is made to be surrounded during pure rolling, but actually automobile turning when the near front wheel
Not be same point with the central point that off-front wheel is surrounded, it is possible to appearance have a case that two it is instantaneous therefore of the invention
Using the near front wheel and off-front wheel separate computations, and during using the average value of two car speeds at autocentre point as automobile turning
Actual travel speed, so closer to actual conditions, and with higher accuracy.Exported with the gearbox of prior art
The rotating speed speed that directly converts is compared, and the speed that the present invention is surveyed in automobile turning has higher accuracy, can be existing
The intelligent automobile or automatic automobile in generation provide more accurately data, so as to realize more accurate more effectively control, it is ensured that driving
Safety.In addition, the speed surveyed with the inventive method determines vehicle driving mileage, it may have higher accuracy.
The method of the present invention is when the drift angle average value of two front-wheels of automobile is less than 2.5 degree directly by two preceding wheel speeds
Average value determines speed, can so avoid causing dyscalculia when automobile turning radius is too big, reduces system cost, simultaneously
Its speed differs very little with wheel speed when front wheel slip angle is too small, does not interfere with measurement accuracy.
It is equipped with a kind of automobile speed control method based on above-mentioned automobile speed measuring method, two front-wheels of automobile
Gravity sensor, measures and obtains the gravity for two gravity sensors being separately mounted on the near front wheel and off-front wheel wheel shaft in real time
Value F1And F2, as automobile speed vGDuring >=8m/s, the ratio between the big value of gravity and the small value of gravity of two gravity sensors K, i.e. K are calculated
=FGreatly/FIt is small, as K >=8, speed controller control automobile reduction speed, the big value of gravity for detecting two gravity sensors and
The ratio between the small value of gravity K ＜ 5.
Of the invention pass through detects the ratio between the big value of gravity and the small value of gravity of the gravity sensor on two front-wheels to judge vapour
Whether car may overturn to side, and it is that automobile is likely to occur rollover that great change, which occurs, in distribution of the vehicle weight on two front-wheels
Omen, the brake system and engine system of speed controller and automobile connect, and can pass through brake system and engine system
System intelligence reduction speed, takes deceleration measure effectively to prevent the generation of this rollover in time.The present invention is primarily directed to vapour
Car turn when speed it is very fast caused by vehicle side turning, therefore only speed be more than or equal to 8 metre per second (m/s) when just detection two gravity
The ratio between the big value of gravity and the small value of gravity in sensor.And speed it is slower when the rollover that occurs be typically that centre of gravity of vehicle is too high or road
Face injustice causes, and now takes the usual effect of deceleration measure not good.The weight of body structure below gravity sensor is detection
Less than, but this moiety by weight belongs to fixed value, can be to F1And F2Value is modified, and can also be ignored.
Preferably, when 10 ＞ K >=5 or | vG1-vG2|/vGWhen >=0.1, speed controller passes through alarm equipment alarm.Wherein
10 ＞ K >=5, which represent automobile, has trend to a certain lateral movement, reminds occupant to note by alarm, driver can be with
Take appropriate counter-measure；|vG1-vG2|/vGTwo vapour that >=0.1 expression is calculated respectively on the basis of the near front wheel and off-front wheel
The ratio between difference between car central speed and the two speed averages differ larger, and such case is typically automobile storage in machinery
Failure, it is therefore desirable to remind occupant to note, because under normal circumstances, being calculated respectively on the basis of the near front wheel and off-front wheel
Two autocentre speed be more or less the same.
The beneficial effects of the invention are as follows the measuring vehicle speed device that it efficiently solves prior art is exported using gearbox
Rotating speed conversion speed, the speed degree of accuracy is not high when there is automobile turning, cause control accuracy to reduce and easily trigger driving accident
The problem of, the present invention can accurately measure speed during automobile turning in real time, and effective control is carried out to car speed, it is ensured that OK
Car safety, with very high practical value.
Brief description of the drawings
Fig. 1 is a kind of structural representation of measuring vehicle speed device embodiment 1 of the present invention；
Fig. 2 is a kind of structural representation of measuring vehicle speed device embodiment 2 of the present invention；
Fig. 3 is a kind of structural representation of measuring vehicle speed device embodiment 3 of the present invention；
Fig. 4 is a kind of parameter schematic diagram of the present invention when automobile turns left；
Fig. 5 is a kind of parameter schematic diagram of the present invention when automobile is turned right.
In figure：1. speed controller, 2. wheel Declinometers, 3. wheel velocity measuring instruments, 4. gravity sensors, 5. reports
Alert device.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment 1
In embodiment 1 as shown in Figure 1, a kind of measuring vehicle speed device, on four-wheel automobile, including speed controller
1st, it is used to measure the wheel Declinometer 2 of wheel deflection angle, before two, automobile on two front-wheels of automobile
It is used for the wheel velocity measuring instrument 3 for measuring wheel velocity on wheel, wheel Declinometer is separately mounted to automobile the near front wheel and the right side
On front-wheel, the deflection angle theta for measuring automobile the near front wheel during turning1And the deflection angle theta of off-front wheel2Size；Wheel velocity
Measuring instrument is separately mounted on automobile the near front wheel and off-front wheel, the real-time speed v for measuring automobile the near front wheel1And off-front wheel
Real-time speed v2, the wheel Declinometer and wheel velocity measuring instrument are electrically connected with speed controller.
The automobile speed measuring method of above-mentioned measuring vehicle speed device, comprises the following steps：
A, the intrinsic parameter for obtaining four-wheel automobile, the intrinsic parameter of automobile include wheelbase 2b, the wheelspan 2a of automobile of automobile；It is real
When measure the near front wheel bias angle theta1With left front wheel speed v1, off-front wheel bias angle theta2With off-front wheel speed v2, then the central point of automobile four-wheel
The distance of G and left and right sides front wheels and rear wheels axial connecting line is a, central point G and front-wheel axial line or rear axis line away from
From being b (see Fig. 4 Fig. 5)；
B, the drift angle for determining vehicle front and yawing moment, when the drift angle average value of left and right front-wheel is less than 2.5 degree, automobile
The speed of central spot presses the left front wheel speed v of automobile1With off-front wheel speed v2Average value determine；When the drift angle of left and right front-wheel is put down
When average is more than or equal to 2.5 degree, according to motor turning state and autocentre is calculated on the basis of the near front wheel and off-front wheel respectively
Speed at point；
C, the speed v on the basis of the near front wheel at calculating autocentreG1：
1. the near front wheel, is calculated with instantaneous O apart from r1Calculation formula is：
2. the central angle θ formed between autocentre point G, instantaneous O and rear axis line, is calculatedG, calculation formula is：When wherein automobile turns left, i=1, when automobile is turned right, i=-1.
3., calculate instantaneous O and central point G apart from rG, calculation formula is：
4. the speed v at autocentre point, is calculatedG1, calculation formula is：
D, the speed v on the basis of off-front wheel at calculating autocentreG2：
1. off-front wheel, is calculated with instantaneous O apart from r2, calculation formula is：
2. the central angle θ formed between autocentre point G, instantaneous O and rear axis line, is calculatedG, calculation formula is：When wherein automobile turns left, i=1, when automobile is turned right, i=-1.
3., calculate instantaneous O and central point G apart from rG, calculation formula is：
4. the speed v at autocentre point, is calculatedG2, calculation formula is：
Central spot average speed v when E, calculating motor turningGFor：
Embodiment 2
In embodiment 2 as shown in Figure 2, measuring vehicle speed device also includes the gravity sensitive being arranged on two front-wheel wheel shafts
Device 4, the gravity sensor is electrically connected with speed controller.The brake system and engine system of speed controller and automobile connect
Connect, speed can intelligently be reduced by brake system and engine system.
On the basis of the structure and vehicle speed measurement method of embodiment 1, the method for controlling driving speed of embodiment 2 is：Survey in real time
Measure and obtain the gravity value F for two gravity sensors being separately mounted on the near front wheel and off-front wheel wheel shaft1And F2, work as Automobile
Fast vGDuring >=8m/s, the ratio between the big value of gravity and the small value of gravity of two gravity sensors K, i.e. K=F are calculatedGreatly/FIt is small, as K >=8,
Speed controller control automobile reduction speed, the ratio between the big value of gravity for detecting two gravity sensors and the small value of gravity K ＜ 5.
Embodiment 3
In embodiment 3, automobile speed TT＆C system also includes alarm 5 (see Fig. 3), alarm connection speed control
Device, the alarm includes voice guard and visual alarm, and the voice guard is arranged in driver's cabin, the light
Alarm is installed on the dash panel.In the present embodiment, measure and obtain in real time and be separately mounted to the near front wheel and off-front wheel wheel shaft
On two gravity sensors gravity value F1And F2, as automobile speed vGDuring >=8m/s, the gravity of two gravity sensors is calculated
The ratio between big value and the small value of gravity K, i.e. K=FGreatly/FIt is small, when 8 ＞ K >=5 or | vG1-vG2|/vGWhen >=0.1, speed controller passes through report
Alert device alarm, remaining is identical with embodiment 1 or embodiment 2.
The present invention by measuring the speed and deflection angle of two front-wheels in real time, when can accurately calculate automobile turning
Center spot speed, the present invention using the near front wheel and off-front wheel separate computations, and by autocentre point two car speeds it is flat
Average is as actual travel speed during automobile turning, so closer to actual conditions, and with higher accuracy.This hair
It is bright to judge whether automobile be to by detecting big value of gravity and the ratio between the small value of gravity of the gravity sensor on two front-wheels
Side is overturned, and it is the omen that automobile is likely to occur rollover, speed that great change, which occurs, in distribution of the vehicle weight on two front-wheels
Brake system and the engine system connection of controller and automobile, can intelligently reduce car by brake system and engine system
Speed, takes deceleration measure effectively to prevent the generation of this rollover in time.Output shaft of gear-box rotating speed with prior art is straight
Connect conversion speed to compare, the speed that the present invention is surveyed in automobile turning has higher accuracy, can be modern intelligence
Automobile or automatic automobile provide more accurately data, so as to realize more accurate more effectively control, it is ensured that traffic safety.
In addition to the implementation, in the scope disclosed in claims of the present invention and specification, skill of the invention
Art feature or technical data can be reselected and combined, so as to constitute new embodiment, these present invention are not detailed
The embodiment carefully described is that those skilled in the art can just realize easily without creative work, therefore these are not detailed
The embodiment of description also should be regarded as the present invention specific embodiment and within protection scope of the present invention.
Claims (3)
1. a kind of vehicle speed measurement method of measuring vehicle speed device, the measuring vehicle speed device is arranged on four-wheel automobile, including car
Fast controller (1), on two front-wheels of automobile be used for measure wheel deflection angle wheel Declinometer (2), install
It is used for the wheel velocity measuring instrument (3) for measuring wheel velocity, the wheel Declinometer and wheel on two front-wheels of automobile
Speed measuring instrumentation is electrically connected with speed controller, it is characterised in that comprised the following steps：
A, the intrinsic parameter for obtaining four-wheel automobile, the intrinsic parameter of automobile include wheelbase 2b, the wheelspan 2a of automobile of automobile；Survey in real time
Measure the near front wheel bias angle theta1With left front wheel speed v1, off-front wheel bias angle theta2With off-front wheel speed v2, then the central point G of automobile four-wheel with
The distance of left and right sides front wheels and rear wheels axial connecting line is a, and central point G and front-wheel axial line or rear axis line distance are equal
For b；
B, the drift angle for determining vehicle front and yawing moment, when the drift angle average value of left and right front-wheel is less than 2.5 degree, autocentre
Speed at point presses the left front wheel speed v of automobile1With off-front wheel speed v2Average value determine；When the drift angle average value of left and right front-wheel
During more than or equal to 2.5 degree, calculated according to motor turning state and respectively on the basis of the near front wheel and off-front wheel at autocentre point
Speed；
C, the speed v on the basis of the near front wheel at calculating autocentreG1：
1., calculate the near front wheel is apart from r1 calculation formula with instantaneous O：
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2. the central angle θ formed between autocentre point G, instantaneous O and rear axis line, is calculatedG, calculation formula is：
When wherein automobile turns left, i=1, when automobile is turned right, i=-1；
3., calculate instantaneous O and central point G apart from rG, calculation formula is：
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4. the speed v at autocentre point, is calculatedG1, calculation formula is：
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D, the speed v on the basis of off-front wheel at calculating autocentreG2：
1. off-front wheel, is calculated with instantaneous O apart from r2, calculation formula is：
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2. the central angle θ formed between autocentre point G, instantaneous O and rear axis line, is calculatedG, calculation formula is：
When wherein automobile turns left, i=1, when automobile is turned right, i=-1；
3., calculate instantaneous O and central point G apart from rG, calculation formula is：
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2. it is equipped with a kind of method for controlling driving speed based on vehicle speed measurement method described in claim 1, two front-wheels of automobile
Gravity sensor, it is characterized in that, two gravity sensitives for being separately mounted to the near front wheel and off-front wheel axle center are measured and obtained in real time
The gravity value F of device1And F2, as automobile speed vGDuring >=8m/s, the big value of gravity and the small value of gravity of two gravity sensors are calculated
/ F bigger than K, i.e. K=FIt is small, as K >=8, speed controller control automobile reduction speed, the weight for detecting two gravity sensors
The ratio between the big value of power and the small value of gravity K ＜ 5.
3. method for controlling driving speed according to claim 2, it is characterized in that, when
10 ＞ K >=5 or | vG1-vG2|/vGWhen >=0.1, speed controller passes through alarm equipment alarm.
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| CN201510082854.3A CN104764897B (en) | 2015-02-13 | 2015-02-13 | Measuring vehicle speed device and speed investigating method |
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| CN201510082854.3A CN104764897B (en) | 2015-02-13 | 2015-02-13 | Measuring vehicle speed device and speed investigating method |
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Families Citing this family (4)
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| CN104655872B (en) | 2015-02-13 | 2017-12-19 | 盐城工学院 | Automobile speed investigating method and system |
| CN105823899B (en) * | 2015-09-16 | 2019-01-11 | 浙江吉利汽车有限公司 | The implementation method of vehicle turning speed is calculated based on rotary transformer |
| CN108116234B (en) * | 2016-11-29 | 2020-07-10 | 比亚迪股份有限公司 | Vehicle and vehicle speed calculation method and device during turning braking of vehicle |
| CN113432887B (en) * | 2021-06-10 | 2022-09-23 | 杭州光明汽车有限公司 | Detection equipment of intelligent speed-limiting control system of automobile |
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| EP0534418A1 (en) * | 1991-09-24 | 1993-03-31 | Toyota Jidosha Kabushiki Kaisha | Doppler-effect type ground speed sensing apparatus |
| CN1987483A (en) * | 2006-12-19 | 2007-06-27 | 上海燃料电池汽车动力***有限公司 | Speed homing method for four wheel driving electric automobile |
| CN201530356U (en) * | 2009-11-19 | 2010-07-21 | 中国重汽集团济南动力有限公司 | Automobile crash-prevention detection device |
| CN202294651U (en) * | 2011-09-14 | 2012-07-04 | 长安大学 | Automatic releasing device of automobile safety airbag |
| CN103863308A (en) * | 2014-03-28 | 2014-06-18 | 石春 | Electronic active control system for preventing skewing of electric vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0534418A1 (en) * | 1991-09-24 | 1993-03-31 | Toyota Jidosha Kabushiki Kaisha | Doppler-effect type ground speed sensing apparatus |
| CN1987483A (en) * | 2006-12-19 | 2007-06-27 | 上海燃料电池汽车动力***有限公司 | Speed homing method for four wheel driving electric automobile |
| CN201530356U (en) * | 2009-11-19 | 2010-07-21 | 中国重汽集团济南动力有限公司 | Automobile crash-prevention detection device |
| CN202294651U (en) * | 2011-09-14 | 2012-07-04 | 长安大学 | Automatic releasing device of automobile safety airbag |
| CN103863308A (en) * | 2014-03-28 | 2014-06-18 | 石春 | Electronic active control system for preventing skewing of electric vehicle |
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| CN104764897A (en) | 2015-07-08 |
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