CN106546763B - Speed calculation method - Google Patents
Speed calculation method Download PDFInfo
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- CN106546763B CN106546763B CN201510611403.4A CN201510611403A CN106546763B CN 106546763 B CN106546763 B CN 106546763B CN 201510611403 A CN201510611403 A CN 201510611403A CN 106546763 B CN106546763 B CN 106546763B
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Abstract
The invention discloses a kind of speed calculation methods, comprising: 1) obtains speed filtering parameter；2) pulse number, pulse period are obtained according to prefixed time interval, calculate accumulated pulse number and accumulated pulse period and；When accumulated pulse number and it is greater than filtering parameter, calculates the current preset time-interval averaging pulse period；If 3) do not occur rising edge of a pulse in prefixed time interval, accumulated pulse number and accumulated pulse period and remain unchanged；When accumulative arteries and veins number is more than that the first preset time threshold carries out RampDown processing to speed with the duration is remained unchanged；4) absolute value of the difference that the current preset time-interval averaging pulse period subtracted the upper prefixed time interval pulse period is greater than limitation amplitude, then is calculated using the pulse period that a upper prefixed time interval obtains and obtain speed；When calculating the speed duration obtained using the upper prefixed time interval pulse period more than the second preset time threshold, Average pulse period in step 2) is used to calculate acquisition speed.
Description
Technical field
The present invention relates to automotive fields, more particularly to a kind of speed calculation method.
Background technique
Speed is an important parameter in engine control system, and vehicle-mounted ECU controls engine by speed signal
The functions such as revolving speed, gear identification, cruise.The accurate and stability of speed signal directly reflects the effect of engine control
Fruit.
Currently, speed calculation method commonly used in the trade are as follows:
After the pulse signal that vehicle speed sensor exports is amplified, rectified, revolving speed is calculated according to the period of pulse signal,
And then be converted to speed.
Using above method there are the problem of:
Due to signal panels itself difference or the abrasion of long-time service, signal panels facewidth unevenness causes vehicle speed sensor to export
Pulse signal cycle fluctuation, thus calculated speed also will appear periodic fluctuation.
Summary of the invention
The accuracy and stability for realizing speed signal are solved because of vehicle speed sensor signal mill damage, the arteries and veins of output
The fluctuation of signal period property is rushed, while improving the control effect of engine.
The problem to be solved in the present invention is to provide a kind of speed calculation methods of accurate stable to be avoided that because of output pulse letter
Speed caused by number cyclic fluctuation calculates fluctuation.
In order to solve the above technical problems, speed calculation method provided by the invention, comprising the following steps:
1) linear interpolation is carried out to current vehicle speed value and the corresponding filtering parameter of current vehicle speed is calculated；
2) vehicle speed sensor pulse number within a preset time interval, pulse period are recorded according to prefixed time interval,
To the pulse number of record, pulse period carry out respectively cumulative summation obtain accumulated pulse number and accumulated pulse period and；When
Accumulated pulse number and greater than in step 1) calculated filtering parameter, calculate vehicle speed sensor between the current preset time
Every Average pulse period, current preset time-interval averaging pulse period=current preset time interval accumulated pulse period and/
Current preset time interval accumulated pulse number；
If 3) do not occur rising edge of a pulse in prefixed time interval, accumulated pulse number and accumulated pulse period and
It remains unchanged；When accumulative arteries and veins number is more than that the first preset time threshold carries out RampDown to speed with the duration is remained unchanged
Processing；RampDown, which refers to, reduces speed with preset step-length until accumulative arteries and veins number and variation, then stop reduction speed use and work as
Preceding accumulative arteries and veins number and calculating obtain speed, and RampDown target value is 0；
4) absolute value of the difference of current preset time-interval averaging pulse period and upper prefixed time interval pulse period
Greater than limitation amplitude, is then calculated using the pulse period that a upper prefixed time interval obtains and obtain speed；Using upper one it is default when
Between the interval pulse period calculate obtain the speed duration be more than the second preset time threshold when (when counter counts), then using step
It is rapid 2) in be calculated Average pulse period calculate obtain speed.
Wherein, prefixed time interval 1ms-100ms, the first preset time threshold 100ms-1000ms, preset step-length are
0.5km/h-10km/h, limitation amplitude are 100ms-2000ms, the second preset time threshold 0ms-500ms.
It is preferred that prefixed time interval 10ms, 20ms or 30ms, the first preset time threshold be 300ms, 400ms or
500ms, preset step-length 0.5km/h, 1km/h or 1.51km/h, limitation amplitude are 500ms, 1000ms or 1500ms, and second is pre-
If time threshold 100ms, 200ms or 300ms.
Speed is calculated for the direct period using vehicle speed sensor output pulse signal commonly used in the trade at present.The present invention
The algorithm of mean filter (steps 1 and 2) Yu clipping Glitch Filter (step 3,4) is technically increased herein.Due to signal panels itself
The abrasion of difference or long-time service causes the signal panels facewidth uneven, can avoid signal panels facewidth unevenness with Mean Filtering Algorithm and produces
Raw difference；Clipping Glitch Filter is the interference in order to remove burr signal generation, has the function that filter out noise, final effective
The accuracy and stability for realizing speed signal.
Detailed description of the invention
Present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments:
Fig. 1 is flow diagram of the invention.
Specific embodiment
As shown in Figure 1, speed calculation method provided by the invention, comprising the following steps:
1) linear interpolation is carried out to current vehicle speed value and the corresponding filtering parameter of current vehicle speed is calculated；
2) vehicle speed sensor pulse number within a preset time interval, pulse period are recorded according to prefixed time interval,
To the pulse number of record, pulse period carry out respectively cumulative summation obtain accumulated pulse number and accumulated pulse period and；When
Accumulated pulse number and greater than in step 1) calculated filtering parameter, calculate vehicle speed sensor between the current preset time
Every Average pulse period, current preset time-interval averaging pulse period=current preset time interval accumulated pulse period and/
Current preset time interval accumulated pulse number；
If 3) do not occur rising edge of a pulse in prefixed time interval, accumulated pulse number and accumulated pulse period and
It remains unchanged；When accumulative arteries and veins number is more than that the first preset time threshold carries out RampDown to speed with the duration is remained unchanged
Processing；RampDown, which refers to, reduces speed with preset step-length until accumulative arteries and veins number and variation, then stop reduction speed use and work as
Preceding accumulative arteries and veins number and calculating obtain speed, and RampDown target value is 0；
4) absolute value of the difference of current preset time-interval averaging pulse period and upper prefixed time interval pulse period
Greater than limitation amplitude, is then calculated using the pulse period that a upper prefixed time interval obtains and obtain speed；Using upper one it is default when
Between the interval pulse period calculate when obtaining the speed duration and being more than the second preset time threshold, then calculated using in step 2)
It is calculated to Average pulse period and obtains speed.
Wherein, prefixed time interval 1ms-100ms, the first preset time threshold 100ms-1000ms, preset step-length are
0.5km/h-10km/h, limitation amplitude are 100ms-2000ms, the second preset time threshold 0ms-500ms.
It is preferred that prefixed time interval 10ms, 20ms or 30ms, the first preset time threshold be 300ms, 400ms or
500ms, preset step-length 0.5km/h, 1km/h or 1.51km/h, limitation amplitude are 500ms, 1000ms or 1500ms, and second is pre-
If time threshold 100ms, 200ms or 300ms.
Above by specific embodiment and embodiment, invention is explained in detail, but these are not composition pair
Limitation of the invention.Without departing from the principles of the present invention, those skilled in the art can also make many deformations and change
Into these also should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of speed calculation method, which comprises the following steps:
1) linear interpolation is carried out to current vehicle speed value and the corresponding filtering parameter of current vehicle speed is calculated；
2) pulse number, the pulse period for obtaining vehicle speed sensor output within a preset time interval, prefixed time interval is obtained
Accumulated pulse number and prefixed time interval accumulated pulse period and；When prefixed time interval accumulated pulse number and it is greater than filter
Wave parameter calculates vehicle speed sensor in current preset time-interval averaging pulse period, current preset time-interval averaging pulse
Period=current preset time interval accumulated pulse period and/current preset time interval accumulated pulse number and；
If 3) do not occur rising edge of a pulse in prefixed time interval, when prefixed time interval accumulated pulse number is with presetting
Between interval the accumulated pulse period and remain unchanged；When prefixed time interval adds up arteries and veins number and remain unchanged the duration to be more than the
One preset time threshold carries out RampDown processing to speed；RampDown, which refers to, reduces speed by preset step-length until accumulative arteries and veins
Number and variation stop reducing speed, add up arteries and veins number and calculate to obtain speed using current, RampDown target value is 0；
4) absolute value of the difference of current preset time-interval averaging pulse period and pulse period last moment are greater than limitation amplitude,
It is then calculated using the pulse period that last moment obtains and obtains speed；Acquisition speed is calculated using pulse period last moment to continue
When time is more than the second preset time threshold, then uses in step 2) and the current preset time-interval averaging pulse period is calculated
It is calculated as current pulse period and obtains speed.
2. speed calculation method as described in claim 1, it is characterized in that: prefixed time interval is 1ms-100ms, first is default
Time threshold is 100ms-1000ms, and preset step-length 0.5km/h-10km/h, limitation amplitude is 100ms-2000ms, and second is pre-
If time threshold is 0ms-500ms.
3. speed calculation method as claimed in claim 2, it is characterized in that: prefixed time interval is 10ms, 20ms or 30ms.
4. speed calculation method as claimed in claim 3, it is characterized in that: the first preset time threshold be 300ms, 400ms or
500ms。
5. speed calculation method as claimed in claim 3, it is characterized in that: preset step-length is 0.5km/h, 1km/h or 1.51km/
h。
6. speed calculation method as claimed in claim 3, it is characterized in that: limitation amplitude is 500ms, 1000ms or 1500ms.
7. speed calculation method as claimed in claim 3, it is characterized in that: second preset time threshold 100ms, 200ms or
300ms。
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| CN201510611403.4A CN106546763B (en) | 2015-09-23 | 2015-09-23 | Speed calculation method |
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| CN201510611403.4A CN106546763B (en) | 2015-09-23 | 2015-09-23 | Speed calculation method |
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| CN106546763A CN106546763A (en) | 2017-03-29 |
| CN106546763B true CN106546763B (en) | 2019-05-21 |
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| CN101419679A (en) * | 2008-12-11 | 2009-04-29 | 北京交通大学 | Intelligent identification Method for running state of hybrid electric automobile |
| CN102289600A (en) * | 2011-08-24 | 2011-12-21 | 厦门雅迅网络股份有限公司 | Software filtering method of vehicle mileage pulse |
| CN102568208A (en) * | 2012-02-07 | 2012-07-11 | 福建工程学院 | Road section speed limit information identification method based on floating vehicle technology |
| CN103033640A (en) * | 2012-12-04 | 2013-04-10 | 中国北方车辆研究所 | Vehicle speed real-time detection method with field programmable gate array (FPGA) |
| CN104537255A (en) * | 2015-01-08 | 2015-04-22 | 中国航空无线电电子研究所 | Method for calculating lifting speed of special task aircraft platform |
| CN106153975A (en) * | 2016-07-05 | 2016-11-23 | 北汽福田汽车股份有限公司 | A kind of method, system and vehicle exporting vehicle speed pulse |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060082863A (en) * | 2003-09-11 | 2006-07-19 | 닛본 세이고 가부시끼가이샤 | Rotation speed detection device and rolling bearing unit load measurement device |
-
2015
- 2015-09-23 CN CN201510611403.4A patent/CN106546763B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101419679A (en) * | 2008-12-11 | 2009-04-29 | 北京交通大学 | Intelligent identification Method for running state of hybrid electric automobile |
| CN102289600A (en) * | 2011-08-24 | 2011-12-21 | 厦门雅迅网络股份有限公司 | Software filtering method of vehicle mileage pulse |
| CN102568208A (en) * | 2012-02-07 | 2012-07-11 | 福建工程学院 | Road section speed limit information identification method based on floating vehicle technology |
| CN103033640A (en) * | 2012-12-04 | 2013-04-10 | 中国北方车辆研究所 | Vehicle speed real-time detection method with field programmable gate array (FPGA) |
| CN104537255A (en) * | 2015-01-08 | 2015-04-22 | 中国航空无线电电子研究所 | Method for calculating lifting speed of special task aircraft platform |
| CN106153975A (en) * | 2016-07-05 | 2016-11-23 | 北汽福田汽车股份有限公司 | A kind of method, system and vehicle exporting vehicle speed pulse |
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