CN108288313B - Method and device for monitoring vehicle running state and vehicle - Google Patents
Method and device for monitoring vehicle running state and vehicle Download PDFInfo
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- CN108288313B CN108288313B CN201810075144.1A CN201810075144A CN108288313B CN 108288313 B CN108288313 B CN 108288313B CN 201810075144 A CN201810075144 A CN 201810075144A CN 108288313 B CN108288313 B CN 108288313B
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Abstract
The invention discloses a method and a device for monitoring a vehicle running state and a vehicle, wherein the method comprises the following steps: the method comprises the steps of obtaining current driving state information, generating road spectrum information, comparing driving state reference information corresponding to the road spectrum information with the current driving state information, determining whether the current driving state of a vehicle meets safety requirements or not according to a comparison result and a preset judgment criterion, and carrying out corresponding processing. According to the method, the device and the vehicle, the identification of the driving road spectrum is realized by utilizing the vehicle-mounted equipment, the road spectrum identification precision and accuracy are improved, different prompt settings are set aiming at different road spectrums, a driver can know the dangerous driving state of the vehicle in advance, and the driving comfort and safety are improved; through way register for easy reference information and the state of going warning, improve the standardization of driver's operation, can effectively reduce the fatigue damage of vehicle structure to can the automatic adjustment vehicle the state of going.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a method and a device for monitoring a vehicle running state.
Background
The wheel crane can not only run on the highway road surface at high speed and long distance, but also run on rugged or muddy places. For different driving roads, the unevenness of the road surface can affect the bumping degree of the crane during driving, thereby affecting the driving quality, the dynamic property of the vehicle and the dynamic stress of the structural member of the vehicle body. Due to the self-weight of the crane, when the running road surface is greatly fluctuated or bumpy, the vehicle runs at a high speed or the steering angle is overlarge, the crane structure member has great dynamic stress. If the crane is driven in this state for a long time, fatigue damage of the structural member may be accelerated, and stress fracture of the structural member may be even caused.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method and an apparatus for monitoring a driving state of a vehicle, and a vehicle.
According to one aspect of the present disclosure, there is provided a method for monitoring a driving state of a vehicle, including: acquiring current running state information of a vehicle; generating road spectrum information based on the current driving state information; acquiring driving state reference information corresponding to the road spectrum information, and comparing the driving state reference information with the current driving state information; and determining whether the current running state of the vehicle meets the safety requirement or not according to a preset judgment criterion based on the comparison result, and carrying out corresponding processing.
Optionally, the current driving state information is collected at regular time through a state collecting device; wherein the state parameter in the running state reference information and the state parameter in the current running state information include at least one parameter of a vehicle speed, a suspension pressure, a suspension stiffness, a suspension stroke, a wheel rotation angle, and a vehicle body inclination angle.
Optionally, the generating of the road spectrum information based on the current driving state information includes: determining a current vehicle weight value based on the suspension pressure value; determining the change amplitude values of the suspension pressure, the suspension stroke and the vehicle body inclination angle in unit time; and generating the road spectrum information based on the vehicle speed value, the vehicle weight value and the change amplitude value.
Optionally, the generating the road spectrum information based on the vehicle speed value, the vehicle weight value, and the change amplitude value includes: obtaining wave curves corresponding to the change amplitude values of the suspension pressure, the suspension stroke and the vehicle body inclination angle respectively through a preset algorithm; and generating a power spectral density curve corresponding to the road surface unevenness according to the vehicle weight value, the vehicle speed value and the amplitude change rate of the waveform curve by adopting a preset road spectrum calculation model, determining the longitudinal amplitude change rate of the power spectral density curve, and obtaining the road spectrum information.
Optionally, the acquiring, by the state acquisition device, the current driving state information includes: acquiring a current vehicle speed value in real time through a vehicle speed sensor; collecting a suspension pressure value through a suspension pressure sensor; acquiring a suspension stroke value through a suspension stroke sensor; acquiring a suspension stiffness value through a suspension stiffness detection device; collecting a wheel rotation angle value in the driving process through a tire rotation angle sensor; and acquiring a vehicle body inclination angle value through a vehicle body inclination angle sensor.
Optionally, the determining, based on the comparison result and according to a preset decision criterion, whether the current driving state of the vehicle meets the safety requirement, and performing corresponding processing includes: acquiring driving state reference information corresponding to the road spectrum information and the vehicle weight value, and acquiring a numerical limiting range of state parameters in the driving state reference information; judging whether the value of the state parameter in the current running state information is in the value limit range corresponding to the state parameter; if so, determining that the current running state of the vehicle meets the safety requirement; if not, judging whether the duration that the numerical value of the state parameter in the current running state information is not in the numerical value limit range corresponding to the state parameter is greater than a preset duration threshold, and if so, determining that the current running state of the vehicle does not meet the safety requirement.
Optionally, the performing corresponding processing includes: if the current running state of the vehicle is determined not to meet the safety requirement, determining a state parameter exceeding the numerical value limit range in the current running state information, adjusting the running state of the vehicle based on the state parameter, and generating reminding information for reminding based on the state parameter, wherein the reminding mode comprises the following steps: a text message reminding mode and an acousto-optic reminding mode; and if the current running state of the vehicle is determined to meet the safety requirement, displaying the current running state information in a display device.
Optionally, it is determined whether the vehicle is in a driving state based on the vehicle speed value, and if so, road spectrum information is generated based on the current driving state information.
According to another aspect of the present disclosure, there is provided an apparatus for monitoring a driving state of a vehicle, including: the information acquisition module is used for acquiring the current running state information of the vehicle; the road spectrum generating module is used for generating road spectrum information based on the current driving state information; the state comparison module is used for acquiring driving state reference information corresponding to the road spectrum information and comparing the driving state reference information with the current driving state information; and the judgment processing module is used for determining whether the current running state of the vehicle meets the safety requirement or not based on the comparison result and according to a preset judgment criterion, and carrying out corresponding processing.
Optionally, the information acquiring module is configured to acquire the current driving state information at regular time through a state acquiring device; wherein the state parameter in the running state reference information and the state parameter in the current running state information include at least one parameter of a vehicle speed, a suspension pressure, a suspension stiffness, a suspension stroke, a wheel rotation angle, and a vehicle body inclination angle.
Optionally, the road spectrum generation module is configured to determine a current vehicle weight value based on a suspension pressure value; determining the change amplitude values of the suspension pressure, the suspension stroke and the vehicle body inclination angle in unit time; and generating the road spectrum information based on the vehicle speed value, the vehicle weight value and the change amplitude value.
Optionally, the road spectrum generation module is configured to obtain, through a preset algorithm, waveform curves corresponding to the amplitude values of the changes in the suspension pressure, the suspension stroke, and the vehicle body inclination angle respectively; and generating a power spectral density curve corresponding to the road surface unevenness according to the vehicle weight value, the vehicle speed value and the amplitude change rate of the waveform curve by adopting a preset road spectrum calculation model, determining the longitudinal amplitude change rate of the power spectral density curve, and obtaining the road spectrum information.
Optionally, the information acquisition module is configured to acquire a current vehicle speed value in real time through a vehicle speed sensor; collecting a suspension pressure value through a suspension pressure sensor; acquiring a suspension stroke value through a suspension stroke sensor; acquiring a suspension stiffness value through a suspension stiffness detection device; collecting a wheel rotation angle value in the driving process through a tire rotation angle sensor; and acquiring a vehicle body inclination angle value through a vehicle body inclination angle sensor.
Optionally, the state comparison module is configured to obtain driving state reference information corresponding to the road spectrum information and the vehicle weight value, and obtain a numerical limit range of a state parameter in the driving state reference information; the judgment processing module is used for judging whether the value of the state parameter in the current running state information is in the value limit range corresponding to the state parameter; if so, determining that the current running state of the vehicle meets the safety requirement; if not, judging whether the duration that the numerical value of the state parameter in the current running state information is not in the numerical value limit range corresponding to the state parameter is greater than a preset duration threshold, and if so, determining that the current running state of the vehicle does not meet the safety requirement.
Optionally, the decision processing module is configured to determine a state parameter exceeding the limited range of the numerical value in the current driving state information if it is determined that the current driving state of the vehicle does not meet the safety requirement, adjust the driving state of the vehicle based on the state parameter, and generate a reminding message for reminding based on the state parameter, where the reminding method includes: a text message reminding mode and an acousto-optic reminding mode; and if the current running state of the vehicle is determined to meet the safety requirement, displaying the current running state information in a display device.
Optionally, the road spectrum generating module is configured to determine whether the vehicle is in a driving state based on the vehicle speed value, and if so, generate road spectrum information based on the current driving state information.
According to yet another aspect of the present disclosure, there is provided a vehicle including: the device for monitoring the driving state of the vehicle is described above.
Optionally, the vehicle comprises: a wheeled crane.
According to still another aspect of the present disclosure, there is provided an apparatus for monitoring a driving state of a vehicle, including: a memory; and a processor coupled to the memory, the processor configured to perform the method for monitoring a vehicle driving state of any of the above based on instructions stored in the memory.
According to yet another aspect of the present disclosure, a computer-readable storage medium is provided, storing computer instructions which, when executed by a processor, implement the method for monitoring a driving state of a vehicle as recited in any one of the above.
The method, the device and the vehicle for monitoring the vehicle running state acquire current running state information, generate road spectrum information, compare running state reference information corresponding to the road spectrum information with the current running state information, determine whether the current running state of the vehicle meets safety requirements or not based on a comparison result and according to a preset judgment criterion, and perform corresponding processing; the identification of the driving road spectrum is realized by utilizing the vehicle-mounted equipment, the identification precision and accuracy of the road spectrum are improved, different prompt settings are set aiming at different road spectrums, the driver can know the dangerous driving state of the vehicle in advance, and the driving comfort and safety can be improved; the driving state is reminded through road spectrum information, so that the operation standardization of a driver is improved, and the fatigue damage of a vehicle structural member can be effectively reduced; when prompting, the vehicle running state can be automatically adjusted by the aid of visual reminding of the indicator lamps and the characters.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive exercise.
FIG. 1 is a schematic flow chart diagram of one embodiment of a method for monitoring a driving condition of a vehicle according to the present disclosure;
FIG. 2 is a schematic flow chart diagram of another embodiment of a method for monitoring a driving condition of a vehicle according to the present disclosure;
FIG. 3 is a schematic diagram of modules of one embodiment of an apparatus for monitoring a driving state of a vehicle and connections to other devices according to the present disclosure;
FIG. 4 is a block schematic diagram of another embodiment of an apparatus for monitoring a driving state of a vehicle according to the present disclosure.
Detailed Description
The present disclosure now will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the disclosure are shown. The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
Fig. 1 is a schematic flow diagram of one embodiment of a method for monitoring a driving state of a vehicle according to the present disclosure, as shown in fig. 1:
And 102, generating road spectrum information based on the current running state information.
The road spectrum refers to a road surface spectrum, which is called road spectrum for short, and refers to a power spectral density curve of road surface roughness. The road surface unevenness of the automobile vibration input is mainly described by using the displacement power spectral density, and the time history of the road surface unevenness can be regarded as a stable random process. The road surface image information and the flatness information in front of the vehicle can be collected, and the flatness information can be used as correction information of image recognition.
And 103, acquiring the driving state reference information corresponding to the road spectrum information, and comparing the driving state reference information with the current driving state information.
A plurality of types of running state reference information corresponding to a plurality of types of road spectrum information are stored in advance, and the running state reference information includes a maximum vehicle speed for running, a suspension stiffness, a maximum steering angle of one axle tire, and the like.
And 104, determining whether the current running state of the vehicle meets the safety requirement or not according to a preset judgment criterion based on the comparison result, and performing corresponding processing.
The current running state information is regularly acquired through a state acquisition device, and the state parameters in the running state reference information and the state parameters in the current running state information comprise the speed, the pressure of a suspension, the rigidity of the suspension, the stroke of the suspension, the turning angle of wheels, the inclination angle of a vehicle body and the like. The suspension is a connecting device between the vehicle frame and the axle or the wheel, and is used for buffering the impact force transmitted to the vehicle frame or the vehicle body from an uneven road surface and attenuating the vibration of the vehicle body caused by the impact force.
The state acquisition device may include various sensors, detection devices, and the like. For example, a current vehicle speed value is collected in real time through a vehicle speed sensor; collecting a suspension pressure value through a suspension pressure sensor; acquiring a suspension stroke value through a suspension stroke sensor; acquiring a suspension stiffness value through a suspension stiffness detection device; collecting a wheel rotation angle value in the driving process through a tire rotation angle sensor; and acquiring a vehicle body inclination angle value through a vehicle body inclination angle sensor.
In one embodiment, it is determined whether the vehicle is in a driving state based on the vehicle speed value, and if so, road spectrum information is generated based on current driving state information. The driving state information of the vehicle is collected through a state collecting device, such as a vehicle speed sensor, a suspension pressure sensor, a suspension travel sensor, an inclination angle sensor, a corner sensor and the like, and the current road spectrum information of the vehicle during driving is obtained by collecting the driving state information of the vehicle and carrying out data processing and analysis on the collected information.
Various methods may be employed to generate the road spectrum information based on the current driving state information. For example, a current vehicle weight value is determined based on the suspension pressure value, amplitude values of the suspension pressure, the suspension stroke and the vehicle body inclination angle in unit time are determined, and road spectrum information is generated based on the vehicle speed value, the vehicle weight value and the amplitude values. The method comprises the steps of obtaining waveform curves corresponding to change amplitude values of suspension pressure, suspension travel and vehicle body inclination angle through a preset algorithm, generating a power spectral density curve corresponding to road surface unevenness by adopting a preset road spectrum calculation model according to a vehicle weight value, a vehicle speed value and the amplitude change rate of the waveform curves, determining the longitudinal amplitude change rate of the power spectral density curve, and obtaining road spectrum information.
The road spectrum information may be generated in various ways, for example, the amplitude change rate of the wave curve corresponding to the amplitude value of the vehicle body inclination angle may reflect the unevenness of the road surface of the current road. And generating a power spectral density curve by adopting a preset road spectrum calculation model according to the vehicle weight value, the vehicle speed value and the amplitude change rate of the waveform curve corresponding to the change amplitude values of the suspension pressure, the suspension stroke and the vehicle body inclination angle, and obtaining the longitudinal amplitude change rate of the power spectral density curve, namely converting the longitudinal amplitude change rate into the waveform curve according to a corresponding control algorithm, wherein the longitudinal amplitude change rate of the curve is the obtained road spectrum information. The preset algorithm for obtaining the wave curve can be various existing algorithms, the preset road spectrum calculation model can be various existing calculation models, and the algorithm adopted by the road spectrum calculation model can comprise a fast Fourier algorithm and the like.
In one embodiment, travel state reference information corresponding to the road map information and the vehicle weight value is acquired, and a numerical limit range of the state parameter in this travel state reference information is acquired. Judging whether the value of the state parameter in the current running state information is in the value limit range corresponding to the state parameter, if so, determining that the current running state of the vehicle meets the safety requirement; if not, judging whether the duration that the value of the state parameter in the current running state information is not in the value limit range corresponding to the state parameter is greater than a preset duration threshold (the duration threshold can be set, for example, 10 seconds, 15 seconds and the like), and if so, determining that the current running state of the vehicle does not meet the safety requirement.
If the current running state of the vehicle is determined not to meet the safety requirement, determining a state parameter exceeding a numerical value limit range in the current running state information, adjusting the running state of the vehicle based on the state parameter, and generating reminding information for reminding based on the state parameter, wherein the reminding mode comprises the following steps: a text message reminding mode, an acousto-optic reminding mode and the like; and if the current running state of the vehicle is determined to meet the safety requirement, displaying the current running state information in the display device.
For example, if it is determined that the current driving state deviates from the reference value of the state parameter, a sound-light alarm and a text prompt are performed through a human-computer interaction system, so that the driver is informed of the need to adjust the driving state, and can be instructed to adjust the driving state of the vehicle, such as reducing the vehicle speed, reducing the wheel rotation angle, adjusting the suspension stiffness, and the like. Can carry out the vision through vehicle-mounted display and remind the driver, the corresponding pilot lamp carries out the scintillation and reports to the police to there is the characters suggestion, for preventing that the driver is not convenient for observe the characters suggestion, vehicle-mounted display carries out voice broadcast simultaneously and reminds. If it is determined that the current running state of the vehicle satisfies the safety requirement, current running state information or the like is displayed in the display device.
By comparing the vehicle running state information (such as vehicle speed, suspension stiffness, wheel rotation angle and the like) under the current road spectrum with the preset running state reference information corresponding to the road spectrum, if the current running state value does not meet or exceed the state value in the running state reference information and is maintained for a certain time, the display can carry out corresponding audible and visual alarm and text reminding, guide a driver to adjust the running state of the vehicle (such as reducing the vehicle speed, reducing the wheel rotation angle, adjusting the suspension stiffness and the like) or automatically limit the maximum vehicle speed and the vehicle rotation angle of the vehicle by a control system, and automatically adjust the suspension stiffness according to the road spectrum.
In one embodiment, the driving state reference information (safe driving state) corresponding to different road spectrums under different vehicle body configuration conditions can be preset in advance, and meanwhile, a safety early warning state threshold value is set to serve as early warning of a critical state. For example, when the vehicle weight is M0, the driving state reference information corresponding to the road spectrum 1 is: maximum vehicle speed v0, suspension stiffness g0, one-axle maximum steering angle a 0; the safety early warning state threshold value is as follows: maximum vehicle speed v1, suspension stiffness g1, one-axle maximum steering angle a 1; the driving state reference information corresponding to the road spectrum 2 is: maximum vehicle speed v2, suspension stiffness g2, one-axle maximum steering angle a 2; the safety early warning state threshold value is as follows: maximum vehicle speed v3, suspension stiffness g3, one-axle maximum steering angle a 3); by analogy, the safe driving state corresponding to the road spectrum n is as follows: the maximum vehicle speed vx, the suspension stiffness gx and the maximum steering angle ax of one axle, and the early warning state is as follows: maximum vehicle speed vy, suspension stiffness gy and axle maximum steering angle ay. And different driving state reference information and safety early warning state threshold values exist for different vehicle weight values. And when the current driving state information does not meet the safety early warning state threshold value, the display performs acousto-optic reminding.
The method for monitoring the vehicle running state in the embodiment can automatically identify the unevenness (road spectrum) of the running road surface, monitor the running states under different road spectrums in real time, compare the current running state with the running state reference value of the preset road spectrum, and if the current vehicle running state does not meet or exceed the running state reference value under the preset road spectrum for a certain time, the vehicle-mounted display can perform sound-light alarm and text prompt to guide a driver to adjust the running state of the vehicle or the system automatically adjusts the running state, so that the vehicle is guaranteed to run in the optimal state, the running safety is improved, and the fatigue damage of structural parts caused by dynamic stress is reduced.
Fig. 2 is a schematic flow diagram of another embodiment of a method for monitoring a driving state of a vehicle according to the present disclosure, as shown in fig. 2:
The current vehicle speed can be acquired in real time through a vehicle speed sensor; acquiring the pressure of a suspension group through suspension pressure sensors arranged in different directions; acquiring the strokes of each group of suspensions through suspension stroke sensors; acquiring the suspension stiffness of the current vehicle through suspension stiffness detection; acquiring the front and rear direction inclination angle and the left and right direction inclination angle of the vehicle body through a vehicle body inclination angle sensor; the current steering angle of the tire in the driving process is acquired through a steering angle sensor.
The collected suspension pressure of each group can be converted into the current vehicle weight and the corresponding axle load of each axle, so that the current running configuration condition of the vehicle can be known. The method comprises the steps of analyzing according to the current vehicle weight, the current vehicle speed and the change amplitude of the suspension pressure, the suspension stroke and the vehicle body inclination angle in unit time, generating current road spectrum information according to an analysis result in a certain time period, wherein the road spectrum information (reflecting road surface unevenness) is positively correlated with the vehicle speed, is positively correlated with the change amplitude of the suspension pressure, the suspension stroke and the vehicle body inclination angle and is negatively correlated with the vehicle weight.
And step 204, acquiring preset driving state reference information corresponding to the road spectrum information.
And step 206, judging whether the current state is in a safe driving state, if so, entering step 207, and if not, entering step 208.
And step 208, performing audible and visual alarm and performing text reminding on the display.
Step 209 automatically adjusts the driving state.
When the vehicle is detected to be in a running state, the current running state information is automatically acquired and processed, the variation amplitude of the suspension pressure, the suspension stroke and the vehicle body inclination angle in unit time is converted into a waveform curve through a control algorithm, and a current running road spectrum is deduced according to the current vehicle weight, the vehicle speed and the waveform curve amplitude variation rate.
And automatically calling preset driving state reference information set under the road spectrum according to the current driving road spectrum, and comparing the current driving state with the preset driving state reference information, wherein the driving state reference information comprises an early warning state value and a safe driving state value. When a certain driving state value reaches the early warning state value, the display is provided with an early warning indicator light and early warning voice character reminding for reminding a driver of paying attention to own driving behavior. If the safety driving state value reaches or exceeds the preset safety driving state value, the alarm indicating lamp of the display can carry out high-frequency flicker alarm and alarm voice character prompt.
If the current driving states all meet the states under the preset road spectrum, the display does not give an alarm and only displays the current road spectrum conditions and the driving states of the vehicles. If the vehicle state is not changed within a preset time threshold (for example, 10 seconds, 15 seconds and the like) after the alarm and the prompt, the maximum vehicle speed and the maximum wheel rotation angle of the vehicle are automatically limited and the suspension stiffness is adjusted according to the road spectrum information so as to meet the driving safety and driving comfort of the vehicle.
Corresponding driving state reference information can be set aiming at different weight configurations and different road spectrums of the vehicle, and the driving state reference information comprises: a safe driving state value and a safe driving early warning value. Under the condition that the weight of the vehicle is certain, the set safe driving state value and the early warning value are different when the road spectrum is different; under the same road spectrum, the weight of the vehicle is different, and the set safe driving state value and the early warning value are also different. And giving an alarm and carrying out voice prompt on the driving state which does not meet the early warning value or the safety value, and guiding a driver to adjust the current driving state. When the normal driving state is not satisfied, the indicator light of the vehicle-mounted display flashes for alarm and text prompt, so that the driver is visually reminded.
In one embodiment, as shown in fig. 3, the present disclosure provides an apparatus 30 for monitoring a driving state of a vehicle, including: an information acquisition module 31, a road spectrum generation module 32, a state comparison module 33 and a decision processing module 34.
The information acquisition module 31 acquires current running state information of the vehicle. The road spectrum generation module 32 generates road spectrum information based on the current travel state information. The state comparison module 33 acquires the driving state reference information corresponding to the road spectrum information, and compares the driving state reference information with the current driving state information. The judgment processing module 34 determines whether the current driving state of the vehicle meets the safety requirement based on the comparison result and according to a preset judgment criterion, and performs corresponding processing.
The information acquisition module 31 acquires current driving state information at regular time through a state acquisition device, and the state parameters in the driving state reference information and the state parameters in the current driving state information include parameters such as vehicle speed, suspension pressure, suspension stiffness, suspension travel, wheel rotation angle, vehicle body inclination angle and the like. The information acquisition module 31 acquires the current vehicle speed value in real time through the vehicle speed sensor 361; the information acquisition module 31 acquires a suspension pressure value through the suspension pressure sensor 362; the information acquisition module 31 acquires a suspension stroke value through the suspension stroke sensor 363; the information acquisition module 31 acquires a suspension stiffness value through the suspension stiffness detection device 364; the information acquisition module 31 acquires a wheel rotation angle value in the driving process through the tire rotation angle sensor 366; the information acquisition module 31 acquires a vehicle body inclination value through the vehicle body inclination sensor 365.
In one embodiment, the road map generation module 32 determines whether the vehicle is in a driving state based on the vehicle speed value, and if so, generates road map information based on the current driving state information. The road spectrum generation module 32 determines a current vehicle weight value based on the suspension pressure value, determines a change amplitude value of the suspension pressure, the suspension stroke and the vehicle body inclination angle in unit time, and generates road spectrum information based on the vehicle speed value, the vehicle weight value and the change amplitude value.
The road spectrum generation module 32 may obtain the waveform curves corresponding to the values of the variation amplitudes of the suspension pressure, the suspension stroke, and the vehicle body inclination angle, respectively, through a preset algorithm. The road spectrum generating module 32 generates a power spectral density curve corresponding to the road surface unevenness by using a preset road spectrum calculation model according to the vehicle weight value, the vehicle speed value and the amplitude change rate of the waveform curve, determines the longitudinal amplitude change rate of the power spectral density curve, and obtains road spectrum information.
The determination processing module 34 acquires the driving state reference information corresponding to the road spectrum information and the vehicle weight value, and acquires the numerical limitation range of the state parameter in the driving state reference information. The judgment processing module 34 judges whether the value of the state parameter in the current driving state information is within the value limit range corresponding to the state parameter, if so, the judgment processing module 34 determines that the current driving state of the vehicle meets the safety requirement; if not, the judgment processing module 34 judges whether the duration that the value of the state parameter in the current driving state information is not in the value limit range corresponding to the state parameter is greater than a preset duration threshold, and if so, the judgment processing module 34 determines that the current driving state of the vehicle does not meet the safety requirement.
If the decision processing module 34 determines that the current driving state of the vehicle does not meet the safety requirement, it determines a state parameter exceeding a numerical value limit range in the current driving state information, adjusts the driving state of the vehicle based on the state parameter, and generates a reminding message for reminding based on the state parameter, wherein the reminding mode includes: a text message reminding mode, an acousto-optic reminding mode and the like. If it is determined that the current driving state of the vehicle satisfies the safety requirement, the decision processing module 34 displays the current driving state information in the display device. The state display and adjustment unit 35 performs text message reminding and sound and light reminding, and can automatically adjust the driving state of the vehicle, such as the vehicle speed, the steering angle, the suspension stiffness and the like.
In one embodiment, the present disclosure provides a vehicle comprising the apparatus for monitoring a driving state of the vehicle as in any one of the above embodiments. The vehicle includes a wheel crane and the like. The wheel crane is a boom rotating crane that travels using a tire type chassis.
FIG. 4 is a block schematic diagram of another embodiment of an apparatus for monitoring a driving state of a vehicle according to the present disclosure. As shown in fig. 4, the apparatus may include a memory 41, a processor 42, a communication interface 43, and a bus 44. The memory 41 is used for storing instructions, the processor 42 is coupled to the memory 41, and the processor 42 is configured to implement the method for monitoring the driving state of the vehicle described above based on the instructions stored in the memory 41.
The memory 41 may be a high-speed RAM memory, a nonvolatile memory (NoN-volatile memory), or the like, and the memory 41 may be a memory array. The storage 41 may also be partitioned, and the blocks may be combined into virtual volumes according to certain rules. The processor 42 may be a central processing unit CPU, or an application Specific Integrated circuit asic, or one or more Integrated circuits configured to implement the method for monitoring a driving state of a vehicle of the present disclosure.
In one embodiment, the present disclosure also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, which when executed by a processor, implement the method for monitoring the driving state of a vehicle as any one of the above embodiments relates to. As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Thus far, the present disclosure has been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
The method, the device and the vehicle for monitoring the vehicle running state provided by the embodiment acquire the current running state information and generate the road spectrum information, compare the running state reference information corresponding to the road spectrum information with the current running state information, determine whether the current running state of the vehicle meets the safety requirement based on the comparison result and according to the preset judgment criterion, and perform corresponding processing; the identification of the driving road spectrum is realized by utilizing the vehicle-mounted equipment, the identification precision and accuracy of the road spectrum are improved, different prompt settings are set aiming at different road spectrums, the driver can know the dangerous driving state of the vehicle in advance, and the driving comfort and safety can be improved; the driving state is reminded through road spectrum information, so that the operation standardization of a driver is improved, and the fatigue damage of a vehicle structural member can be effectively reduced; when prompting, the visual reminding of the indicator light and the characters and the auditory reminding of the voice are provided, the identification degree of the reminding is increased, and the driving state of the vehicle can be automatically adjusted.
The method and system of the present disclosure may be implemented in a number of ways. For example, the methods and systems of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.
The description of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the disclosure and the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (14)
1. A method for monitoring a driving state of a vehicle, comprising:
acquiring current running state information of a vehicle;
generating road spectrum information based on the current driving state information, including:
determining a current vehicle weight value based on the suspension pressure value; determining the change amplitude values of the suspension pressure, the suspension stroke and the vehicle body inclination angle in unit time; obtaining wave curves corresponding to the change amplitude values of the suspension pressure, the suspension stroke and the vehicle body inclination angle respectively through a preset algorithm;
generating a power spectral density curve corresponding to road surface unevenness according to the vehicle weight value, the vehicle speed value and the amplitude change rate of the waveform curve by adopting a preset road spectrum calculation model, determining the longitudinal amplitude change rate of the power spectral density curve, and obtaining the road spectrum information;
acquiring driving state reference information corresponding to the road spectrum information, and comparing the driving state reference information with the current driving state information;
determining whether the current driving state of the vehicle meets the safety requirement or not based on the comparison result and according to a preset judgment criterion, and carrying out corresponding processing, wherein the processing comprises the following steps:
acquiring driving state reference information corresponding to the road spectrum information and the vehicle weight value, and acquiring a numerical limiting range of state parameters in the driving state reference information; judging whether the value of the state parameter in the current running state information is in the value limit range corresponding to the state parameter;
if so, determining that the current running state of the vehicle meets the safety requirement; if not, judging whether the duration that the numerical value of the state parameter in the current running state information is not in the numerical value limit range corresponding to the state parameter is greater than a preset duration threshold, and if so, determining that the current running state of the vehicle does not meet the safety requirement.
2. The method of claim 1, wherein the obtaining current driving state information of the vehicle comprises:
acquiring the current driving state information at regular time through a state acquisition device;
wherein the state parameter in the running state reference information and the state parameter in the current running state information include at least one parameter of a vehicle speed, a suspension pressure, a suspension stiffness, a suspension stroke, a wheel rotation angle, and a vehicle body inclination angle.
3. The method of claim 2, wherein the collecting of the current driving state information by a state collection device comprises:
acquiring a current vehicle speed value in real time through a vehicle speed sensor; collecting a suspension pressure value through a suspension pressure sensor; acquiring a suspension stroke value through a suspension stroke sensor; acquiring a suspension stiffness value through a suspension stiffness detection device; collecting a wheel rotation angle value in the driving process through a tire rotation angle sensor; and acquiring a vehicle body inclination angle value through a vehicle body inclination angle sensor.
4. The method of claim 3, wherein the performing the respective processing comprises:
if the current running state of the vehicle is determined not to meet the safety requirement, determining a state parameter exceeding the numerical value limit range in the current running state information, adjusting the running state of the vehicle based on the state parameter, and generating reminding information for reminding based on the state parameter, wherein the reminding mode comprises the following steps: a text message reminding mode and an acousto-optic reminding mode;
and if the current running state of the vehicle is determined to meet the safety requirement, displaying the current running state information in a display device.
5. The method of claim 2, further comprising:
and determining whether the vehicle is in a running state or not based on the vehicle speed value, and if so, generating road spectrum information based on the current running state information.
6. An apparatus for monitoring a driving state of a vehicle, comprising:
the information acquisition module is used for acquiring the current running state information of the vehicle;
the road spectrum generating module is used for generating road spectrum information based on the current driving state information;
the road spectrum generating module is used for determining a current vehicle weight value based on a suspension pressure value; determining the change amplitude values of the suspension pressure, the suspension stroke and the vehicle body inclination angle in unit time; obtaining wave curves corresponding to the change amplitude values of the suspension pressure, the suspension stroke and the vehicle body inclination angle respectively through a preset algorithm; generating a power spectral density curve corresponding to road surface unevenness according to the vehicle weight value, the vehicle speed value and the amplitude change rate of the waveform curve by adopting a preset road spectrum calculation model, determining the longitudinal amplitude change rate of the power spectral density curve, and obtaining the road spectrum information;
the state comparison module is used for acquiring driving state reference information corresponding to the road spectrum information and comparing the driving state reference information with the current driving state information;
the judgment processing module is used for determining whether the current running state of the vehicle meets the safety requirement or not based on the comparison result and according to a preset judgment criterion, and carrying out corresponding processing;
the state comparison module is used for acquiring driving state reference information corresponding to the road spectrum information and the vehicle weight value and acquiring a numerical value limit range of state parameters in the driving state reference information;
the judgment processing module is used for judging whether the value of the state parameter in the current running state information is in the value limit range corresponding to the state parameter; if so, determining that the current running state of the vehicle meets the safety requirement; if not, judging whether the duration that the numerical value of the state parameter in the current running state information is not in the numerical value limit range corresponding to the state parameter is greater than a preset duration threshold, and if so, determining that the current running state of the vehicle does not meet the safety requirement.
7. The apparatus of claim 6, wherein,
the information acquisition module is used for acquiring the current running state information at regular time through the state acquisition device;
wherein the state parameter in the running state reference information and the state parameter in the current running state information include at least one parameter of a vehicle speed, a suspension pressure, a suspension stiffness, a suspension stroke, a wheel rotation angle, and a vehicle body inclination angle.
8. The apparatus of claim 7, wherein,
the information acquisition module is used for acquiring a current vehicle speed value in real time through a vehicle speed sensor; collecting a suspension pressure value through a suspension pressure sensor; acquiring a suspension stroke value through a suspension stroke sensor; acquiring a suspension stiffness value through a suspension stiffness detection device; collecting a wheel rotation angle value in the driving process through a tire rotation angle sensor; and acquiring a vehicle body inclination angle value through a vehicle body inclination angle sensor.
9. The apparatus of claim 7, wherein,
the judgment processing module is used for determining a state parameter exceeding the numerical value limit range in the current running state information if the current running state of the vehicle is determined not to meet the safety requirement, adjusting the running state of the vehicle based on the state parameter, and generating reminding information for reminding based on the state parameter, wherein the reminding mode comprises the following steps: a text message reminding mode and an acousto-optic reminding mode; and if the current running state of the vehicle is determined to meet the safety requirement, displaying the current running state information in a display device.
10. The apparatus of claim 7, wherein,
the road spectrum generating module is used for determining whether the vehicle is in a running state or not based on the vehicle speed value, and if so, generating road spectrum information based on the current running state information.
11. A vehicle, characterized by comprising:
the apparatus for monitoring a driving state of a vehicle according to any one of claims 6 to 10.
12. The vehicle according to claim 11, wherein,
the vehicle includes: a wheeled crane.
13. An apparatus for monitoring a driving state of a vehicle, comprising:
a memory; and a processor coupled to the memory, the processor configured to perform the method for monitoring a vehicle driving state of any of claims 1-5 based on instructions stored in the memory.
14. A computer-readable storage medium storing computer instructions which, when executed by a processor, implement a method for monitoring a driving state of a vehicle as claimed in any one of claims 1 to 5.
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| CN112509173B (en) * | 2020-12-08 | 2023-03-03 | 中国第一汽车股份有限公司 | Vehicle monitoring method, device, equipment and storage medium |
| CN112800549B (en) * | 2021-03-04 | 2022-05-27 | 山东大学 | Automobile road spectrum synthesis method and system based on horizontal speed and vertical speed |
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