CN101480904B - Method for monitoring dynamic load of intelligent sensing wheel based on wheel load - Google Patents

Abstract

The invention discloses a method for monitoring wheel dynamic loads based on wheel-loaded intelligent sensors. In the method, an intelligent sensor module is installed on the hub equatorial plane of each wheel of a motor vehicle, and an intelligent non-gyroscope inertial sensor unit and an intelligent non-gyro inertial sensor unit are installed in the vehicle. An intelligent sensing unit is installed on the suspension to conduct a comprehensive inspection of the driving conditions of the motor vehicle. The main dynamic load parameters of the wheel are obtained through signal conditioning, digitization, attitude algorithm, and dynamic load algorithm calculation of each sensor signal. The above dynamic load parameters are fused and analyzed by multi-sensor data, and can monitor and actively evaluate the driving safety status of motor vehicles. The method can give early warnings to motor vehicles such as overloading, tire blowouts, and brake performance failures, and is beneficial to avoiding and reducing the occurrence of traffic accidents.

Description

A wheel dynamic load monitoring method based on wheel-loaded intelligent sensor

technical field

The invention relates to the field of monitoring the safe running state of motor vehicles, in particular for monitoring the real-time situation of wheel dynamic loads during the running of the motor vehicle.

Background technique

Motor vehicle operation safety status monitoring technology is the main means to ensure the safe driving of motor vehicles, and it is also the inevitable trend of the development of motor vehicle operation safety detection technology. Use motor vehicle operation safety status monitoring technology to dynamically monitor motor vehicle operation safety status and operating indicators, discover and prevent motor vehicle failures in a timely manner, develop a safety monitoring network system integrating monitoring, control, management and decision-making, and ensure the safe operation of motor vehicles It is of great significance; it is a major social public welfare technical work related to the safety of the country and people's lives and properties, it is an important technical support to ensure the safety of motor vehicles, and it is a very important technical guarantee for the safe operation of motor vehicles by government management departments ; It can not only improve the technical support ability of safe operation of motor vehicles and reduce traffic accidents, but also has great significance for promoting the development of motor vehicle industry and transportation.

Motor vehicle operation safety status monitoring mainly includes monitoring motor vehicle (body, wheel) motion attitude parameters, dynamic load parameters, and braking performance parameters. During the operation of a motor vehicle, there will be braking, acceleration, steering, straight-line driving and other working conditions. The wheel is the only part in contact with the ground during the driving process of the motor vehicle. The safety of the wheel is very important, and the dynamic load of the wheel affects the safety of the tire. Important parameters. The wheel dynamic load is a parameter to measure the dynamic load of the vehicle under different road conditions, the body and tires in different postures, and the dynamic load of the whole vehicle. By monitoring the dynamic load of the wheel, the dynamic load of the motor vehicle can be more comprehensively evaluated, so as to obtain more direct, more real and richer information on the safe operation of the motor vehicle.

At present, the monitoring of the dynamic load of the wheel is only an attempt to indirectly calculate the static load of the wheel by measuring parameters such as tire speed and pressure. Under road conditions, the body and tires are in different postures, and the dynamic load of the whole vehicle cannot effectively monitor the dynamic load of the wheel, which is not conducive to the prediction and evaluation of dangerous conditions such as overloading and blowout of motor vehicle tires during operation.

Contents of the invention

In order to solve the above-mentioned problems and defects, the present invention provides a motor wheel-mounted wheel dynamic load monitoring method with good real-time performance, high reliability, and strong data processing capability. Mainly through the installation of intelligent sensing modules on the equatorial plane of the hub of each wheel of the motor vehicle, the installation of intelligent non-gyroscope inertial sensing units in the vehicle and the installation of intelligent sensing units in the suspension, the driving status of the motor vehicle is comprehensively detected. The main dynamic load parameters of the wheel are obtained through signal conditioning, digitalization, attitude algorithm, and dynamic load algorithm calculation of each sensor signal. The above dynamic load parameters are fused and analyzed by multi-sensor data, and can monitor and actively evaluate the driving safety status of motor vehicles.

The present invention is achieved through the following technical solutions:

A wheel-mounted intelligent sensor-based wheel dynamic load monitoring method involved in the present invention includes:

Obtaining a vehicle body motion attitude angle parameter according to at least one of the three-dimensional acceleration parameters of the vehicle body;

Perceive the vertical acceleration of the suspension through the intelligent sensing unit of the suspension body;

Obtaining the suspension mass by using at least one parameter among the three-dimensional acceleration parameters of the vehicle body, the motion attitude angle parameters of the vehicle body, and the mass of the whole vehicle;

Obtaining wheel dynamic load data through dynamic load calculation according to at least one parameter among suspension mass, suspension vertical acceleration parameter, wheel mass and wheel vertical acceleration parameter;

The wheel dynamic load data is fused and analyzed to obtain the change trend of the wheel dynamic load.

The wheel dynamic load monitoring method based on the wheel-loaded intelligent sensor also includes:

Perceive the three-dimensional acceleration of the wheel through the wheel intelligent sensing module;

Obtaining the vertical acceleration of the wheel according to at least one parameter in the three-dimensional acceleration parameters;

Perceive the three-dimensional acceleration of the vehicle body through the intelligent sensor unit of the vehicle body.

Perform digital filtering, compensation and interpolation on the three-dimensional acceleration signal to obtain the three-dimensional acceleration value in the wheel motion posture.

The three-dimensional acceleration of the wheel is: tangential acceleration, lateral acceleration and centripetal acceleration; the three-dimensional acceleration of the vehicle body is: longitudinal acceleration, lateral acceleration and vertical acceleration.

The body movement attitude angle includes roll angle, pitch angle and yaw angle.

Fusion of the motion attitude parameters of the wheels and the vehicle body and judging the working status of the intelligent sensing unit.

The wheel intelligent sensing module is arranged on the equatorial plane of the wheel hub.

The beneficial effects of the technical solution provided by the invention are:

1. By applying MEMS gyro-less strapdown micro-inertial measurement technology to measure the dynamic load of the wheel, the real-time monitoring of the dynamic load of the motor vehicle wheel at different operating speeds is realized;

2. The dynamic load parameters of the wheels can measure the tires and the dynamic load of the whole vehicle under different road conditions, the body and tires in different attitudes, and realize the comprehensive evaluation of the dynamic load of the motor vehicle through the monitoring and analysis of the dynamic load parameters of the wheels;

3. Analyze and compare the wheel dynamic load data with its historical data through the analysis and prediction program, obtain the trend of wheel dynamic load, increase the prediction function of wheel dynamic load, form a complete and relatively independent measurement platform, and can provide a unified data interface The model is intended for application by relevant government administrations.

Description of drawings

Fig. 1 is a schematic view of the installation of the wheel-mounted intelligent sensor wheel dynamic load measurement module involved in the present invention in a side view of the wheel;

Fig. 2 is a schematic view of the installation of the wheel-mounted intelligent sensor wheel dynamic load measurement module involved in the present invention in a top view of the wheel;

Fig. 3 is a schematic view of the installation of the wheel-mounted intelligent sensor wheel dynamic load measurement module involved in the present invention with a front view of the wheel;

Fig. 4 shows the overall layout of the wheel-mounted intelligent sensor wheel dynamic load monitoring system involved in the present invention in a top view of the vehicle;

Fig. 5 shows the overall layout of the wheel-mounted intelligent sensor wheel dynamic load monitoring system involved in the present invention in a side view of the vehicle;

Fig. 6 is a schematic diagram of the main principles of the wheel-mounted intelligent sensor-based wheel dynamic load monitoring method of the present invention;

Fig. 7 is a schematic diagram of the hardware structure of the wheel-mounted intelligent sensor-based wheel dynamic load monitoring system described in the present invention;

FIG. 8 respectively shows the centripetal, tangential and lateral acceleration curves of a specified point of a tire monitored by the intelligent sensing module of FIG. 1 .

Detailed ways

In order to make the purpose, technical solution and advantages of the present invention clearer, this embodiment provides a motor wheel-mounted wheel dynamic load monitoring method with good real-time performance, high reliability and strong data processing capability. Mainly through the installation of intelligent sensing modules on the equatorial plane of the hub of each wheel of the motor vehicle, the installation of intelligent non-gyroscope inertial sensing units in the vehicle and the installation of intelligent sensing units in the suspension, the driving status of the motor vehicle is comprehensively detected. The main dynamic load parameters of the wheel are obtained through signal conditioning, digitalization, attitude algorithm, and dynamic load algorithm calculation of each sensor signal. The above dynamic load parameters are fused and analyzed by multi-sensor data, and can monitor and actively evaluate the driving safety status of motor vehicles. Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings:

This embodiment provides a wheel dynamic load monitoring method based on wheel-mounted intelligent sensors.

Referring to Figure 1, the method comprises the following steps:

Step 101 senses the three-dimensional acceleration of the installation point, wheel temperature and tire pressure through the intelligent sensing module.

There are four analog signals output by the wheel intelligent sensor module including tangential acceleration, lateral acceleration, centripetal acceleration and temperature inside the tire.

Step 102 converts the analog signals of tangential acceleration, lateral acceleration, centripetal acceleration and temperature inside the tire into digital signals, and performs filtering and temperature compensation.

Step 103: The wheel intelligent sensor module outputs the air pressure signal inside the tire to obtain real-time tire temperature and tire pressure through temperature compensation.

In step 104, the wheel intelligent sensor module will process and obtain the three-dimensional acceleration value.

The three-dimensional acceleration includes tangential acceleration, lateral acceleration and centripetal acceleration, and the acceleration value is sent to the central control module installed in the vehicle by wireless communication.

Step 105 obtains the relevant attitude parameters of the wheels and the vehicle body through the attitude algorithm according to the three-dimensional acceleration parameters (step 106 ), and then executes steps 107 and 108 .

Step 107 performs data fusion analysis on the relevant attitude parameters of the wheels and the vehicle body to self-check the safety of the intelligent sensing module.

Step 108 performs dynamic load calculation on the attitude parameters.

Step 110 makes an active safety evaluation and trend prediction for the wheels and the body according to the calculated dynamic load parameters.

See Figure 2, Figure 3, Figure 4, the wheel dynamic load intelligent sensing module is installed on the surface of the equatorial surface of the wheel hub, the installation requirements of the wheel intelligent sensing module: three sensitive axes of the acceleration sensor X axis, Y axis, Z axis The axes point to the tangential direction of the hub, the lateral direction of the hub, and the axis of the hub respectively; the coordinate system Oxyz is an orthogonal right-handed coordinate system.

Referring to Fig. 5 and Fig. 6, it is an overall layout diagram of the system adopted by the wheel-mounted intelligent sensor wheel dynamic load monitoring method according to the present invention, including wheel 1, wheel intelligent sensor module 2, and in-vehicle central control module 3. Suspension intelligent sensing module 4, wherein the wheel intelligent sensing module is installed on the equatorial surface of the hub of each wheel, the central control module 3 in the vehicle is installed in the vehicle, and the suspension intelligent sensing module 4 is installed on the suspension above the wheel Two-way communication is realized between the wheel intelligent sensing module 2 and the central control module 3 in the vehicle through radio frequency, and the two-way communication between the suspension intelligent sensing module 4 and the central control module 3 in the vehicle is through the CAN bus.

Referring to Fig. 7, the hardware system based on the wheel-mounted wheel dynamic load monitoring method involved in the present invention includes a wheel intelligent sensor module 2 installed in each wheel, a suspension intelligent sensor module 4 installed in the vehicle body suspension, and a vehicle mounted intelligent sensor module. The central control module 3 in the vehicle; (1) the wheel intelligent sensor module 2 includes a wheel inertia measurement unit 2a, a conditioning unit 2b, a wireless single-chip microcomputer 2c and a first power supply 2d; the wheel inertia measurement unit 2a includes a three-axis acceleration sensor 21a, temperature sensor 22a and pressure sensor 23a; Triaxial acceleration sensor 21a, temperature sensor 22a and pressure sensor 23a output analog signal, and this wheel inertia measurement unit 2a is electrically connected with conditioning unit 2b; Conditioning unit 2b is used for the acceleration of input and The temperature signal is filtered and adjusted, and the conditioning unit 2b is connected to the wireless single-chip microcomputer 2c, and the signal is an analog signal; the wireless single-chip microcomputer 2c can send a self-test signal to the three-axis acceleration sensor 21a, the temperature sensor 22a and the pressure sensor 23a, for Check whether the three-axis acceleration sensor 21a, the temperature sensor 22a and the pressure sensor 23a are working normally; the wireless single-chip microcomputer 2c integrates a wireless transceiver circuit and a single-chip microcomputer on the chip, which is used for sensor collection, calculation and realization of the two-way communication function with the central control module 2 in the car The first power supply 2d is to provide a DC power supply for the wheel inertia measurement unit 2a, the conditioning unit 2b and the wireless single-chip microcomputer 2c; wherein, the three-axis acceleration sensor 21a of the wheel inertia measurement unit 2a adopts a two-axis acceleration sensor ADXL323 and a single-axis acceleration sensor ADXL193 is combined, the wireless microcontroller 2c adopts CC2510F32; (2) the suspension intelligent sensor module 4 includes the third inertial measurement unit 4a, the conditioning circuit 4b, the processor 4c, the third power supply 4d and the CAN interface 4e, the third inertial measurement unit 4a is composed of a uniaxial acceleration sensor 41a and a temperature sensor 42a, and is connected to the conditioning unit 4b, and the signal is an analog signal; the conditioning unit 4b is electrically connected to the processor 4c, and the signal is an analog signal; the uniaxial acceleration sensor 4a adopts ADXL103 type; the third power supply 4d provides DC power supply for the third inertial measurement unit 4a, conditioning unit 4b, and processor 4c; wherein, the processor 4c selects C8051F041 type; (3) the central control module 3 in the car includes a wireless single-chip microcomputer 3a, a second No gyro inertial measurement unit 3b, second power supply 3c, ARM processor 3d and human-computer interaction unit 3e; the wireless single-chip microcomputer 3a realizes the communication function with the wheel intelligent sensor module, and is connected to the ARM processor 3d through digital signals; the second The gyro-free IMU 3b is connected to the ARM processor 3d, and the signal is a digital signal; the second power supply 3c provides direct current for the wireless microcontroller 3a, the second gyro-free IMU 3b, the ARM processor 3d and the human-computer interaction unit 3e Power supply; human-computer interaction unit 3e consists of LCD screen 31e, touch screen 32e, buzzer 33e, CA N interface 34e is formed; LCD screen 31e is used for outputting and displaying the output display information of ARM processor 3d, comprises parameter such as wheel dynamic load parameter, state; Touch screen 32e is used for setting parameter, query data; Buzzer 33e is used for breaking down Driven by ARM processor 3d to issue a warning; CAN interface 34e is used to provide other CAN devices to access the interface of the central control module 3d in the car; wherein, the wireless single-chip microcomputer 3a (2c) adopts CC2510F32.

The hardware system based on the wheel-mounted wheel dynamic load monitoring method involved in the present invention uses C language to compile each corresponding processing program, and its work flow includes: (1) tangential acceleration, lateral acceleration, and lateral acceleration output by the wheel inertia measurement unit 2a. Cardiac acceleration and temperature analog signals are conditioned by the conditioning unit 2b, converted into digital signals by the ADC peripheral of the wireless single-chip microcomputer 2c, and provided to the CPU of the wireless single-chip microcomputer 2c to access in an interrupt trigger mode; the wireless single-chip microcomputer 2c can be driven by The self-inspection signal self-inspects the acceleration sensor; (2) the microprocessor in the wireless single-chip microcomputer 2c performs digital filtering, compensation and interpolation calculation on the signal to obtain the three-dimensional acceleration value in the wheel motion attitude, including: tangential acceleration, lateral acceleration Acceleration and centripetal acceleration characterize the state of any instantaneous three-dimensional acceleration of the wheel; the data is transmitted and output to the wireless single-chip microcomputer 3a of the central processing module 3 in the car through the wireless transceiver circuit inside the wireless single-chip microcomputer 2c, and simultaneously through the wireless transceiver inside the wireless single-chip microcomputer 2c The circuit can also receive the commands sent by the central processing module 3 in the car through the wireless single-chip microcomputer 3a; (3) the task of the central processing module 3 in the car: 1. receiving the body attitude information from the second gyro-free inertial measurement unit 3b; 2. receiving From the suspension intelligent sensor module 4 suspension vertical acceleration information; ③ receive the data from the wheel intelligent sensor module 2 through the wireless single-chip microcomputer 3a, and send commands to the wheel intelligent sensor module 2 through the wireless single-chip microcomputer 3a when necessary; From the acceleration data sent by the wheel intelligent sensor module 2, the dynamic load parameters of the wheel are obtained through attitude calculation and dynamic load calculation; ⑤ Carry out active safety evaluation and trend prediction on the above wheel dynamic load data; Carry out data fusion and analysis on the vehicle dynamic load data in order to judge whether the wheel intelligent sensor module 2 is working normally, and predict the change trend of the wheel dynamic load; wherein, the centripetal force of a specified point of a tire monitored by the intelligent sensor module , tangential and lateral acceleration curves (see Fig. 8); 7. output and display wheel dynamic load information, evaluation grade, trend prediction information, etc. by controlling the liquid crystal screen 31e; 8. process the interruption triggered by the touch screen 32e and perform parameter setting and historical query and other operations; 9. When an abnormality occurs, the buzzer 33e is driven by a digital signal to make a buzzer warning; 10. An electronic data table for storing relevant dynamic load data and historical data is established for other external devices to access through the CAN interface 34e.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present invention can easily think of changes or Replacement should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (7)

1. A method for monitoring wheel dynamic loads based on wheel-mounted intelligent sensors, characterized in that the method comprises: A. According to the three-dimensional acceleration parameters of the vehicle body, the vehicle body movement attitude angle parameters are obtained through the attitude algorithm; B. Perceive the vertical acceleration of the suspension through the intelligent sensor module of the suspension body; C. Obtain the suspension quality by using the three-dimensional acceleration parameters of the vehicle body, the motion attitude angle parameters of the vehicle body and the mass parameters of the whole vehicle; D. Obtain wheel dynamic load data through dynamic load calculation according to suspension mass, suspension vertical acceleration parameters, wheel mass and wheel vertical acceleration parameters; E. Fusion and analysis of wheel dynamic load data to obtain the change trend of wheel dynamic load. 2. The method for monitoring wheel dynamic loads based on wheel-mounted intelligent sensors according to claim 1, wherein, before step A is performed, the method also includes: Perceive the three-dimensional acceleration of the wheel through the wheel intelligent sensing module; Obtain the vertical acceleration of the wheel according to the three-dimensional acceleration parameters of the wheel; Perceive the three-dimensional acceleration of the body through the suspension body intelligent sensor module. 3. The wheel dynamic load monitoring method based on wheel-mounted intelligent sensors according to claim 1, characterized in that, the method further comprises: digitally filtering, compensating and interpolating the three-dimensional acceleration signal of the wheel to obtain the motion attitude of the wheel The three-dimensional acceleration parameters in . 4. The wheel dynamic load monitoring method based on wheel-mounted intelligent sensors according to claim 2, wherein the three-dimensional acceleration of the wheel is: tangential acceleration, lateral acceleration and centripetal acceleration; the three-dimensional acceleration of the vehicle body are: longitudinal acceleration, lateral acceleration and vertical acceleration. 5 . The method for monitoring wheel dynamic loads based on wheel-mounted intelligent sensors according to claim 1 , wherein the vehicle body motion attitude angles include roll angles, pitch angles, and yaw angles. 6 . 6. The wheel-mounted intelligent sensor-based wheel dynamic load monitoring method according to claim 1 or 2, characterized in that merging the motion attitude parameters of the wheels and the vehicle body and judging the operation of the wheel intelligent sensor module situation. 7 . The method for monitoring wheel dynamic load based on wheel-mounted intelligent sensors according to claim 2 , wherein the wheel intelligent sensor module is arranged on the equatorial plane of the wheel hub. 8 .

Images