CN113859307B - Vehicle running state detection method and device and vehicle - Google Patents
Vehicle running state detection method and device and vehicle Download PDFInfo
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- CN113859307B CN113859307B CN202010621401.4A CN202010621401A CN113859307B CN 113859307 B CN113859307 B CN 113859307B CN 202010621401 A CN202010621401 A CN 202010621401A CN 113859307 B CN113859307 B CN 113859307B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0063—Multiple on-board control systems, e.g. "2 out of 3"-systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/021—Measuring and recording of train speed
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Abstract
The application discloses a method for detecting a vehicle running state, which comprises the following steps: acquiring a first speed of the vehicle through a speed sensor module; acquiring a second speed of the vehicle through the triaxial accelerometer module; in a case where the vehicle is in an idle slip state, a timing at which the vehicle exits the idle slip state is determined based on the first speed and the second speed. The method can accurately detect the running state of the vehicle.
Description
Technical Field
The disclosure relates to the technical field of vehicles, in particular to a method and a device for detecting a vehicle running state, an electronic device and a vehicle.
Background
Vehicle-mounted controllers (VOBCs) are mainly responsible for Automatic Train Protection (ATP) and Automatic Train Operation (ATO) in urban rail transit, and the speed and distance of a Vehicle are basic parameters for ensuring the operation of the Vehicle-mounted controllers.
Currently, the VOBC generally collects the speed of the vehicle through a speed sensor module in the vehicle and controls the traveling of the vehicle according to the speed. When the vehicle is in an idle slipping state and the time for the vehicle to exit the idle slipping state needs to be determined, one method is to firstly obtain the instantaneous acceleration of the vehicle according to a speed sensor module; thereafter, it is determined whether the vehicle exits the idle slip state by determining whether the instantaneous acceleration is within an acceleration threshold range corresponding to the vehicle. In addition, there is also a method of installing a uniaxial accelerometer in a vehicle, obtaining acceleration of the vehicle by the uniaxial accelerometer, and determining timing at which the vehicle exits the idle slip state based on the acceleration.
However, since the instantaneous acceleration obtained by the speed sensor module or the vehicle acceleration obtained by the uniaxial accelerometer changes rapidly, it is not appropriate to use the acceleration as an intermediate amount for determining when the vehicle exits from the idle slip state, and there is a possibility that erroneous determination may affect the speed measurement and distance measurement result of the vehicle. Therefore, it is necessary to provide a method for detecting a vehicle operating state to accurately detect the vehicle operating state.
Disclosure of Invention
An object of the disclosed embodiment is to provide a new technical solution for detecting the running state of a vehicle.
According to a first aspect of the present disclosure, there is provided a method of detecting a running state of a vehicle, the method comprising:
acquiring a first speed of the vehicle through a speed sensor module;
acquiring a second speed of the vehicle through the triaxial accelerometer module;
in a case where the vehicle is in an idle slip state, a timing at which the vehicle exits the idle slip state is determined based on the first speed and the second speed.
Alternatively, said determining the timing at which the vehicle exits the idle slip state based on the first speed and the second speed in the case where the vehicle is in the idle slip state, includes:
acquiring an absolute value of a difference value between the first speed and the second speed;
and under the condition that the absolute value of the difference is smaller than a preset difference threshold value, determining that the vehicle exits the idle slip state.
Optionally, the method further comprises:
taking the second speed as a target speed of the vehicle in a case where the vehicle is in an idle slip state; and
taking the first speed as the target speed in a case where the vehicle is in a normal running state;
and calculating the running distance of the vehicle according to the target speed.
Optionally, the three-axis accelerometer module comprises at least one three-axis accelerometer;
the acquiring of the second speed of the vehicle by the three-axis accelerometer module includes:
obtaining at least one sample velocity of the vehicle according to the tri-axial accelerometer module;
obtaining the second speed according to an average value of the at least one sampling speed.
Optionally, the obtaining at least one sample velocity of the vehicle according to the three-axis accelerometer module comprises:
obtaining a first triaxial accelerometer from the triaxial accelerometer module;
obtaining a first sampling velocity of the vehicle according to the first triaxial accelerometer;
at least one sampling speed of the vehicle is obtained according to the first sampling speed.
Optionally, the obtaining a first sample speed of the vehicle according to the first triaxial accelerometer includes:
obtaining a first acceleration of the vehicle from the first three-axis accelerometer;
and obtaining the first sampling speed according to the first acceleration.
Optionally, said obtaining a first acceleration of the vehicle according to the first triaxial accelerometer comprises:
acquiring a first measured acceleration of the first triaxial accelerometer in a preset axial direction, wherein the preset axial direction is consistent with the running direction of the vehicle;
the first acceleration is obtained by performing calibration processing and low-pass filtering processing on the first measured acceleration.
Optionally, the method further comprises:
and under the condition that the vehicle is in a normal running state, determining the time for the vehicle to enter the idle slip state according to the first speed.
Optionally, said determining the timing at which the vehicle enters the idle slip state based on the first speed comprises:
acquiring a third speed of the vehicle at a first moment, wherein the third speed is the vehicle speed acquired by the speed sensor module at the first moment, and the first moment is earlier than the current moment;
acquiring a difference value between the current moment and the first moment;
obtaining the instantaneous acceleration of the vehicle at the current moment according to the first speed, the third speed and the difference value;
in the case where the instantaneous acceleration is not within a preset acceleration threshold range, it is determined that the vehicle enters an idle slip state.
Optionally, before the step of obtaining the second speed of the vehicle by the three-axis accelerometer module is performed, the method further comprises:
acquiring the working state of the triaxial accelerometer module;
and when the working state represents that the triaxial accelerometer module is in an abnormal working state, acquiring the second speed of the vehicle by using a preset standby triaxial accelerometer module, and acquiring the first speed of the vehicle by using a preset standby speed sensor module.
According to a second aspect of the present disclosure, the present disclosure also provides a detection apparatus of a vehicle running state, including:
a speed sensor module for acquiring a first speed of a vehicle;
the three-axis accelerometer module is used for acquiring a second speed of the vehicle;
and the running state detection module is used for determining the time when the vehicle exits from the idle slip state according to the first speed and the second speed under the condition that the vehicle is in the idle slip state.
According to a third aspect of the present disclosure, there is also provided an electronic device comprising the apparatus according to the second aspect of the present disclosure; alternatively, the electronic device includes: a memory for storing executable instructions; a processor configured to execute the electronic device according to the control of the instruction to perform the method according to the first aspect of the present disclosure.
According to a fourth aspect of the present disclosure, there is also provided a vehicle including the electronic apparatus according to the third aspect of the present disclosure.
The method has the advantages that according to the embodiment of the disclosure, the first speed of the vehicle can be acquired through the speed sensor module, meanwhile, the second speed of the vehicle can be acquired through the three-axis accelerometer module, under the condition that the vehicle is in the idle slipping state, the time when the vehicle exits the idle slipping state can be determined without determining the time when the vehicle exits the idle slipping state according to the instantaneous acceleration of the vehicle, but the time when the vehicle exits the idle slipping state can be determined through the first speed and the second speed, and because the change of the vehicle speed is relatively stable, the method can accurately detect the running state of the vehicle, and further improve the accuracy of the speed and distance measurement result of the vehicle.
Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a flowchart illustrating a method of detecting a vehicle running state according to an embodiment of the present disclosure.
Fig. 2 is a schematic diagram of a detection process for a vehicle entering an idle slip state according to an embodiment of the present disclosure.
Fig. 3 is a schematic flow chart of detection of the vehicle exiting the idle slip state according to the embodiment of the present disclosure.
Fig. 4 is a schematic diagram of a vehicle behavior detection apparatus according to an embodiment of the present disclosure.
Fig. 5 is a schematic functional block diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of parts and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be discussed further in subsequent figures.
< method example >
In order to accurately detect the operating state of the vehicle and improve the accuracy of the speed and distance measuring results of the vehicle, the embodiment respectively obtains at least two speeds corresponding to the vehicle by using different sensor modules, and detects the operating state of the vehicle according to the at least two speeds, so as to accurately detect the time when the vehicle exits the idle slipping state.
Please refer to fig. 1, which is a flowchart illustrating a method for detecting a vehicle operating state according to an embodiment of the present disclosure. The method may be implemented by an electronic device on the vehicle, for example by an onboard controller on the vehicle; the vehicle is generally a rail train, but the vehicle may be other types of vehicles, and is not limited herein.
As shown in fig. 1, the method of the present embodiment may include the following steps S1100-S1300, which are described in detail below.
In step S1100, a first speed of a vehicle is obtained by a speed sensor module.
In the present embodiment, the first speed of the vehicle may be first acquired by a speed sensor module built in the vehicle.
The first speed is a vehicle speed corresponding to the speed sensor module, that is, a vehicle speed obtained through calculation according to data collected by the speed sensor module. In particular implementations, to improve the accuracy of the first speed, at least one speed sensor may be included in the speed sensor module, and the first speed may be an average of vehicle speeds collected by the at least one speed sensor.
And step S1200, acquiring a second speed of the vehicle through the triaxial accelerometer module.
In practice, when the vehicle is measured, that is, when the speed of the vehicle needs to be measured, the speed of the vehicle may be generally measured by a speed sensor module built in the vehicle, for example, the speed of the vehicle may be obtained by the speed sensor module built in the vehicle as described in step S1100; alternatively, the speed of the vehicle may also be measured using a single axis accelerometer module built into the vehicle. In measuring the speed of the vehicle using the speed sensor module, since the speed sensor is generally mounted on the axle of the wheel of the vehicle, the vehicle speed obtained by the speed sensor module is not accurate when the vehicle is in an idle slip state. The accelerometer module is generally used for calculating the speed of the vehicle according to the measured acceleration, and the acceleration measured by the accelerometer module is not affected by the idle slipping state of the vehicle, so when the vehicle is in the idle slipping state, the accelerometer module can be generally used for acquiring the speed of the vehicle.
In order to improve the accuracy of the measured vehicle speed, in the present embodiment, while the first speed of the vehicle is acquired by the speed sensor module built in the vehicle, the second speed of the vehicle is also acquired by the three-axis accelerometer module built in the vehicle.
The triaxial accelerometer module is a module which is built in the vehicle and comprises at least one triaxial accelerometer.
A three-axis accelerometer, i.e., a three-axis acceleration sensor, is a sensor that can measure acceleration components of an object on three coordinate axes of the three-axis acceleration sensor, the three coordinate axes of the three-axis accelerometer are perpendicular to each other, and an axial direction of one of the axes is identical to a running direction of a vehicle, and an axial direction of the other axis is identical to a gravity direction.
In this embodiment, the acquiring a first speed of the vehicle by the three-axis accelerometer module includes: obtaining at least one sample velocity of the vehicle according to the tri-axial accelerometer module; obtaining the second speed according to the average value of the at least one sampling speed.
The sampling speed is the vehicle speed obtained according to the vehicle acceleration measured by any one triaxial accelerometer in the triaxial accelerometer module.
In this embodiment, in order to improve the accuracy of the second velocity obtained by the three-axis accelerometer module, at least one sampling velocity of the vehicle may be obtained by at least one three-axis accelerometer in the three-axis accelerometer module, and the first velocity may be obtained by calculating an average of the at least one sampling velocity. Of course, in a specific implementation, in order to improve the accuracy of the second velocity, it is of course also possible to perform normalization processing on at least one sampling velocity obtained by the three-axis accelerometer module by other methods, which is not limited herein.
In this embodiment, the obtaining at least one sampling velocity of the vehicle according to the three-axis accelerometer module includes: obtaining a first triaxial accelerometer from the triaxial accelerometer module; obtaining a first sampling velocity of the vehicle according to the first triaxial accelerometer; at least one sampling speed of the vehicle is obtained according to the first sampling speed.
It should be noted that, in this embodiment, the first triaxial accelerometer and the "first" of the first sampling speed are used to distinguish different triaxial accelerometers or sampling speeds, rather than specifically referring to a certain triaxial accelerometer or a certain sampling speed.
In this embodiment, the obtaining a first sample speed of the vehicle according to the first triaxial accelerometer includes: obtaining a first acceleration of the vehicle from the first three-axis accelerometer; and obtaining the first sampling speed according to the first acceleration.
The first acceleration is the acceleration of the vehicle in the running direction, which is calculated through the data collected by the first triaxial accelerometer.
In particular implementations, the sampling speed of the vehicle may be calculated using the following equation:
v_acc＝v_acc_last+a*delta_ts
the method comprises the steps that v _ acc represents a first sampling speed of a vehicle at the current moment, v _ acc _ last represents a historical sampling speed of the vehicle obtained by a first triaxial accelerometer at the moment corresponding to the last data acquisition period, a represents a first acceleration of the vehicle at the current moment, and delta _ ts represents a difference value between the current moment and the moment corresponding to the last data acquisition period.
It should be noted that the data collection period refers to a period in which a speed sensor module or other sensor modules in a vehicle collect the speed of the vehicle, and in the embodiment of the present disclosure, the "data collection period" is simply referred to as "period" unless otherwise specified.
The obtaining a first acceleration of the vehicle according to the first three-axis accelerometer, comprising: acquiring a first measured acceleration of the first triaxial accelerometer in a preset axial direction, wherein the preset axial direction is consistent with the running direction of the vehicle; the first acceleration is obtained by performing calibration processing and low-pass filtering processing on the first measured acceleration.
Specifically, in the present embodiment, in acquiring the first acceleration corresponding to the first triaxial accelerometer, in order to reduce the mounting error of the first triaxial accelerometer and the influence of the vehicle vibration on the measured first measured acceleration, after acquiring the first measured acceleration in the preset axial direction of the first triaxial accelerometer, the first acceleration of the vehicle may be acquired by performing a calibration process and a low-pass filtering process on the first measured acceleration.
Specifically, the calibration process of the first measured acceleration includes: acquiring a calibration value of the first triaxial accelerometer in the preset axial direction, wherein the calibration value is determined according to the installation error of the triaxial accelerometer on the vehicle; and according to the calibration value, carrying out calibration processing on the first measured acceleration to obtain a first calibrated acceleration corresponding to the first measured acceleration.
And the calibration value is a value obtained by performing zero-degree calibration on the measured acceleration acquired by each axis of the three-axis accelerometer, and the calibration value is generally determined according to the installation error of the three-axis accelerometer on the vehicle.
After the calibration processing is performed on the first measured acceleration, the low-pass filtering processing is performed on the first measured acceleration, and the low-pass filtering processing includes: and carrying out low-pass filtering processing on the first calibration acceleration to obtain the first acceleration.
That is, in order to reduce the disturbance of the vehicle vibration on the first measured acceleration of the first triaxial accelerometer, after the first calibrated acceleration is obtained, the first acceleration of the vehicle may be obtained by performing a low-pass filtering process on the first calibrated acceleration.
Specifically, the first acceleration of the vehicle may be obtained using the following equation.
a＝(P1*a_last)+(P2*a_current)
Wherein a represents a first acceleration of the vehicle in a current data acquisition cycle, a _ last represents a historical acceleration obtained according to the first triaxial accelerometer in a previous data acquisition cycle, a _ current represents a first calibrated acceleration obtained according to the first triaxial accelerometer in the current data acquisition cycle, and P1 and P2 are respectively a first filter coefficient and a second filter coefficient.
It should be noted that, in this embodiment, in order to improve the accuracy of the first acceleration, after performing calibration processing and low-pass filtering processing on the first measured acceleration, the gravity acceleration of the position of the vehicle may be obtained according to the first triaxial accelerometer when the gradient value of the position of the vehicle is greater than zero; calculating the gravity acceleration component of the gravity acceleration in the preset axial direction of the first triaxial accelerometer according to the gravity acceleration and the gradient value; then, the first acceleration of the vehicle is obtained by removing the influence of the gravitational acceleration component on the measured acceleration.
It should be noted that, in the specific implementation, step S1100 and step S1200 are not consecutive, that is, the first speed and the second speed may be obtained simultaneously, or the second speed may be obtained first and then the first speed is obtained, which is not limited herein.
And step S1300, when the vehicle is in the slip state, determining a timing at which the vehicle exits the slip state based on the first speed and the second speed.
Before this step is described, a method of determining that a vehicle enters an idle slip state will first be described, specifically, the method includes: and under the condition that the vehicle is in a normal running state, determining the time for the vehicle to enter the idle slip state according to the first speed.
Please refer to fig. 2, which is a schematic diagram illustrating a flow of detecting that the vehicle enters an idle slip state according to an embodiment of the present disclosure. As shown in fig. 2, the timing at which the vehicle enters the idle slip state can be determined by the following steps S1301-S1304: step S1301, acquiring a third speed of the vehicle at a first time, where the third speed is a vehicle speed acquired by the speed sensor module at the first time, and the first time is earlier than a current time; step S1302, obtaining a difference value between the current time and the first time; step S1303, obtaining the instantaneous acceleration of the vehicle at the current moment according to the first speed, the third speed and the difference value; and step S1304, under the condition that the instantaneous acceleration is not within a preset acceleration threshold value range, determining that the vehicle enters an idle slip state.
In other words, under the condition that the vehicle is in a normal running state, at the time corresponding to the idle slip judgment period of the vehicle, the speed of the vehicle measured by the speed sensor module in the two data acquisition periods before and after the time is differentiated to obtain the instantaneous acceleration of the vehicle corresponding to the time, and whether the vehicle enters the idle slip state is determined by judging whether the instantaneous acceleration is within the preset acceleration threshold range. Of course, in specific implementation, it may be determined whether the vehicle enters the idle slip state in other ways, and details are not described here.
Please refer to fig. 3, which is a schematic diagram illustrating a flow of detecting that the vehicle exits from the idle slip state according to an embodiment of the disclosure. As shown in fig. 3, the determining the timing at which the vehicle exits the idle slip state based on the first speed and the second speed in the case where the vehicle is in the idle slip state includes: step S1305, acquiring an absolute value of a difference between the first speed and the second speed; in step S1306, it is determined that the vehicle exits the idle slip state, in a case where the absolute value of the difference is smaller than a preset difference threshold.
Of course, in order to further improve the accuracy of the detection result, it may also be determined that the vehicle exits the idle-slip state under the condition that the absolute value of the difference between the first speed and the second speed in a plurality of consecutive data acquisition cycles is smaller than the preset difference threshold, which is not described herein again. In addition, the preset difference threshold may be set as needed, and is not particularly limited herein.
In addition, in order to improve the accuracy of the vehicle speed measurement and distance measurement result, the method provided by the embodiment further comprises: taking the second speed as a target speed of the vehicle in a case where the vehicle is in an idle slip state; and in a case where the vehicle is in a normal running state, taking the first speed as the target speed; and calculating the running distance of the vehicle according to the target speed.
It should be noted that, in order to improve the usability of the speed measuring and distance measuring system corresponding to the method, before the step S1100 is executed, the method further includes: acquiring the working state of the triaxial accelerometer module; and under the condition that the working state represents that the triaxial accelerometer module is in an abnormal working state, acquiring a second speed of the vehicle by using a preset standby triaxial accelerometer module, and acquiring a first speed of the vehicle by using a preset standby speed sensor module.
In the present embodiment, in order to stably detect the operating state of the vehicle and stably measure the speed and distance of the vehicle, a plurality of speed sensors and a plurality of triaxial accelerometers may be redundantly built in the vehicle to form a main triaxial accelerometer module and a main speed sensor module, and a standby triaxial accelerometer module and a standby speed sensor module.
When the running state of the vehicle is detected and the speed and distance measurement processing is carried out on the vehicle, the speed and distance measurement can be carried out on the vehicle by using the main triaxial accelerometer module and the main speed sensor module by default, and before the step S1200 is executed, the working state of the currently used triaxial accelerometer module is obtained; under the condition that the working state represents that the currently used triaxial accelerometer module is in an abnormal working state, the vehicle-mounted controller can be controlled to carry out tie-off, namely, the standby speed sensor module and the standby triaxial accelerometer module are used for obtaining the first speed and the second speed of the vehicle. Certainly, in specific implementation, when the running state of the vehicle needs to be detected and the speed and distance measurement processing is performed on the vehicle, the working states of the quasi-main and standby triaxial accelerometer modules can be obtained at the same time, and the modules with better switching states are used by comparing the working states of the main and standby triaxial accelerometer modules, which is not described herein again.
In this embodiment, the obtaining of the operating state of the triaxial accelerometer module may be performed by at least one of the following processes: in each data acquisition cycle, whether the vehicle acceleration is successfully acquired by the triaxial accelerometer module and whether the acquired vehicle acceleration is effective is judged, namely whether the acquired vehicle acceleration is within a preset speed threshold range, whether the identification of the triaxial accelerometer in the triaxial accelerometer module is correct, and whether the difference value between the timestamp in the triaxial accelerometer and the vehicle system time is smaller than a preset time threshold.
For example, if the identification error, the timestamp error, or the collected continuous times of invalidity of the vehicle acceleration in the triaxial accelerometer modules are less than a preset tolerance threshold or greater than a preset tolerance threshold, it may be considered that the current triaxial accelerometer module is not trusted or has a fault, and at this time, the standby speed sensor module and the standby triaxial accelerometer module may be switched to obtain the first speed and the second speed of the vehicle.
As can be seen from the above steps S1100-S1300, the method of the present embodiment may obtain the first speed of the vehicle through the speed sensor module, and may also obtain the second speed of the vehicle through the three-axis accelerometer module, and in the case that the vehicle is in the idle slip state, the timing for the vehicle to exit from the idle slip state may be determined through the first speed and the second speed without determining the timing for the vehicle to exit from the idle slip state according to the instantaneous acceleration of the vehicle.
< apparatus embodiment >
Corresponding to the above method embodiments, in this embodiment, there is also provided a vehicle running state detection apparatus, as shown in fig. 4, the apparatus 4000 may include a speed sensor module 4100, a three-axis accelerometer module 4200, and a running state detection module 4300.
The speed sensor module 4100 is configured to obtain a first speed of a vehicle.
The three-axis accelerometer module 4200 is configured to obtain a second velocity of the vehicle.
In one embodiment, the tri-axial accelerometer module comprises at least one tri-axial accelerometer; the three-axis accelerometer module 4200, when acquiring the second speed of the vehicle, may be configured to: acquiring at least one sampling speed of the vehicle; obtaining the second speed according to the average value of the at least one sampling speed.
In one embodiment, the tri-axis accelerometer module 4200, in acquiring at least one sample speed of the vehicle, may be configured to: obtaining a first triaxial accelerometer from the triaxial accelerometer module; obtaining a first sample velocity of the vehicle according to the first three-axis accelerometer; at least one sampling speed of the vehicle is obtained from the first sampling speed.
In one embodiment, the three-axis accelerometer module 4200, in obtaining a first sample velocity of the vehicle from the first three-axis accelerometer, may be configured to: obtaining a first acceleration of the vehicle from the first three-axis accelerometer; and obtaining the first sampling speed according to the first acceleration.
In one embodiment, the three-axis accelerometer module 4200, when obtaining a first acceleration of the vehicle based on the first three-axis accelerometer, may be configured to: acquiring a first measured acceleration of the first triaxial accelerometer in a preset axial direction, wherein the preset axial direction is consistent with the running direction of the vehicle; the first acceleration is obtained by performing calibration processing and low-pass filtering processing on the first measured acceleration.
The running state detection module 4300 is configured to determine, according to the first speed and the second speed, a timing when the vehicle exits the idle slip state when the vehicle is in the idle slip state.
In one embodiment, in the case where the vehicle is in the idle slip state, the operation state detection module 4300, when determining the timing for the vehicle to exit the idle slip state based on the first speed and the second speed, may be configured to: acquiring an absolute value of a difference value between the first speed and the second speed; and under the condition that the absolute value of the difference value is smaller than a preset difference value threshold value, judging that the vehicle exits the idle slip state.
In one embodiment, the apparatus 4000 further comprises a speed and distance measuring module, configured to use the second speed as a target speed of the vehicle when the vehicle is in an idle slip state; and taking the first speed as the target speed in a case where the vehicle is in a normal running state; and calculating the running distance of the vehicle according to the target speed.
In one embodiment, in the case where the vehicle is in a normal driving state, the operation state detection module 4300 may be further configured to: determining a timing at which the vehicle enters an idle slip state based on the first speed.
In this embodiment, the operating condition detection module 4300, in determining the timing for the vehicle to enter the idle slip state based on the first speed, may be configured to: acquiring a third speed of the vehicle at a first moment, wherein the third speed is the vehicle speed acquired by the speed sensor module at the first moment, and the first moment is earlier than the current moment; acquiring a difference value between the current moment and the first moment; obtaining the instantaneous acceleration of the vehicle at the current moment according to the first speed, the third speed and the difference value; and determining that the vehicle enters an idle slip state in the case where the instantaneous acceleration is not within a preset acceleration threshold range.
< apparatus embodiment >
In this embodiment, an electronic device is further provided, which may include the vehicle operating state detection apparatus 4000 according to any embodiment of the present disclosure, and is configured to implement the vehicle operating state detection method according to any embodiment of the present disclosure.
As shown in fig. 5, the electronic device 5000 may further include a processor 5200 and a memory 5100, the memory 5100 being configured to store executable instructions; the processor 5200 is configured to control the operating electronics to perform a method of detecting an operating state of the vehicle according to any of the embodiments of the present disclosure, according to the instructions.
The respective modules of the above apparatus 4000 may be implemented by the processor 5200 executing the instructions to perform a method of detecting an operation state of a vehicle according to any embodiment of the present disclosure.
< vehicle embodiment >
In the present embodiment, a vehicle is also provided, which may include the electronic device 5000 according to any embodiment of the present disclosure, for implementing the method for detecting the vehicle running state of any embodiment of the present disclosure.
The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the disclosure are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.
Various aspects of the present disclosure are described herein 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 block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, 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/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, by software, and by a combination of software and hardware are equivalent.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the market, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.
Claims (12)
1. A method of detecting a vehicle operating condition, comprising:
acquiring a first speed of the vehicle through a speed sensor module;
acquiring a second speed of the vehicle through the triaxial accelerometer module;
determining a timing at which the vehicle exits the idle slip state based on the first speed and the second speed in a case where the vehicle is in the idle slip state,
the determining the timing at which the vehicle exits the idle slip state based on the first speed and the second speed in the case where the vehicle is in the idle slip state includes:
acquiring an absolute value of a difference value between the first speed and the second speed;
and under the condition that the absolute value of the difference is smaller than a preset difference threshold value, determining that the vehicle exits the idle slip state.
2. The method of claim 1, further comprising:
taking the second speed as a target speed of the vehicle in a case where the vehicle is in an idle slip state; and
taking the first speed as the target speed in a case where the vehicle is in a normal running state;
and calculating the running distance of the vehicle according to the target speed.
3. The method of claim 1, the tri-axial accelerometer module comprising at least one tri-axial accelerometer;
the acquiring of the second speed of the vehicle by the triaxial accelerometer module comprises:
obtaining at least one sample velocity of the vehicle according to the tri-axial accelerometer module;
obtaining the second speed according to the average value of the at least one sampling speed.
4. The method of claim 3, the obtaining at least one sample velocity of the vehicle according to the tri-axial accelerometer module, comprising:
obtaining a first three-axis accelerometer from the three-axis accelerometer module;
obtaining a first sampling velocity of the vehicle according to the first triaxial accelerometer;
at least one sampling speed of the vehicle is obtained according to the first sampling speed.
5. The method of claim 4, the obtaining a first sample velocity of the vehicle according to the first three-axis accelerometer, comprising:
obtaining a first acceleration of the vehicle from the first three-axis accelerometer;
and obtaining the first sampling speed according to the first acceleration.
6. The method of claim 5, the obtaining a first acceleration of the vehicle according to the first three-axis accelerometer, comprising:
acquiring a first measured acceleration of the first triaxial accelerometer in a preset axial direction, wherein the preset axial direction is consistent with the running direction of the vehicle;
the first acceleration is obtained by performing calibration processing and low-pass filtering processing on the first measured acceleration.
7. The method of claim 1, further comprising:
and under the condition that the vehicle is in a normal running state, determining the time for the vehicle to enter the idle slip state according to the first speed.
8. The method of claim 7, said determining a timing for said vehicle to enter an idle slip state based on said first speed, comprising:
acquiring a third speed of the vehicle at a first moment, wherein the third speed is the vehicle speed acquired by the speed sensor module at the first moment, and the first moment is earlier than the current moment;
acquiring a difference value between the current moment and the first moment;
obtaining the instantaneous acceleration of the vehicle at the current moment according to the first speed, the third speed and the difference value;
and determining that the vehicle enters an idle slip state in the case where the instantaneous acceleration is not within a preset acceleration threshold range.
9. The method of claim 1, prior to performing the step of acquiring a second speed of the vehicle via the tri-axial accelerometer module, the method further comprising:
acquiring the working state of the triaxial accelerometer module;
and under the condition that the working state represents that the triaxial accelerometer module is in an abnormal working state, acquiring a second speed of the vehicle by using a preset standby triaxial accelerometer module, and acquiring a first speed of the vehicle by using a preset standby speed sensor module.
10. A vehicle behavior detection device comprising:
a speed sensor module for acquiring a first speed of a vehicle;
the three-axis accelerometer module is used for acquiring a second speed of the vehicle;
an operating state detection module for determining a timing at which the vehicle exits the idle slip state based on the first speed and the second speed, in a case where the vehicle is in the idle slip state,
wherein, when the operating state detection module determines the timing at which the vehicle exits the idle slip state based on the first speed and the second speed, in a case where the vehicle is in the idle slip state, it is configured to:
acquiring an absolute value of a difference value between the first speed and the second speed;
and under the condition that the absolute value of the difference is smaller than a preset difference threshold value, determining that the vehicle exits the idle slip state.
11. An electronic device comprising the apparatus of claim 10; or,
the electronic device includes:
a memory for storing executable instructions;
a processor configured to execute the electronic device to perform the method according to the control of the instruction, wherein the method is as claimed in any one of claims 1 to 9.
12. A vehicle comprising the electronic device of claim 11.
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| CN202010621401.4A CN113859307B (en) | 2020-06-30 | 2020-06-30 | Vehicle running state detection method and device and vehicle |
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| CN115027533B (en) * | 2022-06-14 | 2024-04-19 | 通号城市轨道交通技术有限公司 | Rail train speed and distance measuring method and device |
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