CN113459733B - Method for judging simultaneous deficiency of four wheels of vehicle - Google Patents
Method for judging simultaneous deficiency of four wheels of vehicle Download PDFInfo
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- CN113459733B CN113459733B CN202110905630.3A CN202110905630A CN113459733B CN 113459733 B CN113459733 B CN 113459733B CN 202110905630 A CN202110905630 A CN 202110905630A CN 113459733 B CN113459733 B CN 113459733B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/06—Signalling devices actuated by deformation of the tyre, e.g. tyre mounted deformation sensors or indirect determination of tyre deformation based on wheel speed, wheel-centre to ground distance or inclination of wheel axle
- B60C23/061—Signalling devices actuated by deformation of the tyre, e.g. tyre mounted deformation sensors or indirect determination of tyre deformation based on wheel speed, wheel-centre to ground distance or inclination of wheel axle by monitoring wheel speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Measuring Fluid Pressure (AREA)
Abstract
The invention discloses a method for judging simultaneous deficiency of four wheels of a vehicle, which is characterized by comprising the following steps: step S1, acquiring a real-time speed signal of a vehicle through a vehicle-mounted GPS sensor and filtering the real-time speed signal to obtain a real-time GPS speed Vgps; s2, acquiring a wheel speed real-time signal through a vehicle-mounted ABS wheel speed sensor, and filtering to obtain a real-time left front wheel speed V1, a real-time right front wheel speed V2, a real-time left rear wheel speed V3 and a real-time right rear wheel speed V4; step S3, obtaining preset conditions for judging whether the four wheels are simultaneously in abnormal working conditions through self-learning according to the GPS speed and the four-wheel speed when the four wheels of the vehicle are normal; and S4, according to whether the four wheels are simultaneously in a preset condition of an abnormal working condition. The invention provides a method for judging whether four wheels of a vehicle are simultaneously in short air supply, which can judge whether the pressures of two front wheels are normal by comparing the speed of a GPS sensor with the speed of an ABS wheel speed sensor, and can judge whether the pressures of four tires are normal if the wheel speed difference between the front wheels and the rear wheels is within a certain range.
Description
Technical Field
The invention relates to a method for judging simultaneous deficiency of four wheels of a vehicle, and belongs to the field of automobile safety.
Background
At present, the traditional indirect tire pressure monitoring system indirectly reflects the rolling radius of the tire by calculating the difference value of four ABS wheel speed sensors of the automobile in running, so as to judge whether the tire pressure of each tire is abnormal or not, but the method fails when the four tires are simultaneously in air shortage. In addition, a spectrum analysis method is used for judging the tire pressure, and the method can solve the problem of four-wheel simultaneous air deficiency judgment, but has low accuracy, and false alarm often occurs, so that inconvenience is caused to users.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and providing a method for judging whether the pressures of two front wheels are normal or not by comparing the speed of a GPS sensor with the speed of an ABS wheel speed sensor, and if the wheel speed difference between the front wheels and the rear wheels is within a certain range, judging whether the pressures of four tires are normal or not.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a method for determining simultaneous air deficiency of four wheels of a vehicle, comprising:
step S1, acquiring a real-time speed signal of a vehicle through a vehicle-mounted GPS sensor, and filtering to obtain a real-time GPS speed V gps ；
S2, acquiring a wheel speed real-time signal through a vehicle-mounted ABS wheel speed sensor, and filtering to obtain a real-time left front wheel speed V1, a real-time right front wheel speed V2, a real-time left rear wheel speed V3 and a real-time right rear wheel speed V4;
step S3, obtaining preset conditions for judging whether the four wheels are simultaneously in abnormal working conditions through self-learning according to the GPS speed and the four-wheel speed when the four wheels of the vehicle are normal;
s4, comparing the GPS speed monitored in real time with the four-wheel speed according to preset conditions of whether the four-wheel is in an abnormal working condition at the same time, and judging whether the four-wheel is in the abnormal working condition at the same time;
and S5, when the four wheels are in the abnormal working condition at the same time, judging whether the four wheels are in the air deficiency state at the same time, and outputting a judging result to alarm.
Further, the filtering process is a Fir low-pass filtering, and a transfer function of the Fir low-pass filtering in a MATLAB environment is defined as follows:
wherein: y (Z) is the Z transformation of the output quantity;
x (Z) is the Z transformation of the input quantity;
the FDAtool toolbox directly generates a filter molecular coefficient b (1), b (2) … b (m+1);
the denominator coefficient c (1), c (2) … c (m+1) defaults to 1;
the filter order is preset to 81.
Further, in the step S3, according to the GPS speed and the four-wheel speed when the four wheels of the vehicle are normal, a preset condition for determining whether the four wheels are simultaneously in an abnormal working condition is obtained through self-learning, and the method includes the following steps:
when the four wheels of the vehicle are normal, the GPS speed and the four-wheel speed indicator are obtainedThe original array of the fixed value is filtered to output the GPS calibration speed V gps calibration The left front wheel calibration speed V 1 calibration Calibration speed V of right front wheel 2 calibration The left rear wheel calibration speed V 3 calibration The right rear wheel calibration speed V 4 calibration And the difference delta between the respective calibration speeds i The method comprises the following steps:
V calibrating ＝(V 1 calibration + V 2 calibration )/2
V gps calibration -V Calibrating ＝Δ 1
|V 1 calibration -V 2 calibration |＝Δ 2
|V 1 calibration -V 3 calibration |＝Δ 3
|V 1 calibration -V 4 calibration |＝Δ 4 。
Further, in step S4, according to a preset condition that whether the four wheels are simultaneously in an abnormal working condition, comparing the GPS speed monitored in real time with the four wheel speed, and determining whether the four wheels are simultaneously in the abnormal working condition, the method includes the following steps:
if the difference value |V1-V2| of the wheel speeds of the two front wheels is less than or equal to delta 2, the two front tire pressures are considered to be the same, and the four wheels are simultaneously in abnormal working conditions;
if the difference value |V1-V2| > delta 2 of the wheel speeds of the two front wheels is larger than delta 2, the tire pressures of the two front wheels are considered to be different, the two front wheels are in a single-wheel abnormal state, at the moment, the four wheels are not in an abnormal working condition at the same time, and whether the four wheels are in the abnormal working condition at the same time is judged and monitored.
Further, in the step S5, when the four wheels are simultaneously in the abnormal working condition, it is determined whether the four wheels are simultaneously deficient, including the following steps:
when four-wheel simultaneous air deficiency judgment monitoring is carried out, the average value of the wheel speeds V1 and V2 of the two front wheels is set as V, and if (Vgps-V) < (delta 1-C), the four-wheel simultaneous air deficiency is considered when the absolute value of V1-V3 is less than or equal to delta 3 and the absolute value of V1-V4 is less than or equal to delta 4; otherwise, the working condition of the four-wheel simultaneous gas deficiency is the working condition of the non-four-wheel simultaneous gas deficiency, and the four-wheel simultaneous gas deficiency judgment and monitoring is exited.
Further, the method for judging the simultaneous deficiency of four wheels of the vehicle further comprises the following steps:
and S6, when the four wheels are simultaneously in the abnormal working condition, judging whether the tire pressure of the four wheels is too high, and outputting a judging result to alarm.
Further, in the step S6, when the four wheels are simultaneously in the abnormal working condition, it is determined whether the tire pressure of the four wheels is too high, including the following steps:
when the judgment monitoring of the excessive tire pressure of four wheels is carried out, the average value of the wheel speeds V1 and V2 of the two front wheels is set as V, and if (Vgps-V) > (delta 1+C), the excessive tire pressure of the four wheels is considered to be excessive when the absolute value of V1-V3 is less than or equal to delta 3 and the absolute value of V1-V4 is less than or equal to delta 4; otherwise, the working condition of the non-four-wheel simultaneous tire pressure too high is adopted, and the judgment and monitoring of the four-wheel simultaneous tire pressure too high is exited.
By adopting the technical scheme, the invention has the following beneficial effects:
1. the invention compares the GPS speed signal with the wheel speed signal, and can judge whether four wheels are simultaneously deficient in gas or not on the basis of combining the single, double and three wheel deficiency methods of the wheel speed difference method of the traditional indirect tire pressure monitoring system;
2. the invention utilizes the signals of the vehicle-mounted GPS speed sensor and the vehicle-mounted wheel speed sensor, does not need to add any hardware, and saves a great amount of funds;
3. the invention can reset in a self-learning correction mode, and the system can not fail in the use process;
4. the invention also has the advantages of high alarm speed, high reliability and high accuracy.
Drawings
FIG. 1 is a flow chart of a method for determining simultaneous air deficiency of four wheels of a vehicle according to the present invention.
Detailed Description
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
Example 1
As shown in fig. 1, the present embodiment provides a method for determining that four wheels of a vehicle are simultaneously deficient in air, which includes:
s1, acquiring a real-time speed signal of a vehicle through a vehicle-mounted GPS sensor, and filtering to obtain a real-time GPS speedDegree V gps ；
S2, acquiring a wheel speed real-time signal through a vehicle-mounted ABS wheel speed sensor, and filtering to obtain a real-time left front wheel speed V1, a real-time right front wheel speed V2, a real-time left rear wheel speed V3 and a real-time right rear wheel speed V4;
step S3, obtaining preset conditions for judging whether the four wheels are simultaneously in abnormal working conditions through self-learning according to the GPS speed and the four-wheel speed when the four wheels of the vehicle are normal;
s4, comparing the GPS speed monitored in real time with the four-wheel speed according to preset conditions of whether the four-wheel is in an abnormal working condition at the same time, and judging whether the four-wheel is in the abnormal working condition at the same time;
and S5, when the four wheels are in an abnormal working condition at the same time, the rolling radius of the air-deficient wheel is reduced and the angular speed is increased due to the same driving speed, namely, the rolling speed of each wheel is increased when the four wheels are in air deficiency, so that whether the four wheels are in air deficiency at the same time is judged, an alarm is output according to the judgment result, and after an alarm signal is sent, the tire pressure of the four wheels is required to be adjusted to the standard tire pressure, and the self-learning calibration is carried out again.
As shown in fig. 1, the filtering process of the present embodiment is a Fir low-pass filtering, and the transfer function of the Fir low-pass filtering in the MATLAB environment is defined as follows:
wherein: y (Z) is the Z transformation of the output quantity;
x (Z) is the Z transformation of the input quantity;
the FDAtool toolbox directly generates a filter molecular coefficient b (1), b (2) … b (m+1);
the denominator coefficient c (1), c (2) … c (m+1) defaults to 1;
the filter order is preset to 81.
As shown in fig. 1, in step S3 of the present embodiment, according to the GPS speed and the four-wheel speed when the four wheels of the vehicle are all normal, a preset condition for determining whether the four wheels are simultaneously in an abnormal working condition is obtained through self-learning, and the method includes the following steps:
the vehicle needs to run for 5-10 km under the conditions of four-wheel standard tire pressure, good GPS signal, steering wheel corner and engine throttle opening in a certain range in the self-learning process, when the four wheels of the vehicle are all normal, an original array of GPS speed and four-wheel speed calibration values is obtained, and the GPS calibration speed V is output after filtering processing gps calibration The left front wheel calibration speed V 1 calibration Calibration speed V of right front wheel 2 calibration The left rear wheel calibration speed V 3 calibration The right rear wheel calibration speed V 4 calibration And the difference delta between the respective calibration speeds i The method comprises the following steps:
V calibrating ＝(V 1 calibration + V 2 calibration )/2
V gps calibration -V Calibrating ＝Δ 1
|V 1 calibration -V 2 calibration |＝Δ 2
|V 1 calibration -V 3 calibration |＝Δ 3
|V 1 calibration -V 4 calibration |＝Δ 4 。
As shown in fig. 1, in step S4 of the present embodiment, according to preset conditions of whether four wheels are simultaneously in an abnormal working condition, comparing a GPS speed monitored in real time with a four-wheel speed, and determining whether four wheels are simultaneously in an abnormal working condition, includes the following steps:
there are several calculation modes for calculating the speed of the vehicle, one is to take the average speed of two front wheels, one is to take the maximum speed of four wheels, and the other is to take the average speed of four wheels, and the first mode is used to obtain the running speed of the vehicle in this embodiment.
If the difference value |V1-V2| of the wheel speeds of the two front wheels is less than or equal to delta 2, the two front tire pressures are considered to be the same, and the four wheels are simultaneously in abnormal working conditions;
if the difference value |V1-V2| > delta 2 of the wheel speeds of the two front wheels is larger than delta 2, the tire pressures of the two front wheels are considered to be different, the two front wheels are in a single-wheel abnormal state, at the moment, the four wheels are not in an abnormal working condition at the same time, and whether the four wheels are in the abnormal working condition at the same time is judged and monitored.
As shown in fig. 1, in step S5 of the present embodiment, when four wheels are simultaneously in an abnormal working condition, it is determined whether the four wheels are simultaneously deficient in air, including the following steps:
when four-wheel simultaneous air deficiency judgment monitoring is carried out, the average value of the wheel speeds V1 and V2 of the two front wheels is set as V, and if (Vgps-V) < (delta 1-C), wherein C is a constant, and meanwhile, when the absolute value of V1-V3 is less than or equal to delta 3 and the absolute value of V1-V4 is less than or equal to delta 4, the four-wheel simultaneous air deficiency is considered; otherwise, the working condition of the four-wheel simultaneous gas deficiency is the working condition of the non-four-wheel simultaneous gas deficiency, and the four-wheel simultaneous gas deficiency judgment and monitoring is exited.
Example two
As shown in fig. 1, on the basis of the determination of whether the four wheels in the first embodiment are simultaneously in the abnormal working condition, the present embodiment further provides a method for determining that the tire pressure of the four wheels is too high at the same time:
step S6, judging whether the tire pressure of the four wheels is too high at the same time when the four wheels are in abnormal working conditions at the same time, and outputting a judging result to alarm, wherein the method comprises the following steps:
when the judgment monitoring of the excessive tire pressure of four wheels is carried out, the average value of the wheel speeds V1 and V2 of the two front wheels is set as V, and if (Vgps-V) > (delta 1+C), wherein C is a constant, and meanwhile, when the absolute value of V1-V3 is less than or equal to delta 3 and the absolute value of V1-V4 is less than or equal to delta 4, the excessive tire pressure of the four wheels is considered; otherwise, the working condition of the non-four-wheel simultaneous tire pressure too high is adopted, and the judgment and monitoring of the four-wheel simultaneous tire pressure too high is exited. After sending the tire pressure too high alarm signal, the four-wheel tire pressure needs to be adjusted to the standard tire pressure and the self-learning calibration is re-entered.
The technical problems, technical solutions and beneficial effects that the present invention solves are further described in detail in the above specific embodiments, it should be understood that the above is only specific embodiments of the present invention and is not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. that fall within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A method for determining simultaneous air deficiency of four wheels of a vehicle, comprising:
step S1, acquiring a real-time speed signal of a vehicle through a vehicle-mounted GPS sensor, and filtering to obtain a real-time GPS speed V gps ；
S2, acquiring a wheel speed real-time signal through a vehicle-mounted ABS wheel speed sensor, and filtering to obtain a real-time left front wheel speed V1, a real-time right front wheel speed V2, a real-time left rear wheel speed V3 and a real-time right rear wheel speed V4;
step S3, according to the GPS speed and the four-wheel speed when the four wheels of the vehicle are normal, obtaining preset conditions for judging whether the four wheels are simultaneously in abnormal working conditions through self-learning, wherein the method comprises the following steps:
when the four wheels of the vehicle are normal, an original array of GPS speed and four-wheel speed calibration values is obtained, and the GPS calibration speed V is output after filtering processing gps calibration The left front wheel calibration speed V 1 calibration Calibration speed V of right front wheel 2 calibration The left rear wheel calibration speed V 3 calibration The right rear wheel calibration speed V 4 calibration And the difference between the respective calibration speedsThe method comprises the following steps:
step S4, comparing the GPS speed and the four-wheel speed monitored in real time according to preset conditions of whether the four-wheel is in an abnormal working condition at the same time, and judging whether the four-wheel is in the abnormal working condition at the same time, wherein the method comprises the following steps:
if the wheel speeds of the two front wheels are differentWhen the two front tires are considered to have the same pressure, the four wheels are simultaneously in abnormal working conditions;
if the wheel speeds of the two front wheels are differentWhen the tire pressures of the two front wheels are different, the two front wheels are in a single-wheel abnormal state, and at the moment, the four wheels are not in an abnormal working condition at the same time, and whether the four wheels are in the abnormal working condition at the same time is judged and monitored;
step S5, judging whether the four wheels are simultaneously in an abnormal working condition or not, and outputting a judging result to alarm, wherein the step comprises the following steps:
when four-wheel simultaneous air deficiency judgment monitoring is carried out, the average value of the wheel speeds V1 and V2 of the two front wheels is set as V;
if it isAt the same time satisfy->And->When the four wheels are considered to be simultaneously deficient; otherwise, the working condition of the four-wheel simultaneous gas deficiency is the working condition of the non-four-wheel simultaneous gas deficiency, and the four-wheel simultaneous gas deficiency judgment and monitoring is exited.
2. The method for judging simultaneous four-wheel air deficiency of a vehicle according to claim 1, wherein: the filtering process is Fir low-pass filtering, and the definition of the transfer function of the Fir low-pass filtering in the MATLAB environment is as follows:
wherein:for output +.>Transforming;
for input +.>Transforming;
FDAtool toolboxDirect generation of filter molecular coefficients；
Coefficient of denominatorDefault to 1;
the filter order is preset to 81.
3. The method of determining simultaneous four-wheel air deficiency of a vehicle of claim 2, further comprising:
and S6, when the four wheels are simultaneously in the abnormal working condition, judging whether the tire pressure of the four wheels is too high, and outputting a judging result to alarm.
4. The method for determining simultaneous air deficiency of four wheels of a vehicle according to claim 3, wherein in the step S6, when the four wheels are simultaneously in an abnormal condition, it is determined whether the four wheels are simultaneously under too high tire pressure, comprising the steps of:
when four-wheel simultaneous tire pressure excessive pressure judgment monitoring is carried out, the average value of the wheel speeds V1 and V2 of the two front wheels is set as V;
if it isAt the same time satisfy->And->When the tire pressure is too high at the same time, the four wheels are considered to be too high; otherwise, the working condition of the non-four-wheel simultaneous tire pressure too high is adopted, and the judgment and monitoring of the four-wheel simultaneous tire pressure too high is exited.
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| CN114161888B (en) * | 2021-11-30 | 2023-10-20 | 偌轮汽车科技(武汉)有限公司 | Dual-tire iTPMS tire pressure monitoring method and system |
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