CN108072342B - Automatic detection method and device for gear of manual transmission motor vehicle - Google Patents
Automatic detection method and device for gear of manual transmission motor vehicle Download PDFInfo
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Abstract
The invention provides an automatic detection method and a device for a gear of a manual gear motor vehicle, which comprises the steps of calibrating the maximum distribution range of the relative spatial postures of the gear of the motor vehicle and detecting the gear, firstly collecting the spatial posture of the motor vehicle, and then collecting the spatial posture of a control lever; carrying out conditional sliding window filtering processing and then subtracting to obtain a preliminary spatial attitude value of the gear at the moment; comparing the maximum distribution range of the relative space postures of the operating lever in each gear, which is calibrated in the step, to obtain a detection value of the gear state; evaluating to obtain a gear state evaluation value; and displaying and simultaneously sending the gear state to an upper computer, and finishing the detection of the gear state for one time. According to the invention, the possible interference and noise are removed and filtered through an algorithm, so that the reliability of the gear detection result is improved; during detection, the free stroke of the operating lever is taken into consideration, and gear detection values are evaluated secondarily, so that the accuracy of gear detection is improved, and the gear detection is not influenced by new and old wear of a motor vehicle.
Description
Technical Field
The invention relates to the technical field of automatic detection of motor vehicle states, in particular to an automatic detection method and device for a manual gear motor vehicle gear for training and checking the driving skill of a motor vehicle driver.
Background
The gear is a key executing mechanism for controlling the speed of the motor vehicle, whether the gear can be reasonably controlled according to the actual condition of road traffic so as to reasonably control the speed of the motor vehicle, and the gear is an important content in the motor vehicle driving skill. Therefore, in the standardized training and the automatic assessment of the driving skill of the motor vehicle, the automatic detection of the gear of the motor vehicle becomes an important precondition and foundation for accurately and scientifically evaluating the driving skill of a driver.
Traditionally, the detection method for the gear of the motor vehicle is to manufacture a set of thick and heavy mechanical structural parts to be sleeved on a gear operating lever, wherein a Hall sensor or a photoelectric sensor is arranged on the structural part corresponding to each gear position, and the gear state is detected by utilizing a magnet arranged on the operating lever or the shielding effect of the operating lever; the structural member is complex to manufacture, the installation workload is large, and the structural member and the sensor are easy to fall off and damage after installation; after the operating lever of the motor vehicle is used for a period of time, a large gap exists between the gear states, the operating lever has a certain free stroke, and the operating lever shakes in the running process of the motor vehicle, so that gear detection is misjudged. Along with the improvement of the machining process of the motor vehicle, the precision of the gear control mechanism is higher and higher, and the installation space reserved for the gear detection mechanism is smaller and smaller, so that the method is more and more difficult to meet the requirement of gear detection.
In order to overcome the detection misjudgment caused by the shaking of the operating lever in the method, another gear detection method is to disassemble the gearbox case, install a permanent magnet on a gear shifting fork shaft of the gear shifting mechanism in an embedding manner, and install a Hall sensor in a box body position corresponding to each gear shifting fork shaft in an embedding manner, so that the reliable detection of the gear state is realized; however, the method has larger installation workload, and because the gearbox is disassembled and changed, the power transmission fault of the motor vehicle is easy to occur, traffic accidents can be caused by the fault of the motor vehicle when the motor vehicle runs, and hidden troubles are buried for the running safety.
The gear state detection method by using the transmission ratio of the motor vehicle comprises the steps of detecting the engine speed and the running speed of the motor vehicle, calculating the transmission ratio of the motor vehicle by using software, and indirectly detecting the gear state of the motor vehicle according to the numerical value of the transmission ratio; the method is easily influenced by the clutch in a loose or semi-linkage state to change the transmission ratio, so that errors occur in gear detection when the clutch is stepped on, and the method has great limitation in use.
Disclosure of Invention
In order to solve the problems in the background art, the present invention provides a method and a device for automatically detecting a gear of a manual transmission vehicle.
In order to achieve the purpose, the invention provides the following technical scheme:
an automatic detection method for a gear of a manual gear motor vehicle comprises the following steps:
(1) calibrating the maximum distribution range of the relative space attitude of the gears of the motor vehicle:
respectively collecting the space postures of the operating lever in the 1 st gear, the 2 nd gear, the 3 rd gear, the 4 th gear, the 5 th gear, the reverse gear or the neutral gear, and when the operating lever is in the maximum free stroke in the front, rear, left and right directions of the gear; meanwhile, the space attitude of the motor vehicle is collected; then subtracting the space attitude of the motor vehicle from the space attitude of the operating lever, thereby calculating the relative space attitude of the operating lever in the maximum free travel of the operating lever in the front, rear, left and right directions of the gear; the maximum distribution range of the relative space attitude of the operating lever in the gear is calibrated by taking the operating lever as a boundary; according to the method, the maximum distribution range of the relative spatial postures of the operating lever at each gear is marked in sequence;
(2) gear detection:
a. firstly, acquiring the space attitude of a motor vehicle, and then acquiring the space attitude of an operating lever;
b. respectively carrying out conditional sliding window filtering processing on the space attitude value of the motor vehicle and the space attitude value of the operating lever acquired in the step a so as to eliminate the influence of external interference and noise in the acquisition process;
c. subtracting the processed space attitude value of the motor vehicle from the space attitude value of the operating lever processed in the step b to obtain a primary space attitude value of the gear at the moment;
d. comparing the initial spatial attitude value of the gear with the maximum distribution range of the relative spatial attitude of the operating lever in each gear calibrated in the step (1) to obtain a detection value of the gear state;
e. d, evaluating the detected value of the gear state obtained in the step d to eliminate the influence of the overlapping range between adjacent gears to obtain a gear state evaluation value;
f. and displaying the gear state evaluation value as an actual state, and simultaneously sending the gear state evaluation value to an upper computer to finish the detection of the gear state for one time.
Further, the acquisition of the spatial attitude in the steps (1) and (2) is acquired through a gyroscope.
Further, the space attitude in the step (1) is represented by coordinates (α, gamma) of a northeast coordinate system, the coordinate system takes a coordinate axis pointing to the east as an X axis, a coordinate axis pointing to the north as a Y axis and a coordinate axis vertically upward as a Z axis, when an object deflects around the X axis, a deflection angle of the object is called a pitch angle and is represented by α, when the object deflects around the Y axis, a deflection angle of the object is called a roll angle and is represented by β, and when the object deflects around the Z axis, a deflection angle of the object is called a yaw angle and is represented by gamma.
In the step b, the conditional sliding window filtering process is to perform average value checking on the acquired space attitude values of the motor vehicle and the control lever according to the following formulas respectively:
average of the previous N test values:
absolute error of current detected value:
σi＝|xi-av(xi)|
average of the first N detection errors:
the spatial attitude values are then:
when in use
In the formula xiFor the currently detected value, xi+1The value, x, obtained for the previous testi+2The value obtained for the second preceding test, … …, and so on, xi+NThe data value obtained from the previous Nth detection.
Further, the step e of evaluating the detection value of the gear state comprises the following steps:
(1) comparing the detected value of the current gear state with the detected value of the previous gear state, if the detected values are equal to each other, indicating that no gear shifting operation exists, and outputting the detected value of the gear state as a gear evaluation value; if they are not equal, it is indicated that a shift operation has been performed, and then the detected value of the shift position state is compared with the maximum distribution range of the neutral relative spatial attitude to determine whether it is neutral?
(2) If the detection value of the gear state is in the maximum distribution range of the relative spatial attitude of the neutral, the current gear is determined to be the neutral and output, and meanwhile, the previous gear state is updated to be the neutral; otherwise, determine if the previous gear state is neutral?
(3) If the previous gear state is a neutral gear, taking the detection value of the current gear state as a gear evaluation value and outputting the gear evaluation value, and updating the detection value of the previous gear state as the current gear state; if the previous shift state is not neutral, it is determined whether the current detected shift state is reverse?
(4) If the detection value of the current gear state is in the maximum distribution range of the reverse gear relative space posture, judging whether the previous gear state is 1 gear or not; if the last gear state is the 1 gear, evaluating the detection value of the current gear state as a reverse gear and outputting the detection value, and meanwhile updating the last gear state as the reverse gear; if the previous gear state is not the 1 gear, reporting a gear shift error, evaluating a detection value of the gear state as a reverse gear and outputting the detection value, and updating the previous gear state as the reverse gear;
(5) if the detection value of the current gear state is not within the maximum distribution range of the reverse gear relative spatial attitude, it is determined whether the previous gear is the reverse gear? If the previous gear is a reverse gear, judging whether the detected gear is a 1 gear; if so, evaluating the current gear state as 1 gear output, and updating the previous gear to be 1 gear; if not, reporting a gear shifting error, evaluating the detection value of the current gear state as a reverse gear and outputting, and updating the detection value of the previous gear state as the current gear state;
(6) if the previous gear is not the reverse gear, it is determined whether a gear skip occurs? If the gear skipping occurs, reporting a gear shifting error, directly outputting a detection value of the current gear state, and updating the detection value of the previous gear state which is also the current gear state; and if no gear skipping occurs, directly outputting the detection value of the current gear state, and updating the detection value of the previous gear state which is also the current gear state.
The invention also aims to provide a detection device for realizing the automatic detection method of the gear of the manual transmission motor vehicle, which comprises a control lever and a detection box arranged in the vehicle; a fastener is sleeved on the operating rod, a second gyroscope is horizontally and fixedly arranged in the fastener, and the Y axis of the second gyroscope is parallel to the central axis of the vehicle body; a first gyroscope is horizontally arranged in the detection box, and the Y axis of the first gyroscope is parallel to the central axis of the vehicle body; the second gyroscope is interactively connected with the detection box through a cable, and the detection box is communicated with the upper computer.
In a further scheme, a single chip microcomputer is arranged in the detection box, the single chip microcomputer is in interactive connection with the first gyroscope, the second gyroscope and the storage respectively, and the output end of the single chip microcomputer is connected with the nixie tube through a serial/parallel conversion circuit and used for displaying.
In a further scheme, the single chip microcomputer is communicated with an upper computer sequentially through the serial port/USB port converter and the USB socket or communicated with the upper computer sequentially through the level conversion circuit and the serial port socket.
Preferably, the first gyroscope and the second gyroscope are MPU6050 gyroscopes, the CPU of the single chip microcomputer is STM32F103, the memory is Flash chip W25Q64, the serial/parallel conversion circuit is 74HC164 shift register, the serial/USB port converter is CH340G, and the level conversion circuit is universal serial port chip SP3232E as the level conversion circuit of TTL serial port and RS232 serial port, so as to realize serial port communication between the single chip microcomputer and the upper computer.
The space posture of the control lever of the motor vehicle is changed when the control lever is used as a rigid object and is switched among various gears, the corresponding space posture value in each gear is not changed in an ideal state, and the gear state of the motor vehicle can be detected as long as the space posture of the control lever is detected.
Because the carrier of the control rod is a motor vehicle which is a movable object, the space attitude of the control rod on the carrier can be changed along with the movement of the motor vehicle even if the control rod is not moved per se; however, once the operating lever is installed on the motor vehicle, the position of the operating lever relative to the motor vehicle is fixed and cannot be changed along with the movement of the motor vehicle; therefore, the space attitude of each gear state relative to the motor vehicle is also fixed and cannot be changed along with the movement of the motor vehicle; if a gear-shifting operation is performed to change the gear state, the relative spatial attitude between the operating lever and the vehicle is changed from one value to another value, which is not changed by the motion of the vehicle.
Therefore, the detection of the gear is changed into the detection of the relative space attitude variation between the control lever and the motor vehicle, when the gear is actually operated, the space attitude of the control lever and the motor vehicle is detected, then the space attitude of the motor vehicle is subtracted from the space attitude of the control lever to obtain the relative space attitude of the gear control lever, the relative space attitude is compared with the relative space attitude of each gear state obtained by measurement in advance, and the gear state corresponding to the gear control lever is the gear state which has the same or the closest numerical value, namely the gear state of the motor vehicle is detected.
Therefore, the device and the method for detecting the gear state of the motor vehicle have the following obvious advantages:
(1) the detection method is good in universality, can be suitable for gear detection of any manual transmission motor vehicle, and different sensor mounting structures do not need to be designed for different vehicle types;
(2) the installation is convenient, the gyroscope is sleeved on the operating rod through the fastener, and then the detection box is fixed on the vehicle through the screw, the motor vehicle does not need to be disassembled, and the original performance and safety of the motor vehicle are not influenced;
(3) the reliability is high, interference and noise which may occur are removed and filtered through an algorithm, and relevant parameters of conditional filtering can be adjusted according to different requirements of system design on the reliability during actual work, so that the reliability of a gear detection result is improved;
(4) the detection error rate is low, the free stroke of the operating lever is taken into consideration during gear detection, and the gear detection value is evaluated for the second time, so that the accuracy of gear detection is improved, and the gear detection is not influenced by the new and old wear of the motor vehicle;
(5) the real-time performance is good, all the working circuits adopted in the invention have higher working frequency, the refresh rate of data acquisition reaches 100HZ, and the real-time performance is good.
Drawings
FIG. 1 is a schematic view of the structure of the detecting unit of the present invention;
FIG. 2 is a circuit schematic of the present invention;
FIG. 3 is a schematic gear diagram of a manual transmission vehicle;
FIG. 4 is a schematic view of a slotted vehicle gear;
fig. 5 is a gear detection result evaluation flowchart;
FIG. 6 is a diagram of a single chip, a memory and a serial/parallel conversion circuit according to the present invention;
FIG. 7 is a circuit diagram of a serial/USB port converter according to the present invention;
FIG. 8 is a circuit diagram of a level shift circuit of the present invention;
FIG. 9 is a distribution plot of data collected during joystick gesture detection.
In the figure: 11-a control lever, 12-a fastener, 13.1-a first gyroscope, 13.2-a second gyroscope, 14-an upper computer, 15-a detection box, 15.1-a singlechip, 15.2-a memory, 15.3-a serial/parallel conversion circuit, 15.4-a nixie tube, 15.5-a serial/USB port converter, 15.6-a USB socket, 15.7-a level conversion circuit and 15.8-a serial socket.
Detailed Description
Example 1:
as shown in fig. 1 and 2, the automatic detection device for the gear of the manual transmission motor vehicle comprises an operating lever 11 and a detection box 15 installed in the vehicle; a fastener 12 is sleeved on the operating rod 11, a second gyroscope 13.2 is horizontally and fixedly arranged in the fastener 12, and the Y axis of the second gyroscope 13.2 is parallel to the central axis of the vehicle body; a first gyroscope 13.1 is horizontally arranged in the detection box 15, and the Y axis of the first gyroscope 13.1 is parallel to the central axis of the vehicle body; the second gyroscope 13.2 is interactively connected with the detection box 15 through a cable, and the detection box 15 is communicated with the upper computer 14.
A single chip microcomputer 15.1 is arranged in the detection box 15, the single chip microcomputer 15.1 is in interactive connection with the first gyroscope 13.1, the second gyroscope 13.2 and the memory 15.2 respectively, and the output end of the single chip microcomputer 15.1 is connected with the nixie tube 15.4 through a serial/parallel conversion circuit 15.3 for displaying.
The single chip microcomputer 15.1 is communicated with the upper computer 14 through a serial port/USB port converter 15.5 and a USB socket 15.6 in sequence, or is communicated with the upper computer 14 through a level conversion circuit 15.7 and a serial port socket 15.8 in sequence.
The first gyroscope 13.1 and the second gyroscope 13.2 adopt MPU6050 gyroscopes, the CPU of the singlechip 15.1 adopts STM32F103, the memory 15.2 adopts a Flash chip W25Q64, the serial/parallel conversion circuit 15.3 adopts a 74HC164 shift register, the serial/USB port converter 15.5 adopts CH340G, and the level conversion circuit 15.7 adopts a general serial port circuit chip SP3232E as a level conversion circuit of TTL serial port and RS232 serial port, so as to realize serial port communication between the singlechip 15.1 and the upper computer 14.
The CPU of the single chip microcomputer 15.1 selects the STM32F103 to complete gear data acquisition, processing and communication functions, the CPU main frequency of the STM32F103 is up to 72MHz, and the CPU main frequency is internally provided with 20KRAM, 2 SPI ports and 2I ports2A port C, 3 asynchronous serial ports and 1 USB port, and a detailed working circuit of the singlechip is shown in figure 6.
The memory 15.2 selects a Flash chip W25Q64 as a program and gear calibration data memory, the W25Q64 has the storage capacity of 8 Mbytes, the data read-write speed reaches 40MB/S, the W25Q64 is connected with the STM32F103 through an SPI, and a detailed working circuit is shown in FIG. 6.
The serial/parallel conversion circuit 15.3 selects a 74HC164 shift register to receive 8-bit serial data output by the single chip microcomputer STM32F103, then converts the 8-bit serial data into 8-bit parallel data to be output, simultaneously latches the 8-bit parallel data as a display control circuit of 8 sections of nixie tubes 15.4 for displaying the gear detection state, the 74HC164 input is connected with the general IO end of the STM32F103, the output is connected with the 8 sections of nixie tubes, and a detailed working circuit of the circuit is shown in FIG. 6.
The serial port/USB port converter 15.5 selects a piece of CH340G as a serial port/USB port conversion circuit to realize the communication between the single chip microcomputer and the upper computer, wherein the single chip microcomputer adopts a serial port, and the upper computer connected with the single chip microcomputer adopts a USB port; the input of the CH340G is connected with the asynchronous serial port UART end of the STM32F103, the output is connected with a universal MiniUSB socket, when the universal MiniUSB socket works, a USB cable is used for connecting the upper computer with the gear position detector, and the detailed working circuit of the universal USB socket is shown in FIG. 7;
the invention also provides another method for communicating with an upper computer, namely a universal serial port circuit chip SP3232E is selected as a level conversion circuit 15.7 of a TTL serial port and an RS232 serial port and used for realizing serial port communication with the upper computer, the input of SP3232E is connected with an asynchronous serial port UART end of an STM32F103, output data is connected to a universal DB9 plug of the RS232 through a 3-pin connector, the DB9 plug is connected to the upper computer during working, and a detailed working circuit of the DB9 plug is shown in figure 8.
The gyroscope adopts an MPU6050 chip for detecting the space attitude, and adopts a northeast coordinate system to detect the space attitude of the target.
Example 2:
an automatic detection method for a gear of a manual gear motor vehicle comprises the following steps:
(1) calibrating the maximum distribution range of the relative space attitude of the gears of the motor vehicle:
respectively acquiring the space postures of the operating lever in the 1 st gear, the 2 nd gear, the 3 rd gear, the 4 th gear, the 5 th gear, the reverse gear or the neutral gear through a second gyroscope 13.2, wherein the operating lever is in the maximum free stroke in the front, rear, left and right directions of the gear; meanwhile, the space attitude of the motor vehicle at the moment is collected through a first gyroscope 13.1; then subtracting the space attitude of the motor vehicle from the space attitude of the operating lever, thereby calculating the relative space attitude of the operating lever in the maximum free travel of the operating lever in the front, rear, left and right directions of the gear; the maximum distribution range of the relative space attitude of the operating lever in the gear is calibrated by taking the operating lever as a boundary; according to the method, the maximum distribution range of the relative spatial postures of the operating lever at each gear is marked in sequence;
(2) gear detection:
a. the spatial attitude of the motor vehicle is acquired through a first gyroscope 13.1, and the spatial attitude of the joystick is acquired through a second gyroscope 13.2;
b. respectively carrying out conditional sliding window filtering processing on the space attitude value of the motor vehicle and the space attitude value of the operating lever acquired in the step a so as to eliminate the influence of external interference and noise in the acquisition process;
c. subtracting the processed space attitude value of the motor vehicle from the space attitude value of the operating lever processed in the step b to obtain a primary space attitude value of the gear at the moment;
d. comparing the initial spatial attitude value of the gear with the maximum distribution range of the relative spatial attitude of the operating lever in each gear calibrated in the step (1) to obtain a detection value of the gear state;
e. d, evaluating the detected value of the gear state obtained in the step d to eliminate the influence of the overlapping range between adjacent gears to obtain a gear state evaluation value;
f. and displaying the gear state estimated value as an actual state, and simultaneously sending the gear state estimated value to the upper computer 14, thereby completing the detection of the gear state for one time.
Further, the space attitude in the step (1) is represented by coordinates (α, gamma) of a northeast coordinate system, the coordinate system takes a coordinate axis pointing to the east as an X axis, a coordinate axis pointing to the north as a Y axis and a coordinate axis vertically upward as a Z axis, when an object deflects around the X axis, a deflection angle of the object is called a pitch angle and is represented by α, when the object deflects around the Y axis, a deflection angle of the object is called a roll angle and is represented by β, and when the object deflects around the Z axis, a deflection angle of the object is called a yaw angle and is represented by gamma.
In the step b, the conditional sliding window filtering process is to perform average value checking on the acquired space attitude values of the motor vehicle and the control lever according to the following formulas respectively:
average of the previous N test values:
absolute error of current detected value:
σi＝|xi-av(xi)|
average of the first N detection errors:
the spatial attitude values are then:
when in use
In the formula xiFor the currently detected value, xi+1The value, x, obtained for the previous testi+2The value obtained for the second preceding test, … …, and so on, xi+NThe data value obtained from the previous Nth detection.
Further, the step e evaluates the detected value of the gear state, as shown in fig. 5, and includes the following steps:
(1) comparing the detected value of the current gear state with the detected value of the previous gear state, if the detected values are equal to each other, indicating that no gear shifting operation exists, and outputting the detected value of the gear state as a gear evaluation value; if they are not equal, it is indicated that a shift operation has been performed, and then the detected value of the shift position state is compared with the maximum distribution range of the neutral relative spatial attitude to determine whether it is neutral?
(2) If the detection value of the gear state is in the maximum distribution range of the relative spatial attitude of the neutral, the current gear is determined to be the neutral and output, and meanwhile, the previous gear state is updated to be the neutral; otherwise, determine if the previous gear state is neutral?
(3) If the previous gear state is a neutral gear, taking the detection value of the current gear state as a gear evaluation value and outputting the gear evaluation value, and updating the detection value of the previous gear state as the current gear state; if the previous shift state is not neutral, it is determined whether the current detected shift state is reverse?
(4) If the detection value of the current gear state is in the maximum distribution range of the reverse gear relative space posture, judging whether the previous gear state is 1 gear or not; if the last gear state is the 1 gear, evaluating the detection value of the current gear state as a reverse gear and outputting the detection value, and meanwhile updating the last gear state as the reverse gear; if the previous gear state is not the 1 gear, reporting a gear shift error, evaluating a detection value of the gear state as a reverse gear and outputting the detection value, and updating the previous gear state as the reverse gear;
(5) if the detection value of the current gear state is not within the maximum distribution range of the reverse gear relative spatial attitude, it is determined whether the previous gear is the reverse gear? If the previous gear is a reverse gear, judging whether the detected gear is a 1 gear; if so, evaluating the current gear state as 1 gear output, and updating the previous gear to be 1 gear; if not, reporting a gear shifting error, evaluating the detection value of the current gear state as a reverse gear and outputting, and updating the detection value of the previous gear state as the current gear state;
(6) if the previous gear is not the reverse gear, it is determined whether a gear skip occurs? If the gear skipping occurs, reporting a gear shifting error, directly outputting a detection value of the current gear state, and updating the detection value of the previous gear state which is also the current gear state; and if no gear skipping occurs, directly outputting the detection value of the current gear state, and updating the detection value of the previous gear state which is also the current gear state.
The gears of the manual-gear motor vehicle are divided into a forward gear, a reverse gear and a neutral gear, and the forward gear is divided into a 1 gear, a 2 gear, a 3 gear, a 4 gear and a 5 gear as shown in fig. 3; here, 1 st, 2 nd, 3 rd, 4 th, 5 th, reverse, and neutral are represented by characters 1, 2, 3, 4, 5, R, N, respectively; the codes 1, 2, 3, 4, 5, 7 and 0 are used for representing 1 gear, 2 gears, 3 gears, 4 gears, 5 gears, reverse gears and neutral gears respectively. In addition, since the position of the lever is random during the gear shift, the state when the lever is not in one of the fixed gears is labeled as the transition gear, which is denoted by 8.
The invention uses the coordinate system of northeast as X axis, the coordinate axis pointing to east as Y axis, the coordinate axis pointing to north as Z axis, when the object deflects around X axis, its deflection angle is called pitch angle and is expressed by α, when it deflects around Y axis, its deflection angle is called roll angle and is expressed by β, when it deflects around Z axis, its deflection angle is called yaw angle and is expressed by gamma, so the space attitude of an object can be expressed by a group of coordinates (α, gamma).
So that the space attitude of the vehicle is represented by the coordinates (α)CAR，βCAR，γCAR) The spatial attitude of the joystick is represented by coordinates (α i, β i, γ i), where i is 0, 1, 2, 3, 4, 5, 7, 8, and corresponds to the spatial attitude of the shift lever in neutral, 1, 2, 3, 4, 5, reverse, and transition, respectively, ideally, when the joystick is in the 1, 2, 3, 4, 5, reverse, and neutral positions, the relative spatial attitude coordinates (△α i, △β i, △ γ i) with respect to the vehicle are fixed values, and it can be measured in advance that i is 0, 1, 2, 3, 4, 5, 7, and the relative spatial attitude coordinates (△α i, △β i, △ γ i) of the joystick at the time of the maximum free stroke in the four directions of front, rear, left, and right in each shift, and the relative spatial attitude of the joystick within the shift range is calibrated by using this as a boundary.
Wherein:
△αi＝αi─αCAR
△βi＝βi─βCAR
△γi＝γi─γCAR
the calibration method of the maximum distribution range of the relative spatial attitude is described by taking the joystick at the neutral position as an example as follows: repeatedly shaking the operating lever for a plurality of times to enable the operating lever to respectively move to the left, the right, the front and the back in the free stroke of the neutral position to reach the maximum free stroke of the neutral position; at the moment, the gyroscope respectively collects the spatial attitudes of all positions of the control lever, and reduces the spatial attitude of the motor vehicle, namely the relative spatial attitude data value of the control lever relative to the motor vehicle at the neutral position is obtained; the neutral position attitude data is collected at a data refresh rate of 100Hz, and the maximum values S of the front, rear, left and right free strokes of the joystick at the neutral position are respectively obtained by comparing the collected dataNFMax、SNBMax、SNLMax、SNRMaxFinally stored and stored as SNFMax、SNBMax、SNLMax、SNRMaxThe maximum range of relative spatial attitude of the joystick in neutral is calibrated for the boundary as shown in fig. 9.
The maximum distribution range of the relative spatial postures of the operating rod in the 1 st gear, the 2 nd gear, the 3 rd gear, the 4 th gear, the 5 th gear and the reverse gear can be calibrated.
In practical operation, the invention adopts two micro gyroscopes as attitude detecting sensors to respectively detect the spatial attitude (α i, β i, gamma i) of the joystick and the spatial attitude (α) of the motor vehicleCAR，βCAR，γCAR) The method comprises the steps of calculating (△α i, △β i, △β γ i), comparing (△β i, △β 0i, △β γ i) with results (△β, △β 30, △β γ 0), (△β, △β γ 1), (△β α 2, △β 92, △β γ 2), (△β 13, △β γ 3), (△β 44, △β γ 4), (△β, △β 85, △β γ 5), (△β, △β 17, △β γ 7) of the gear lever and the maximum distribution range of the relative spatial attitude of the gear lever, and determining which gear lever is in which gear state corresponding to the same or in which gear lever's maximum distribution range of the relative spatial attitude, and if the comparison result is different from the coordinates, defining (△β i ) as a transition between Δ and γ 8, and shifting the gear lever is in △β, △β γ 8.
In order to inhibit the influence of external interference and noise in the gear state detection process, conditional sliding window filtering is adopted to process detection data; the conditional sliding window filtering processing has the advantages of simple operation and good suppression effect, and the specific processing process is as follows:
xifor the currently detected data value, xi+1Data values, x, obtained for a previous testi+2For data values obtained from the second preceding test, and so on, xi+NThe data value obtained by the Nth detection is obtained; the following are obtained by calculation:
average of the results of the first N measurements
Absolute error of current detection result
σi＝|xi-av(xi)|
Average of the first N detection errors
Output of detection result
During actual work, the three coordinate components △α i, △β i and △ γ i of the detected spatial attitude are respectively subjected to the conditional sliding window filtering processing described above, and then are compared with the coordinate values measured in advance of each gear and the calibrated maximum distribution range of the relative spatial attitude of each gear to obtain the corresponding gear state, so that gear detection is completed.
Since the gap will appear between the operating lever and each gear mechanism after the motor vehicle is used for a period of time, the operating lever has free stroke, the space attitude corresponding to each gear state is not a fixed value any more, but a value range, and the value ranges of each gear state may overlap, as shown in fig. 4, the peripheral boxes of the gears are all the positions where the operating lever can be located in the gear. Such as: when the gear 1 is shifted, the operating lever is deviated to the right and is possibly judged as the gear 3 by mistake; if the operating lever is deviated to the left side in the 3-gear, the operating lever is possibly judged to be the 1-gear by mistake, and the operating lever is deviated to the right side, the operating lever is possibly judged to be the 5-gear by mistake; and the like; poor processing brings serious misjudgment to gear state detection.
In order to avoid the misjudgment of gear detection, the gear state is evaluated according to the characteristics of gear shifting operation. During gear shifting, the operating lever firstly exits from the current gear, returns to the neutral position and then enters a new gear from the neutral position, and the gear cannot be jumped during gear shifting, namely the change between the new gear and the old gear cannot exceed 1; if the gear 1 is changed to the gear 3, only the gear 2 can be entered first and then the gear 3 can be entered; the gear 5 is changed to the gear 3, and only the gear 4 can be backed first and then the gear 3 can be backed; and so on. Based on this shift operation characteristic, the result of the gear detection is evaluated in accordance with the evaluation method shown in fig. 5, and the evaluation output is used as a gear detection final value.
The above embodiments are not limited to the scope of the present invention, and all modifications or variations based on the basic idea of the present invention are included in the scope of the present invention.
Claims (9)
1. The automatic detection method for the gear of the manual transmission motor vehicle is characterized by comprising the following steps of: the method comprises the following steps:
(1) calibrating the maximum distribution range of the relative space attitude of the gears of the motor vehicle:
respectively collecting the space postures of the operating lever in the 1 st gear, the 2 nd gear, the 3 rd gear, the 4 th gear, the 5 th gear, the reverse gear or the neutral gear, and when the operating lever is in the maximum free stroke in the front, rear, left and right directions of the gear; simultaneously collecting the space attitude of the motor vehicle at the moment; then subtracting the space attitude of the motor vehicle from the space attitude of the operating lever, thereby calculating the relative space attitude of the operating lever in the maximum free travel of the operating lever in the front, rear, left and right directions of the gear; the maximum distribution range of the relative space attitude of the operating lever in the gear is calibrated by taking the operating lever as a boundary; according to the method, the maximum distribution range of the relative spatial postures of the operating lever at each gear is marked in sequence;
(2) gear detection:
a. firstly, acquiring the space attitude of a motor vehicle, and then acquiring the space attitude of an operating lever;
b. respectively carrying out conditional sliding window filtering processing on the space attitude value of the motor vehicle and the space attitude value of the operating lever acquired in the step a so as to eliminate the influence of external interference and noise in the acquisition process;
c. subtracting the processed space attitude value of the motor vehicle from the space attitude value of the operating lever processed in the step b to obtain a primary space attitude value of the gear at the moment;
d. comparing the initial spatial attitude value of the gear with the maximum distribution range of the relative spatial attitude of the operating lever in each gear calibrated in the step (1) to obtain a detection value of the gear state;
e. d, evaluating the detected value of the gear state obtained in the step d to eliminate the influence of the overlapping range between adjacent gears to obtain a gear state evaluation value;
in order to avoid the misjudgment of gear detection, the gear state is evaluated according to the characteristics of gear shifting operation; during gear shifting, the operating lever firstly exits from the current gear, returns to the neutral position and then enters a new gear from the neutral position, and the gear cannot be jumped during gear shifting, namely the change between the new gear and the old gear cannot exceed 1;
f. and displaying the gear state evaluation value as an actual state, and simultaneously sending the gear state evaluation value to an upper computer to finish the detection of the gear state for one time.
2. The automatic detection method according to claim 1, characterized in that: and (3) acquiring the spatial attitude in the steps (1) and (2) through a gyroscope.
3. The automatic detection method according to claim 1, wherein the spatial attitude in the step (1) is represented by coordinates (α, γ) of a northeast coordinate system having an axis pointing to the east as an X-axis, an axis pointing to the north as a Y-axis, and an axis pointing vertically upward as a Z-axis, wherein a yaw angle of the object when the object is deflected about the X-axis is referred to as a pitch angle and is represented by α, a yaw angle of the object when the object is deflected about the Y-axis is referred to as a roll angle and is represented by β, and a yaw angle of the object when the object is deflected about the Z-axis is referred to as a yaw angle and is represented by γ.
4. The automatic detection method according to claim 1, characterized in that: in the step b, the conditional sliding window filtering processing is to respectively carry out average value checking on the acquired space attitude values of the motor vehicle and the space attitude values of the operating lever according to the following formulas:
average of the previous N test values:
absolute error of current detected value:
σi＝|xi-av(xi)|
average of the first N detection errors:
the spatial attitude values are then:
when in use
In the formula xiFor the currently detected value, xi+1The value, x, obtained for the previous testi+2The value obtained for the second preceding test, … …, and so on, xi+NThe data value obtained from the previous Nth detection.
5. The automatic detection method according to claim 1, characterized in that: in step e, the detected value of the gear state is evaluated, and the steps are as follows:
(1) comparing the detected value of the current gear state with the detected value of the previous gear state, if the detected values are equal to each other, indicating that no gear shifting operation exists, and outputting the detected value of the gear state as a gear evaluation value; if they are not equal, it is indicated that a shift operation has been performed, and then the detected value of the shift position state is compared with the maximum distribution range of the neutral relative spatial attitude to determine whether it is neutral?
(2) If the detection value of the gear state is in the maximum distribution range of the relative spatial attitude of the neutral, the current gear is determined to be the neutral and output, and meanwhile, the previous gear state is updated to be the neutral; otherwise, determine if the previous gear state is neutral?
(3) If the previous gear state is a neutral gear, taking the detection value of the current gear state as a gear evaluation value and outputting the gear evaluation value, and updating the detection value of the previous gear state as the current gear state; if the previous shift state is not neutral, it is determined whether the current detected shift state is reverse?
(4) If the detection value of the current gear state is in the maximum distribution range of the reverse gear relative space posture, judging whether the previous gear state is 1 gear or not; if the last gear state is the 1 gear, evaluating the detection value of the current gear state as a reverse gear and outputting the detection value, and meanwhile updating the last gear state as the reverse gear; if the previous gear state is not the 1 gear, reporting a gear shift error, evaluating a detection value of the gear state as a reverse gear and outputting the detection value, and updating the previous gear state as the reverse gear;
(5) if the detection value of the current gear state is not within the maximum distribution range of the reverse gear relative spatial attitude, it is determined whether the previous gear is the reverse gear? If the previous gear is a reverse gear, judging whether the detected gear is a 1 gear; if so, evaluating the current gear state as 1 gear output, and updating the previous gear to be 1 gear; if not, reporting a gear shifting error, evaluating the detection value of the current gear state as a reverse gear and outputting, and updating the detection value of the previous gear state as the current gear state;
(6) if the previous gear is not the reverse gear, it is determined whether a gear skip occurs? If the gear skipping occurs, reporting a gear shifting error, directly outputting a detection value of the current gear state, and updating the detection value of the previous gear state which is also the current gear state; and if no gear skipping occurs, directly outputting the detection value of the current gear state, and updating the detection value of the previous gear state which is also the current gear state.
6. A testing apparatus for carrying out the automatic testing method according to claim 1, comprising a joystick (11) and a cartridge (15) mounted in a vehicle; the method is characterized in that: a fastener (12) is sleeved on the operating rod (11), a second gyroscope (13.2) is horizontally and fixedly arranged in the fastener (12), and the Y axis of the second gyroscope (13.2) is parallel to the central axis of the vehicle body; a first gyroscope (13.1) is horizontally arranged in the detection box (15), and the Y axis of the first gyroscope (13.1) is parallel to the central axis of the vehicle body; the second gyroscope (13.2) is interactively connected with the detection box (15) through a cable, and the detection box (15) is communicated with the upper computer (14).
7. The detection device according to claim 6, wherein: be equipped with singlechip (15.1) in detection box (15), singlechip (15.1) carries out interactive connection with first gyroscope (13.1), second gyroscope (13.2), memory (15.2) respectively, and the output of singlechip (15.1) is connected with charactron (15.4) through serial/parallel converting circuit (15.3) and is used for showing.
8. The detection device according to claim 7, wherein: the single chip microcomputer (15.1) is communicated with the upper computer (14) through the serial port/USB port converter (15.5) and the USB socket (15.6) in sequence, or is communicated with the upper computer (14) through the level conversion circuit (15.7) and the serial port socket (15.8) in sequence.
9. The detection device according to claim 7 or 8, wherein: the first gyroscope (13.1) and the second gyroscope (13.2) are MPU6050 gyroscopes, a CPU of the singlechip (15.1) is STM32F103, a memory (15.2) is a Flash chip W25Q64, a serial/parallel conversion circuit (15.3) is a 74HC164 shift register, a serial/USB port converter (15.5) is a CH340G chip, and a level conversion circuit (15.7) is a universal serial port chip SP3232E as a level conversion circuit of a TTL serial port and an RS232 serial port, so that serial port communication between the singlechip (15.1) and the upper computer (14) is realized.
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| CN111870938A (en) * | 2020-07-09 | 2020-11-03 | 天津津航计算技术研究所 | Control rod serial port drive design method based on windows under vxworks system |
| CN111870939A (en) * | 2020-07-09 | 2020-11-03 | 天津津航计算技术研究所 | Semaphore event-based joystick serial port drive design method under vxworks system |
| CN112520643B (en) * | 2020-11-30 | 2021-08-27 | 华南理工大学 | Controller gear detection method and system for practical operation examination and coaching of forklift driver |
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| DE19618811A1 (en) * | 1996-05-10 | 1997-11-13 | Zahnradfabrik Friedrichshafen | Method for evaluating a starting process in an automatic transmission |
| JPH1054454A (en) * | 1996-08-09 | 1998-02-24 | Toyota Motor Corp | Controller for automatic transmission |
| US7178419B2 (en) * | 2002-03-27 | 2007-02-20 | Aisin Aw Co., Ltd. | Control device with shift position detector, and power train with the control device |
| JP4168954B2 (en) * | 2004-02-26 | 2008-10-22 | トヨタ自動車株式会社 | Control device for vehicle drive device |
| DE102007026303B4 (en) * | 2007-06-06 | 2011-05-26 | Zf Friedrichshafen Ag | Selector lever module with 3D magnetic sensor element |
| CN103562601B (en) * | 2011-05-27 | 2016-01-20 | 丰田自动车株式会社 | The operating device of manual transmission for vehicle |
| DE102012212910B4 (en) * | 2012-07-24 | 2020-02-06 | Bayerische Motoren Werke Aktiengesellschaft | Switching device for switching a transmission |
| KR101543085B1 (en) * | 2013-10-22 | 2015-08-10 | 현대자동차주식회사 | Shifting state recognizing method for shifting manupulation apparatus |
| CN105203105B (en) * | 2015-09-30 | 2018-04-10 | 多伦科技股份有限公司 | The automobile gears information collecting device and acquisition method of a kind of micro-inertial measuring system |
| CN106678362B (en) * | 2016-12-27 | 2019-02-12 | 上海海积信息科技股份有限公司 | A kind of automobile gears judgment of learning method and apparatus |
| CN107356224A (en) * | 2017-07-14 | 2017-11-17 | 广东工业大学 | A kind of system for measuring automobile shift angle |
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