CN108414789A - A kind of measuring system and its measurement method of automobile barycenter side acceleration - Google Patents
A kind of measuring system and its measurement method of automobile barycenter side acceleration Download PDFInfo
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- CN108414789A CN108414789A CN201810211198.6A CN201810211198A CN108414789A CN 108414789 A CN108414789 A CN 108414789A CN 201810211198 A CN201810211198 A CN 201810211198A CN 108414789 A CN108414789 A CN 108414789A
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- measurement point
- acceleration
- side acceleration
- automobile barycenter
- automobile
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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Abstract
The invention discloses a kind of measuring systems of automobile barycenter side acceleration, including：Lateral acceleration sensor is arranged in the measurement point for being located at same level with automobile barycenter；Yaw-rate sensor is arranged in the measurement point；Wheel speed sensors are arranged on wheel drive axis；Controller is connect with the lateral acceleration sensor, yaw-rate sensor and wheel speed sensors, for receiving the lateral acceleration sensor, yaw-rate sensor and the detection data of wheel speed sensors, and obtains automobile barycenter side acceleration.The measuring system of automobile barycenter side acceleration of the present invention need not arrange lateral acceleration sensor in centroid position, and measurement accuracy is higher.The present invention also provides a kind of measurement methods of automobile barycenter side acceleration, can be obtained more accurately automobile barycenter side acceleration through coordinate transform after being modified to the measurement result of measurement point.
Description
Technical field
The present invention relates to Automobile Measuring Techniques fields, and more particularly, the present invention relates to a kind of automobile barycenter laterally to accelerate
The measuring system and its measurement method of degree.
Background technology
With the development of society, requirement of the people to vehicle safety is higher and higher, vehicle stability controlled system is in vehicle
Application on is more and more common.In vehicle stability controlled system, automobile barycenter side acceleration is one very crucial
Parameter, automobile barycenter side acceleration is typically to measure, and the measurement accuracy of automobile barycenter side acceleration is higher, vehicle
Stability contorting effect it is better.But due to arrangement, lateral acceleration sensor is difficult to be arranged into centroid position, this leads
It causes the side acceleration actually measured to have very large deviation with side acceleration at automobile barycenter, influences measuring accuracy.
Invention content
The purpose of the present invention is designed and developed a kind of measuring system of automobile barycenter side acceleration, it is only necessary to pair and automobile
The measurement point that barycenter is located at same level measures, and need not arrange lateral acceleration sensor in centroid position, and
Measurement accuracy is higher.
Another object of the present invention is to design and develop a kind of measurement method of automobile barycenter side acceleration, passes through measurement
It is located at side acceleration, yaw velocity and the speed of the measurement point of same level, the measurement to measurement point with automobile barycenter
As a result it is calculated after being modified and can be obtained more accurately automobile barycenter side acceleration.
Technical solution provided by the invention is：
A kind of measuring system of automobile barycenter side acceleration, including：
Lateral acceleration sensor is arranged in the measurement point for being located at same level with automobile barycenter；
Yaw-rate sensor is arranged in the measurement point；
Wheel speed sensors are arranged on wheel drive axis；
Controller connect with the lateral acceleration sensor, yaw-rate sensor and wheel speed sensors, is used for
The detection data of the lateral acceleration sensor, yaw-rate sensor and wheel speed sensors is received, and obtains automobile matter
Heart side acceleration.
Preferably, the controller includes：
Parameters revision module, for receiving the lateral acceleration sensor, yaw-rate sensor and wheel speed sensing
The detection data of device, and obtain the modifying factor of the side acceleration of the measurement point；
Correction module, for obtaining the practical side acceleration of the measurement point according to the modifying factor；
Coordinate transferring is converted to automobile matter for the practical side acceleration according to told measurement point through coordinate
The side acceleration of the heart.
Correspondingly, the present invention also provides a kind of measurement method of automobile barycenter side acceleration, include the following steps：
Step 1：The parameters revision module of controller receive the lateral acceleration sensor, yaw-rate sensor and
The detection data of wheel speed sensors show that the modifying factor of the side acceleration of the measurement point is：
Wherein, faFor the modifying factor of the side acceleration of measurement point, asMeasurement point is surveyed by lateral acceleration sensor
Side acceleration, υ are speed,For the yaw velocity of measurement point,For the sideway angular acceleration of measurement point, lxFor measurement point
With automobile barycenter at a distance from vehicle body horizontal direction, lyIt is measurement point and automobile barycenter along horizontal vertical vehicle body horizontal direction
Distance.
Step 2：Correction module obtains the practical side acceleration of the measurement point according to the modifying factor in step 1；
Step 3：Coordinate transferring is converted to vapour according to the practical side acceleration of measurement point in step 2 through coordinate
The side acceleration of vehicle barycenter.
Preferably, in the step 2, the practical side acceleration of the measurement point is：
ars=as·fa
Wherein, arsFor the practical side acceleration of measurement point, asThe lateral of measurement point is surveyed by lateral acceleration sensor to add
Speed, faFor the modifying factor of the side acceleration of measurement point.
Preferably, in the step 3, the side acceleration of the automobile barycenter is：
Wherein, arcFor automobile barycenter side acceleration, arsFor the practical side acceleration of measurement point,For the sideway of measurement point
Angular speed,For the sideway angular acceleration of measurement point, lxFor measurement point with automobile barycenter at a distance from vehicle body horizontal direction, lyFor
Measurement point is at a distance from automobile barycenter is along horizontal vertical vehicle body horizontal direction.
The present invention at least has advantageous effect：
(1) measuring system of automobile barycenter side acceleration of the present invention, it is only necessary to pair with automobile barycenter be located at it is same
One measurement point of horizontal plane measures, and need not arrange lateral acceleration sensor in centroid position, finally lateral to surveying
Automobile barycenter side acceleration is calculated in acceleration after being modified, measurement accuracy is higher.
(2) measurement method of automobile barycenter side acceleration of the present invention, it is only necessary to measure and be located at together with automobile barycenter
Side acceleration, yaw velocity and the speed of one measurement point of one horizontal plane, after being modified to the measurement result of measurement point
More accurately automobile barycenter side acceleration is can be obtained through coordinate transform.
Description of the drawings
Fig. 1 is the modular structure schematic diagram of the measuring system of automobile barycenter side acceleration of the present invention.
Fig. 2 is measurement point of the present invention and automobile center-of-mass coordinate position view.
Specific implementation mode
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art with reference to specification text
Word can be implemented according to this.
The present invention can there are many different forms to implement, and should not be construed as limited to the embodiment illustrated again, phase
Instead, these embodiments are provided so that the disclosure will be thorough and complete.In the accompanying drawings, for clarity, structure can be exaggerated
With the size and relative size in region.
As shown in Figure 1, the present invention provides a kind of measuring system of automobile barycenter side acceleration, including：Side acceleration
Sensor 111 is arranged in the measurement point 110 for being located at same level with automobile barycenter 100；Yaw-rate sensor
112, it is arranged at the measurement point 110；Wheel speed sensors 113 are arranged on wheel drive axis；Controller 114, with
The lateral acceleration sensor 111, yaw-rate sensor 112 and wheel speed sensors 113 connect, for receiving the side
To acceleration transducer 111, the detection data of yaw-rate sensor 112 and wheel speed sensors 113, and obtain automobile barycenter
100 side accelerations.The controller 114 includes：Parameters revision module 1141, for receiving the lateral acceleration sensor
111, the detection data of yaw-rate sensor 112 and wheel speed sensors 113, and show that the lateral of the measurement point 110 adds
The modifying factor of speed；Correction module 1142 laterally adds for obtaining the practical of the measurement point 110 according to the modifying factor
Speed；Coordinate transferring 1143 is converted to vapour for the practical side acceleration according to told measurement point 110 through coordinate
The side acceleration of vehicle barycenter 100.
The measuring system of automobile barycenter side acceleration of the present invention, it is only necessary to pair with automobile barycenter be located at same level
One measurement point in face measures, and lateral acceleration sensor need not be arranged in centroid position, finally to surveying lateral acceleration
Automobile barycenter side acceleration is calculated after being modified in degree, and measurement accuracy is higher.
As shown in Fig. 2, the present invention also provides a kind of measurement method of automobile barycenter side acceleration, include the following steps：
Step 1：The parameters revision module 1141 of controller 114 receives the lateral acceleration sensor 111, yaw angle speed
The detection data for spending sensor 112 and wheel speed sensors 113, obtains the modifying factor of the side acceleration of the measurement point 110
For：
Wherein, faFor the modifying factor of the side acceleration of measurement point, asMeasurement point is surveyed by lateral acceleration sensor
Side acceleration, υ are speed,For the yaw velocity of measurement point,For the sideway angular acceleration of measurement point, lxFor measurement point
With automobile barycenter at a distance from vehicle body horizontal direction, lyIt is measurement point and automobile barycenter along horizontal vertical vehicle body horizontal direction
Distance.
Step 2：Correction module 1142 obtains the practical of the measurement point 110 according to the modifying factor in step 1 and laterally adds
Speed；
Step 3：Coordinate transferring 1143 is converted according to the practical side acceleration of measurement point in step 2 110 through coordinate
Obtain the side acceleration of automobile barycenter 100.
In the step 2, the practical side acceleration of the measurement point 110 is：
ars=as·fa
Wherein, arsFor the practical side acceleration of measurement point, asThe lateral of measurement point is surveyed by lateral acceleration sensor to add
Speed, faFor the modifying factor of the side acceleration of measurement point.
In the step 3, the side acceleration of the automobile barycenter 100 is：
Wherein, arcFor automobile barycenter side acceleration, arsFor the practical side acceleration of measurement point,For the sideway of measurement point
Angular speed,For the sideway angular acceleration of measurement point, lxFor measurement point with automobile barycenter at a distance from vehicle body horizontal direction, lyFor
Measurement point is at a distance from automobile barycenter is along horizontal vertical vehicle body horizontal direction.
First, by be arranged the lateral acceleration sensor 111 in measurement point 110 measure measurement point 110 lateral plus
Speed, the speed signal that yaw-rate sensor 112 measures the yaw velocity of automobile and wheel speed sensors 113 measure,
And lateral acceleration signal, yaw rate signal, speed signal are passed to by parameters revision module 1141, parameter by signal wire
Modifying factor is calculated by formula in step 1 in correcting module 1141, and modifying factor is input to correction module 1142, repaiies
Positive module 1142 receives the lateral acceleration signal transmitted from lateral acceleration sensor 111 and by parameters revision module 1141
The modifying factor of input obtains the practical side acceleration of measurement point 110 in conjunction with the formula of step 2, then by coordinate transferring
1143 the side acceleration of automobile barycenter 100 is calculated by the formula of step 3.
The measurement method of automobile barycenter side acceleration of the present invention, it is only necessary to measure and be located at same water with automobile barycenter
Side acceleration, yaw velocity and the speed of one measurement point of plane, through sitting after being modified to the measurement result of measurement point
Mark transformation can be obtained more accurately automobile barycenter side acceleration.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (5)
1. a kind of measuring system of automobile barycenter side acceleration, which is characterized in that including：
Lateral acceleration sensor is arranged in the measurement point for being located at same level with automobile barycenter；
Yaw-rate sensor is arranged in the measurement point；
Wheel speed sensors are arranged on wheel drive axis；
Controller is connect with the lateral acceleration sensor, yaw-rate sensor and wheel speed sensors, for receiving
The detection data of the lateral acceleration sensor, yaw-rate sensor and wheel speed sensors, and obtain automobile barycenter side
To acceleration.
2. the measuring system of automobile barycenter side acceleration as described in claim 1, which is characterized in that the controller packet
It includes：
Parameters revision module, for receiving the lateral acceleration sensor, yaw-rate sensor and wheel speed sensors
Detection data, and obtain the modifying factor of the side acceleration of the measurement point；
Correction module, for obtaining the practical side acceleration of the measurement point according to the modifying factor；
Coordinate transferring is converted to automobile barycenter for the practical side acceleration according to told measurement point through coordinate
Side acceleration.
3. a kind of measurement method of automobile barycenter side acceleration, which is characterized in that include the following steps：
Step 1：The parameters revision module of controller receives the lateral acceleration sensor, yaw-rate sensor and wheel speed
The detection data of sensor show that the modifying factor of the side acceleration of the measurement point is：
Wherein, faFor the modifying factor of the side acceleration of measurement point, asThe lateral of measurement point is surveyed by lateral acceleration sensor
Acceleration, υ are speed,For the yaw velocity of measurement point,For the sideway angular acceleration of measurement point, lxFor measurement point and vapour
Vehicle barycenter is along the distance of vehicle body horizontal direction, lyBe measurement point and automobile barycenter on horizontal vertical vehicle body horizontal direction away from
From.
Step 2：Correction module obtains the practical side acceleration of the measurement point according to the modifying factor in step 1；
Step 3：Coordinate transferring is converted to automobile matter according to the practical side acceleration of measurement point in step 2 through coordinate
The side acceleration of the heart.
4. the measurement method of automobile barycenter side acceleration as claimed in claim 3, which is characterized in that in the step 2, institute
The practical side acceleration for stating measurement point is：
ars=as·fa
Wherein, arsFor the practical side acceleration of measurement point, asThe side acceleration of measurement point is surveyed by lateral acceleration sensor,
faFor the modifying factor of the side acceleration of measurement point.
5. the measurement method of automobile barycenter side acceleration as claimed in claim 3, which is characterized in that in the step 3, institute
The side acceleration for stating automobile barycenter is：
Wherein, arcFor automobile barycenter side acceleration, arsFor the practical side acceleration of measurement point,For the yaw angle speed of measurement point
Degree,For the sideway angular acceleration of measurement point, lxFor measurement point with automobile barycenter at a distance from vehicle body horizontal direction, lyTo measure
Point is at a distance from automobile barycenter is along horizontal vertical vehicle body horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810211198.6A CN108414789A (en) | 2018-03-14 | 2018-03-14 | A kind of measuring system and its measurement method of automobile barycenter side acceleration |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810211198.6A CN108414789A (en) | 2018-03-14 | 2018-03-14 | A kind of measuring system and its measurement method of automobile barycenter side acceleration |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070106444A1 (en) * | 2005-11-04 | 2007-05-10 | Kenji Asano | Apparatus for acquiring lateral acceleration at the center of gravity of vehicle, and motion control apparatus for vehicle |
| JP2012171430A (en) * | 2011-02-18 | 2012-09-10 | Advics Co Ltd | One-sided load determination apparatus |
| US20120245790A1 (en) * | 2011-03-24 | 2012-09-27 | Ford Global Technologies, Llc | System and method for vehicle spinout detection |
| CN105151047A (en) * | 2015-09-08 | 2015-12-16 | 吉林大学 | Automobile gravity center slip angle measuring method |
| CN107074241A (en) * | 2014-10-20 | 2017-08-18 | 米兰综合工科大学 | Estimate the method for vehicle side-slip angle, implement the computer program of methods described, be mounted with the control unit of the computer program and the vehicle including described control unit |
-
2018
- 2018-03-14 CN CN201810211198.6A patent/CN108414789A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070106444A1 (en) * | 2005-11-04 | 2007-05-10 | Kenji Asano | Apparatus for acquiring lateral acceleration at the center of gravity of vehicle, and motion control apparatus for vehicle |
| JP2012171430A (en) * | 2011-02-18 | 2012-09-10 | Advics Co Ltd | One-sided load determination apparatus |
| US20120245790A1 (en) * | 2011-03-24 | 2012-09-27 | Ford Global Technologies, Llc | System and method for vehicle spinout detection |
| CN107074241A (en) * | 2014-10-20 | 2017-08-18 | 米兰综合工科大学 | Estimate the method for vehicle side-slip angle, implement the computer program of methods described, be mounted with the control unit of the computer program and the vehicle including described control unit |
| CN105151047A (en) * | 2015-09-08 | 2015-12-16 | 吉林大学 | Automobile gravity center slip angle measuring method |
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Effective date of abandoning: 20210702 |