CN109987040B - Automobile gear shifting signal identification method and device - Google Patents

Automobile gear shifting signal identification method and device Download PDF

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CN109987040B
CN109987040B CN201910233641.4A CN201910233641A CN109987040B CN 109987040 B CN109987040 B CN 109987040B CN 201910233641 A CN201910233641 A CN 201910233641A CN 109987040 B CN109987040 B CN 109987040B
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gear shifting
signal
shift
rate
vehicle
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CN109987040A (en
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钟毅
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Wuhan University of Technology WUT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions

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Abstract

The invention discloses a method and a device for identifying automobile gear shifting signals, which comprises the following steps: 1) collecting a rotating speed signal and a wheel angular speed signal of an automobile engine in real time; 2) calculating a gear shifting rate according to the automobile engine rotating speed signal and the wheel angular speed signal; 3) filtering the gear shifting rate calculated in the step 2); 4) calculating the ratio of the gear shifting rate at each moment to the gear shifting rate after low-pass filtering; 5) and analyzing the ratio, comparing the ratio with 1, and judging that the vehicle shifts when the difference between the ratio and 1 exceeds a set threshold value. The invention realizes the identification of the gear shifting signal without hardware and can be widely applied to various types of vehicles. On the vehicle capable of directly obtaining the gear shifting signal, the calculation result of the method can be mutually verified with the existing gear shifting signal of the vehicle, so that the accuracy and the authenticity of the gear shifting signal are ensured; on vehicles which can not provide gear shifting signals, the method can quickly identify the gear shifting signals and provide external input for the vehicle-related control strategy.

Description

Automobile gear shifting signal identification method and device
Technical Field
The invention relates to an automobile electronic technology, in particular to an automobile gear shifting signal identification method and device.
Background
With the development of the automobile electronic industry and the endless emergence of new functions of automobiles, more and more electronic signals are available on automobiles, and how to accurately identify required components from a plurality of automobile signals becomes a difficult problem in automobile signal processing. The shift signal is a very important signal, and the accuracy of the shift signal can affect the control strategy and the control effect of a vehicle-related controller. The current methods for directly identifying the gear shift signal include:
1. the gear shifting signal is directly identified through the clutch switch. When the clutch is depressed, the clutch switch assumes that the driver is about to shift gears and sends this status signal to the engine ECU, which sends a vehicle shift signal via the CAN line. This approach relates to vehicles equipped with manual transmissions.
The direct identification of the shift signal has the following disadvantages:
the types of clutch switches required by different types of automobiles are different, so that the loading cost is increased;
because the physical model of the clutch switch is not accurate enough, the internal hardware circuit of the clutch switch can cause the failure or false triggering of the gear shifting signal, so that the transmitted signal is not accurate enough;
2. and directly sending a vehicle gear shifting signal on a CAN line through an automatic gearbox. This mode relates to a vehicle equipped with an automatic transmission.
The CAN on-line gear shifting signal has the following defects:
network delay may exist in the transmission process of the CAN network, and the signal may suddenly and greatly jitter, which causes delay or failure of the gear shifting signal.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automobile gear shifting signal identification method aiming at the defects in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for identifying a gear shifting signal of an automobile comprises the following steps:
1) collecting a rotating speed signal and a wheel angular speed signal of an automobile engine in real time;
2) calculating a gear shifting rate according to the automobile engine rotating speed signal and the wheel angular speed signal;
Figure GDA0002078239860000021
wherein, zeta is the rotation speed of the engine of the automobile, omega is the sum of the front axle wheel angular speed and the rear axle wheel angular speed; a is a shift rate coefficient;
3) filtering the gear shifting rate calculated in the step 2);
4) calculate the Shift Rate η at each time and the Low pass filtered Shift Rate ηLowPassRatio of
Figure GDA0002078239860000022
5) To pairPerforming an analysis of
Figure GDA0002078239860000024
When compared with 1, when
Figure GDA0002078239860000025
If the difference from 1 exceeds a set threshold, it is determined that the vehicle is shifted.
According to the scheme, the step 2) utilizes an IIR digital low-pass filter to perform signal processing on the gear shifting rate, and the signal processing content comprises gear shifting rate differentiation, gear shifting rate differentiation low-pass filtering and gear shifting rate low-pass filtering.
According to the scheme, the filter in the step 2) is an IIR digital low-pass filter.
According to the scheme, the filter in the step 2) is as follows:
ηLowPass(n)＝b*ηLowPass(n-1)+(1-b)*η(n)；
wherein, ηLowPassAnd b is a filter parameter.
According to the scheme, in the step 5), the stepWhen compared with 1, when
Figure GDA0002078239860000032
If the difference value between the value and the value 1 exceeds a set threshold value, the vehicle is judged to be shifted, and the following specific steps are carried out:
when in use
Figure GDA0002078239860000033
Greater than 1, and greater than 1.02
When in use
Figure GDA0002078239860000034
Less than 1 and less than 0.96.
An automobile gear shift signal identification device, comprising:
the acquisition module is used for acquiring a rotating speed signal and a wheel angular speed signal of an automobile engine in real time;
the gear shifting rate calculating module is used for calculating the gear shifting rate according to the automobile engine rotating speed signal and the wheel angular speed signal;
wherein, zeta is the rotation speed of the engine of the automobile, omega is the sum of the front axle wheel angular speed and the rear axle wheel angular speed; a is a shift rate coefficient;
the filtering module is used for filtering the gear shifting rate data calculated by the gear shifting rate calculating module;
a judging module for calculating the shift rate η at each moment and the shift rate η after low-pass filteringLowPassRatio ofTo pair
Figure GDA0002078239860000042
Performing an analysis of
Figure GDA0002078239860000043
When compared with 1, when
Figure GDA0002078239860000044
If the difference from 1 exceeds a set threshold, it is determined that the vehicle is shifted.
According to the scheme, the filtering module utilizes an IIR digital low-pass filter to process signals of the gear shifting rate.
According to the scheme, the filter in the filtering module is as follows:
ηLowPass(n)＝b*ηLowPass(n-1)+(1-b)*η(n)；
wherein, ηLowPassAnd b is a filter parameter.
According to the scheme, in the judging module, the judgment module is used for judging whether the current time is less than the preset timeWhen compared with 1, when
Figure GDA0002078239860000046
If the difference value between the value and the value 1 exceeds a set threshold value, the vehicle is judged to be shifted, and the following specific steps are carried out:
when in use
Figure GDA0002078239860000047
Greater than 1, and greater than 1.02;
when in useLess than 1 and less than 0.96.
The invention has the following beneficial effects:
1. the invention utilizes the existing signals of the engine rotating speed, the wheel angular speed and the like of the automobile, reduces the use of physical sensors, solves the possible problems of hardware circuits, and applies a mathematical algorithm to obtain more accurate numerical values.
2. The method really realizes the identification of the gear shifting signal without any hardware, and can be widely applied to various types of vehicles.
3. The method can quickly identify the gear shifting signal and can be used for removing invalid data in indirect tire pressure monitoring.
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The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a method of an embodiment of the present invention;
FIG. 2 is a shift rate sample data plot of an embodiment of the present invention;
FIG. 3 is a graph comparing the ratio of the shift rate to the shift rate obtained after differential filtering and 1 for an embodiment of the present invention;
fig. 4 is a partial enlarged view of fig. 3 of an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, a method for identifying a shift signal of an automobile includes the following steps:
1) collecting a rotating speed signal and a wheel angular speed signal of an automobile engine in real time;
2) calculating a gear shifting rate according to the automobile engine rotating speed signal and the wheel angular speed signal;
wherein, zeta is the rotation speed of the engine of the automobile, omega is the sum of the front axle wheel angular speed and the rear axle wheel angular speed; a is a shift rate coefficient;
i.e. front axle shift rate
Figure GDA0002078239860000062
Or rear axle shift rate
Figure GDA0002078239860000063
The calculated shift rate data is shown in FIG. 2;
3) filtering the gear shifting rate calculated in the step 2);
and performing difference operation on the gear shifting rate at the current moment and the gear shifting rate at the previous moment to obtain a variable quantity, and filtering the variable quantity. A first-order low-pass filter is designed to allow low-frequency components to pass through and filter high-frequency components so as to flatten spike signals, so that abrupt jitter can be smoothed, and sharp jump points can be delayed to change. The filtering process adopts IIR digital first-order low-pass filtering. IIR digital filters are a class of recursive linear time invariant causal systems. The digital sequence is converted into an output digital sequence after certain operation.
The equation is y (n) ═ y (n-1) + (1-b) × (n),0 < b < 1, and besides the time-delay linear network of the input signal, the equation also includes a linear feedback network for introducing the output into the feedback.
The low pass filter equation specific to the present invention is
ηLowPass(n)＝a*ηLowPass(n-1)+(1-a)*η(n)；
Setting the respective parameters to obtain smoothly varying Shift Rate ηLowPass。
4) Calculate the Shift Rate η at each time and the Low pass filtered Shift Rate ηLowPassRatio of
Figure GDA0002078239860000071
5) To pair
Figure GDA0002078239860000072
Performing an analysis ofWhen compared with 1, when
Figure GDA0002078239860000074
And if the gear is too large or too small, the vehicle is judged to be shifted.
Figure GDA0002078239860000075
During the shift, there is clearly a deviation from 1, which is caused by the sudden change in engine speed at the moment of the shift. According toThe determination can be made to verify with a shift signal provided on the vehicle to ensure the authenticity and accuracy of the shift signal.
As in FIG. 4, FIG. 3
Figure GDA0002078239860000077
And comparing with 1 to carry out local interception and amplification, thereby facilitating clear judgment.
Due to the fact thatThe curve has a plurality of inflection points which are to be
Figure GDA0002078239860000079
A portion near 1 that is not identified by the low pass filter is considered to be a shift signal lag. When it is confirmed that the vehicle is in a shift state at a certain time, the subsequent limited period may be considered as a shift ending process.
According to the above method, a corresponding device is easily obtained.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.

Claims (8)

1. A method for recognizing a gear shift signal of an automobile is characterized by comprising the following steps:
1) collecting a rotating speed signal and a wheel angular speed signal of an automobile engine in real time;
2) calculating a gear shifting rate according to the automobile engine rotating speed signal and the wheel angular speed signal;
Figure FDA0002305200130000011
wherein, zeta is the rotation speed of the engine of the automobile, omega is the sum of the front axle wheel angular speed and the rear axle wheel angular speed; a is a shift rate coefficient;
3) low-pass filtering the gear shifting rate calculated in the step 2);
4) calculate the Shift Rate η at each time and the Low pass filtered Shift Rate ηLowPassRatio of
5) To pair
Figure FDA0002305200130000013
Performing an analysis ofWhen compared with 1, when
Figure FDA0002305200130000015
If the difference from 1 exceeds a set threshold, it is determined that the vehicle is shifted.
2. The vehicle shift signal recognition method according to claim 1, wherein the step 3) performs signal processing on the shift rate using an IIR digital low-pass filter.
3. The method for identifying a shift signal of a vehicle according to claim 1, wherein the low pass filter equation for filtering the shift rate calculated in step 2) in step 3) is:
ηLowPass(n)＝b*ηLowPass(n-1)+(1-b)*η(n)；
wherein, ηLowPassAnd b is a filter parameter.
4. The method for recognizing a shift signal of a vehicle according to claim 1, wherein in the step 5), the step
Figure FDA0002305200130000021
When compared with 1, when
Figure FDA0002305200130000022
If the difference value between the value and the value 1 exceeds a set threshold value, the vehicle is judged to be shifted, and the following specific steps are carried out:
when in use
Figure FDA0002305200130000023
Greater than 1, and greater than 1.02;
when in use
Figure FDA0002305200130000024
Less than 1 and less than 0.96.
5. A shift signal recognition device for a vehicle, comprising:
the acquisition module is used for acquiring a rotating speed signal and a wheel angular speed signal of an automobile engine in real time;
the gear shifting rate calculating module is used for calculating the gear shifting rate according to the automobile engine rotating speed signal and the wheel angular speed signal;
Figure FDA0002305200130000025
wherein, zeta is the rotation speed of the engine of the automobile, omega is the sum of the front axle wheel angular speed and the rear axle wheel angular speed; a is a shift rate coefficient;
the filtering module is used for carrying out low-pass filtering processing on the gear shifting rate data calculated by the gear shifting rate calculating module;
a judging module for calculating the shift rate η at each moment and the shift rate η after low-pass filteringLowPassRatio ofTo pair
Figure FDA0002305200130000027
Performing an analysis of
Figure FDA0002305200130000028
When compared with 1, when
Figure FDA0002305200130000029
If the difference from 1 exceeds a set threshold, it is determined that the vehicle is shifted.
6. The vehicle shift signal identification device according to claim 5, wherein the filtering module performs signal processing on the shift rate by using an IIR digital low-pass filter.
7. The shift signal recognition device according to claim 5, wherein the low pass filter equation for the filtering process in the filtering module is:
ηLowPass(n)＝b*ηLowPass(n-1)+(1-b)*η(n)；
wherein, ηLowPassAnd b is a filter parameter.
8. The shift signal recognition device according to claim 5, wherein the determination module is configured to determine whether the shift signal is to be transmittedWhen compared with 1, when
Figure FDA0002305200130000032
If the difference value between the value and the value 1 exceeds a set threshold value, the vehicle is judged to be shifted, and the following specific steps are carried out:
when in useGreater than 1, and greater than 1.02;
when in use
Figure FDA0002305200130000034
Less than 1 and less than 0.96.
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CN1138146A (en) * 1995-03-31 1996-12-18 奔驰公司 method for automatic control of gear change of automatic discrete step gearbox of motor vehicle
WO2002001094A1 (en) * 1999-06-03 2002-01-03 Unisia Jecs Corporation Speed change control method and device for automatic speed change gear
CN103158582A (en) * 2011-12-19 2013-06-19 北汽福田汽车股份有限公司 Gear-shifting control method of pure electric vehicle
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