KR100916464B1 - Apparatus for compensating vehicle speed and method for operating the same - Google Patents
Apparatus for compensating vehicle speed and method for operating the sameInfo
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- KR100916464B1 KR100916464B1 KR1020080057284A KR20080057284A KR100916464B1 KR 100916464 B1 KR100916464 B1 KR 100916464B1 KR 1020080057284 A KR1020080057284 A KR 1020080057284A KR 20080057284 A KR20080057284 A KR 20080057284A KR 100916464 B1 KR100916464 B1 KR 100916464B1
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- vehicle speed
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- pulse time
- compensation value
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001914 filtration Methods 0.000 claims abstract description 40
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 claims abstract description 24
- 238000004364 calculation method Methods 0.000 claims abstract description 22
- 238000005259 measurement Methods 0.000 claims abstract description 15
- 238000010586 diagram Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 230000035939 shock Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0052—Filtering, filters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
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- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
본 발명은 차속 보상 산출 장치 및 차속 보상하는 방법에 관한 것이다. 본 발명은 차량의 휠 회전을 감지하여 펄스 시퀀스를 출력하는 센서 측정부와, 상기 펄스 시퀀스의 각 펄스의 펄스타임이 50% 듀티비를 갖도록 보상하는 펄스타임보상값을 각 펄스타임에 곱함으로써, 보상 펄스타임을 산출하는 펄스타임 보상부와, 상기 보상 펄스타임을 적용하여 차속을 계산하여 연산차속으로서 출력하는 차속 계산부와, 상기 연산차속에 대해 신호잡음을 필터링 제거하여 필터링차속을 출력하는 필터링부와, 상기 연산차속과 필터링차속을 피드백받아 상기 연산차속과 필터링차속간에 오차가 있을 때는 이전의 펄스타임보상값을 새롭게 갱신하는 펄스타임보상값 갱신부를 포함한다.The present invention relates to a vehicle speed compensation calculating device and a vehicle speed compensation method. The present invention is to multiply each pulse time by a sensor measurement unit for detecting the wheel rotation of the vehicle to output a pulse sequence and a pulse time compensation value for compensating the pulse time of each pulse of the pulse sequence to have a 50% duty ratio, A pulse time compensator for calculating a compensation pulse time, a vehicle speed calculation unit for calculating a vehicle speed by applying the compensation pulse time, and outputting it as an operation vehicle speed, and filtering to remove the signal noise for the operation vehicle speed and output a filtering vehicle speed And a pulse time compensation value updating unit which receives the operation speed and the filtering speed and updates the previous pulse time compensation value when there is an error between the operation speed and the filtering speed.
Description
본 발명은 차속 보상 산출 장치 및 차속 보상하는 방법에 관한 것이다.The present invention relates to a vehicle speed compensation calculating device and a vehicle speed compensation method.
일반적으로 자동차에는 엔진의 전자화가 급속히 진행된 결과 엔진제어, 정속주행 제어, 브레이크 계통의 제어, 변속제어 등에 전자제어장치가 사용되어 왔다.BACKGROUND ART In general, as a result of the rapid progress of the electronicization of an engine, an electronic controller has been used for engine control, cruise control, brake system control, and shift control.
특히, 안티록 브레이크 시스템(ABS), 트랙션 제어 시스템(TCS) 계통의 제어를 수행하는 전자제어장치는, 휠속도센서(WSS;Wheel Speed Sensor)와 같은 차속측정센서로부터의 신호에 의해 각 차륜의 속도, 각 차륜의 가감 속도 및 차속을 계산하고, 이러한 값으로부터 각각의 영역에 해당되는 최적의 제어를 수행하게 된다.In particular, the electronic control device for controlling the anti-lock brake system (ABS) and the traction control system (TCS) system is characterized in that each wheel is controlled by a signal from a vehicle speed measuring sensor such as a wheel speed sensor (WSS). The speed, the acceleration and deceleration speed of each wheel, and the vehicle speed are calculated, and from these values, optimum control corresponding to each area is performed.
도 1은 차속을 계산하여 출력하는 과정을 도시한 블록도이다.1 is a block diagram illustrating a process of calculating and outputting a vehicle speed.
차속측정센서로 이루어진 센서 측정부(10)에서 펄스 및 타임에 대한 센싱값에 대한 측정이 이루어진 후, 차속 계산부(11)는 이러한 센싱값을 바탕으로 차속을 계산한다. 상기 차속계산은 도 2와 같은 센싱 그래프가 있다고 할 때 1 루프 타임(1 loop time)마다 차속측정센서에서 입력되는 펄스의 개수와 각각의 펄스간 시간을 측정하여 1 루프의 평균 차속을 계산한다.After the measurement of the sensing values for the pulse and time is made in the sensor measuring unit 10 including the vehicle speed measuring sensor, the vehicle speed calculating unit 11 calculates the vehicle speed based on the sensing values. The vehicle speed calculation calculates the average vehicle speed of one loop by measuring the number of pulses input from the vehicle speed measurement sensor and the time between each pulse every one loop time when there is a sensing graph as shown in FIG. 2.
필터링부(12)는 상기 계산된 차속을 신호잡음 노이즈 필터링하여 최종적으로 차속을 출력한다.The filtering unit 12 performs signal noise noise filtering on the calculated vehicle speed, and finally outputs the vehicle speed.
상기와 같은 방식으로 차속측정센서로부터의 센싱값을 이용하여 차속을 계산하여 출력하는 것은, 각 펄스간 오차(pulse duty error)를 가지고 있을 때 계산된 차속와 실제 차속는 오차를 가지게 되는 문제가 있다.Calculating and outputting the vehicle speed using the sensing value from the vehicle speed measurement sensor in the above manner, there is a problem that the calculated vehicle speed and the actual vehicle speed have an error when there is a pulse duty error.
이러한 오차는 필터링을 하여도 그 오차를 줄이는데 한계를 가지게 된다. This error has a limit in reducing the error even by filtering.
따라서 상기 오차로 인해 차속이 정확히 계산되지 않을 때는, 부정확한 차속을 이용하여 차량 제어를 하기 때문에 정상적인 제어 수행이 이루어지는 문제가 있다. 예컨대, 오차로 인해 잘못 계산된 차속으로 인해 오토크루즈 주행(정속주행) 중에 차량 속도가 요동치는 문제가 발생한다.Therefore, when the vehicle speed is not accurately calculated due to the error, since the vehicle is controlled using the incorrect vehicle speed, there is a problem that the normal control is performed. For example, a problem arises in that the vehicle speed fluctuates during auto cruise driving (constant speed driving) due to an incorrectly calculated vehicle speed due to an error.
본 발명은 차속측정센서의 오차를 추정하여 이를 반영함으로써 정확한 차속이 측정될 수 있도록 한다.The present invention estimates the error of the vehicle speed measurement sensor and reflects it so that accurate vehicle speed can be measured.
본 발명은, 차량의 휠 회전을 감지하여 펄스 시퀀스를 출력하는 센서 측정부와, 상기 펄스 시퀀스의 각 펄스의 펄스타임이 50% 듀티비를 갖도록 보상하는 펄스타임보상값을 각 펄스타임에 곱함으로써, 보상 펄스타임을 산출하는 펄스타임 보상부와, 상기 보상 펄스타임을 적용하여 차속을 계산하여 연산차속으로서 출력하는 차속 계산부와, 상기 연산차속에 대해 신호잡음을 필터링 제거하여 필터링차속을 출력하는 필터링부와, 상기 연산차속과 필터링차속을 피드백받아 상기 연산차속과 필터링차속간에 오차가 있을 때는 이전의 펄스타임보상값을 새롭게 갱신하는 펄스타임보상값 갱신부를 포함한다.The present invention provides a sensor measurement unit for detecting a wheel rotation of a vehicle and outputting a pulse sequence, and multiplying each pulse time by a pulse time compensation value for compensating a pulse time of each pulse of the pulse sequence to have a 50% duty ratio. And a pulse time compensator for calculating a compensation pulse time, a vehicle speed calculator for calculating a vehicle speed by applying the compensation pulse time, and outputting it as an operation vehicle speed, and outputting a filtering vehicle speed by filtering and removing signal noise from the operation vehicle speed. And a filtering unit and a pulse time compensation value updating unit for receiving the feedback of the calculation vehicle speed and the filtering vehicle speed and newly updating a previous pulse time compensation value when there is an error between the calculation vehicle speed and the filtering vehicle speed.
상기 펄스타임보상부는, 상기 펄스 시퀀스의 각 펄스마다 펄스타임보상값을 할당한 펄스타임보상값 테이블을 구비한다.The pulse time compensation section includes a pulse time compensation value table in which a pulse time compensation value is assigned to each pulse of the pulse sequence.
상기 펄스타임보상값 갱신부는, 상기 필터링차속을 연산차속으로 나눈 값과 이전의 펄스타임보상값의 중간값으로서 펄스타임보상값을 새롭게 갱신한다.The pulse time compensation value updating unit newly updates the pulse time compensation value as an intermediate value between the filtering vehicle speed divided by the calculation vehicle speed and the previous pulse time compensation value.
또한, 본 발명은, 차량의 휠 회전을 감지하여 펄스 시퀀스를 출력하는 제1과정과, 상기 펄스 시퀀스의 각 펄스의 펄스타임이 50% 듀티비를 갖도록 보상하는 펄스타임보상값을 각 펄스타임에 곱함으로써, 보상 펄스타임을 산출하는 제2과정과, 상기 보상 펄스타임을 적용하여 차속을 계산하여 연산차속으로서 출력하는 제3과정과, 상기 연산차속에 대해 신호잡음을 필터링 제거하여 필터링차속을 출력하는 제4과정과, 상기 연산차속과 필터링차속을 피드백받아 상기 연산차속과 필터링차속간에 오차가 있을 때는 이전의 펄스타임보상값을 새롭게 갱신하는 제5과정과, 차속측정이 종료될 때까지 상기 제1,제2,제3,제4,제5과정이 반복되어 갱신되는 펄스타임보상값을 적용하여 차속 측정이 이루어지는 제6과정을 포함한다.The present invention also provides a first process of detecting a wheel rotation of a vehicle and outputting a pulse sequence, and a pulse time compensation value for compensating a pulse time of each pulse of the pulse sequence to have a 50% duty ratio at each pulse time. A second process of calculating a compensation pulse time, a third process of calculating a vehicle speed by applying the compensation pulse time, and outputting the calculated vehicle speed as an operation vehicle speed, and filtering and removing signal noise for the operation vehicle speed to output a filtering vehicle speed And a fourth step of receiving feedback of the operation speed and the filtering speed and updating the previous pulse time compensation value newly when there is an error between the operation speed and the filtering speed, and until the vehicle speed measurement is completed. And a sixth process in which the vehicle speed measurement is performed by applying the pulse time compensation value that is repeatedly updated.
상기 제2과정은, 상기 펄스 시퀀스의 각 펄스의 종류를 파악하는 과정과, 상기 파악한 펄스에 매칭되는 펄스타임보상값을 펄스 종류별 펄스타임보상값이 할당된 펄스타임보상값 테이블로부터 추출하는 과정과, 상기 추출한 펄스타임보상값을 각 펄스타임에 곱함으로써 보상 펄스타임을 산출하는 과정을 포함한다.The second process may include: identifying a type of each pulse of the pulse sequence; extracting a pulse time compensation value matching the detected pulse from a pulse time compensation value table to which a pulse time compensation value for each pulse type is assigned; And calculating a compensation pulse time by multiplying the extracted pulse time compensation value by each pulse time.
각 펄스의 카운터를 1회전당 펄스 횟수로 나눈 나머지값으로서 펄스의 종류를 파악함을 특징으로 한다.The pulse type of the pulse is divided by the number of pulses per revolution.
상기 제5과정은, 상기 필터링차속을 연산차속으로 나눈 값과 이전의 펄스타임보상값의 중간값으로서 펄스타임보상값을 새롭게 갱신함을 특징으로 한다.The fifth step is characterized in that the pulse time compensation value is newly updated as an intermediate value between the filtering vehicle speed divided by the calculation vehicle speed and the previous pulse time compensation value.
본 발명은 차속측정센서의 오차를 갱신 보상하여 차속을 계산해냄으로써, 정확한 차속 산출이 가능한 효과가 있다. 또한, 정확한 차속 산출로 인한 정상적인 차량 제어가 이루어질 수 있는 효과가 있다. According to the present invention, the vehicle speed is calculated by updating and compensating for an error of the vehicle speed measuring sensor, thereby making it possible to accurately calculate the vehicle speed. In addition, there is an effect that the normal vehicle control can be made due to the accurate vehicle speed calculation.
도 1은 종래의 차속 산출 장치를 도시한 블록도이다.1 is a block diagram showing a conventional vehicle speed calculating apparatus.
도 2는 차량의 휠 회전 감지에 따라 출력되는 펄스 시퀀스를 도시한 그림이다.2 is a diagram showing a pulse sequence output according to the wheel rotation detection of the vehicle.
도 3은 본 발명의 실시 예에 따른 차속 보상 산출 장치를 도시한 블록도이다.3 is a block diagram illustrating an apparatus for calculating a vehicle speed compensation according to an exemplary embodiment of the present invention.
도 4는 차량의 휠 회전에 따라 반복되는 펄스 시퀀스를 도시한 그림이다.4 is a diagram illustrating a pulse sequence repeated according to the wheel rotation of the vehicle.
도 5는 본 발명의 실시 예에 따른 차속 보상 산출 과정을 도시한 플로차트이다.5 is a flowchart illustrating a vehicle speed compensation calculation process according to an exemplary embodiment of the present invention.
이하, 본 발명의 실시 예들의 상세한 설명이 첨부된 도면들을 참조하여 설명될 것이다. 하기에서 각 도면의 구성요소들에 참조부호를 부가함에 있어 동일한 구성요소들에 대해서는 비록 다른 도면상에 표시되더라도 가능한 한 동일한 부호를 가지도록 하고 있음에 유의해야 한다. Hereinafter, a detailed description of embodiments of the present invention will be described with reference to the accompanying drawings. In the following description of the reference numerals to the components of the drawings it should be noted that the same reference numerals as possible even if displayed on different drawings.
도 3은 본 발명의 실시 예에 따른 차속 보상 산출 장치를 도시한 블록도이다.3 is a block diagram illustrating an apparatus for calculating a vehicle speed compensation according to an exemplary embodiment of the present invention.
차속측정센서로 구현되는 센서 측정부(30)는 휠의 회전에 따라 펄스가 측정되어, 측정된 펄스 시퀀스가 펄스타임 보상부로 제공된다. 상기 차속측정센서로는 휠속도센서(WSS;Wheel Speed Sensor)나 차속센서(VSS;Vehicle Speed Sensor) 등이 사용될 수 있는데, 본 발명에서 차속센서(VSS)로 구현할 때 더 효과적이다. 물론, 휠속도센서(WSS)로도 구현가능하지만, 휠속도센서보다 저렴한 차속센서를 본 발명에서 적용할 경우 횔속도센서와 동등한 센서 정밀도를 얻을 수 있다.The sensor measuring unit 30 implemented as the vehicle speed measuring sensor measures pulses according to the rotation of the wheel, and the measured pulse sequence is provided to the pulse time compensating unit. As the vehicle speed measurement sensor, a wheel speed sensor (WSS) or a vehicle speed sensor (VSS) may be used, which is more effective when implemented as a vehicle speed sensor (VSS) in the present invention. Of course, it can be implemented as a wheel speed sensor (WSS), but if the vehicle speed sensor cheaper than the wheel speed sensor is applied in the present invention can obtain the sensor accuracy equivalent to the shock speed sensor.
참고로, 상기에서 휠속도센서(WSS)는 차륜마다 1개씩 장착하며(총 4개), ABS, TCS와 같은 브레이크 제어 장치와 정속주행장치, 클러스터 속도게이지 등에 사용되며, 차속센서(VSS)는 변속기에 1개 장착하여 정속주행장치, 클러스터 속도게이지 등에 사용된다. For reference, in the above, the wheel speed sensor (WSS) is mounted one per wheel (total four), and used for brake control devices such as ABS, TCS, cruise control, cluster speed gauge, etc., vehicle speed sensor (VSS) is One gearbox is used for cruise control and cluster speed gauge.
차속측정센서는 1회전이 이루어질 때마다 일정한 갯수(1회전당 펄스 횟수)의 펄스로 된 펄스 시퀀스를 출력하는데, 예컨대, 도 4에 도시한 바와 같이 1회전이 이루어질 때 90°에 한 번씩 총 4개의 펄스가 펄스 시퀀스로서 출력될 수 있다. 이하, 설명에서 차속측정센서는 1회전당 펄스 횟수로서 총 4개의 펄스를 출력함을 예로 들어 설명한다.The vehicle speed measuring sensor outputs a pulse sequence consisting of a certain number of pulses (one pulse per revolution) each time one revolution is made, for example, as shown in FIG. Pulses may be output as a pulse sequence. In the following description, the vehicle speed measuring sensor outputs a total of four pulses as the number of pulses per revolution will be described as an example.
한편, 이러한 1회전당 4개의 펄스는 차속측정센서의 오차에 의하여 각각 그 듀티비를 약간씩 달리한다. 각 펄스는 50%의 듀티비를 가져야 하지만 차속측정센서의 고유의 오차로 인해 ±1~2%의 듀티비 오차를 나타낸다. 1회전당 4개의 펄스는 회전이 이루어질 때 각각 오차를 가진 채로 도 4과 같이 상기 4개 펄스가 반복적으로 계속하여 나타난다.On the other hand, these four pulses per revolution slightly vary their duty ratio due to the error of the vehicle speed measurement sensor. Each pulse must have a 50% duty ratio, but due to the inherent error of the speed sensor, it exhibits a duty ratio error of ± 1 to 2%. Four pulses per revolution are repeatedly displayed as shown in FIG. 4 with errors in each rotation.
이러한 듀티비 오차는 펄스타임 보상부에서 고려되어 차속계산부로 제공된다.This duty ratio error is taken into account in the pulse time compensator and provided to the vehicle speed calculator.
펄스타임 보상부(40)는 각 펄스의 펄스타임이 50% 듀티비를 가지도록 보상하여 보상 펄스타임을 산출한다. 이를 위하여 펄스타임 보상부는 펄스타임보상값 테이블(41)을 구비하고 있어, 센서측정부로부터 입력되는 각 펄스의 펄스타임을 보상하여 차속 계산부로 제공한다.The pulse time compensator 40 calculates a compensation pulse time by compensating the pulse time of each pulse to have a 50% duty ratio. To this end, the pulse time compensator has a pulse time compensating value table 41, and compensates the pulse time of each pulse input from the sensor measuring part and provides it to the vehicle speed calculator.
상기 펄스타임 보상부(40)의 동작 모습을 살펴보면, 상기 펄스타임보상값 테이블(41)은 각 펄스의 종류에 따라 펄스타임보상값을 달리하는 것으로서, 상기 펄스타임보상값의 초기값은 '1'을 가진다.Looking at the operation of the pulse time compensation unit 40, the pulse time compensation value table 41 is to change the pulse time compensation value according to the type of each pulse, the initial value of the pulse time compensation value is' 1 Has'
1회전당 4개의 펄스로 된 펄스 시퀀스가 발생된다고 할 때, 상기 펄스타임보상값은 4개의 각 펄스마다 고유의 펄스타임보상값을 가진다.When a pulse sequence of four pulses is generated per revolution, the pulse time compensation value has a unique pulse time compensation value for each of the four pulses.
펄스타임 보상부(40)는 센서 측정부(30)로 측정되는 펄스 시퀀스에서 각 펄스의 종류를 판단한다. 펄스 종류판단은 각 펄스의 펄스 카운터를 1회전당 펄스 횟수로 나누어서 그 나머지값을 가지고서 몇 번째 펄스인지를 판단한다.The pulse time compensator 40 determines the type of each pulse in the pulse sequence measured by the sensor measuring unit 30. The pulse type judgment divides the pulse counter of each pulse by the number of pulses per revolution and determines the number of pulses based on the remaining values.
예컨대, 1회전당 4개의 펄스가 발생된다고 할 때, 2회전에 위치한 7번째 펄스는 7/4에 의해 나머지 값이 3이 산출되기 때문에, 3번째 펄스로 판단한다. 마찬가지로, 4회전에 위치한 16번째 펄스는 16/4에 의해 나머지 값이 0이 되기 때문에 4번째 펄스로 판단한다. For example, when four pulses are generated per revolution, the seventh pulse located in the second revolution is determined to be the third pulse since the remaining value 3 is calculated by 7/4. Similarly, the 16th pulse located in the fourth rotation is determined as the fourth pulse because the remaining value becomes 0 by 16/4.
만약, 3번째 펄스로 판단되면, 펄스타임보상값 테이블에서 이에 매칭하는 제3펄스타임보상값을 추출하여 보상 펄스타임을 계산한다.If it is determined as the third pulse, the compensation pulse time is calculated by extracting the third pulse time compensation value matching the same from the pulse time compensation value table.
상기 보상 펄스타임은 각 펄스별로 펄스타임에 각 펄스타임보상값을 곱하여 구한다. 예컨대, 펄스타임보상값 테이블은 초기값이 1로 설정되어 있기 때문에, 피드백되어 갱신되지 않은 초기값의 펄스타임보상값 테이블을 가지고 있을 때인 최초에는 펄스타임과 이를 보상한 보상 펄스타임은 같은 값을 가지게 된다.The compensation pulse time is obtained by multiplying each pulse time compensation value by a pulse time for each pulse. For example, since the pulse time compensation value table has an initial value set to 1, the pulse time and the compensated pulse time that compensated for it initially have the same value when the pulse time compensation value table has an initial value not fed back and updated. To have.
상기와 같이 보상 펄스타임이 차속 계산부(50)로 제공되면 차속이 계산되어 연산차속으로 출력된다. 상기 차속계산은 각 루프별로 입력되는 펄스의 개수와 각각의 펄스의 시간을 이용하여 산출되는데, 펄스의 시간으로서 종래에는 보상 안 된 펄스타임이 적용되어 계산되지만, 본 발명에서는 펄스타임 보상부에서 보상된 보상 펄스타임이 적용되어 계산된다.When the compensation pulse time is provided to the vehicle speed calculator 50 as described above, the vehicle speed is calculated and output as the operation vehicle speed. The vehicle speed calculation is calculated by using the number of pulses input for each loop and the time of each pulse. In the present invention, a pulse time that is not compensated is applied as the time of the pulse. The calculated compensation pulse time is applied and calculated.
예컨대, 도 4의 제2루프에서 펄스타임 보상부를 거쳐 t1, t2의 펄스타임이 보상되었을 경우, 차속(Vloop) = α/{(t1의 보상된 펄스타임 + t2의 보상된 펄스타임)/2}에 의해 구해진다. 상기에서 α는 시스템 상수이다.For example, when the pulse times t1 and t2 are compensated in the second loop of FIG. 4 via the pulse time compensator, the vehicle speed V loop = α / {(compensated pulse time t1 + compensated pulse time t2) / 2}. Where α is a system constant.
상기 계산된 연산차속은 필터링부(60)에서 신호잡음이 제거되는 필터링을 거친 후 필터링차속으로서 출력된다.The calculated operational vehicle speed is output as the filtering vehicle speed after the filtering to remove the signal noise from the filtering unit 60.
한편, 차속계산부에서 출력되는 차속(연산차속)과, 상기 연산차속이 필터링되어 출력되는 차속(이하, 필터링차속)간에는 신호잡음만큼의 오차가 발생된다.On the other hand, an error equal to signal noise is generated between the vehicle speed (operation vehicle speed) output from the vehicle speed calculator and the vehicle speed (hereinafter, the filtering vehicle speed) from which the operation vehicle speed is filtered out.
이러한 오차가 발생될 때는 이를 보상하기 위하여 듀티비보상값 테이블을 갱신하여 결과적으로 출력 오차를 없애도록 한다. 즉, 차속측정센서로 입력되는 듀티 에러 이외에도 신호잡음에 의한 오차를 제거하기 위하여, 이전에 계산된 펄스타임보상값과 현재 보상값의 중간값을 취한다. When such an error occurs, the duty ratio compensation value table is updated to compensate for this error, thereby eliminating the output error. That is, in order to remove the error due to signal noise in addition to the duty error input to the vehicle speed measurement sensor, the intermediate value between the previously calculated pulse time compensation value and the current compensation value is taken.
이를 위하여, 펄스타임보상값 갱신부(70)는, 연산차속과 필터링차속을 피드백받아, 상기 필터링차속을 연산차속으로 나눈 값에 각 펄스의 펄스타임보상값을 더한 후, 이를 2로 나눈 중간값을 각 펄스의 펄스타임보상값으로 각각 산출하여 펄스타임보상값 테이블(41) 내의 각 펄스타임보상값을 갱신한다.To this end, the pulse time compensation value updater 70 receives feedback of the calculation vehicle speed and the filtering vehicle speed, adds the pulse time compensation value of each pulse to the value obtained by dividing the filtering vehicle speed by the operation vehicle speed, and divides it by 2 Are calculated as the pulse time compensation values of the respective pulses, and the respective pulse time compensation values in the pulse time compensation value table 41 are updated.
도 5는 본 발명의 실시 예에 따른 차속 보상 산출 과정을 도시한 플로차트이다.5 is a flowchart illustrating a vehicle speed compensation calculation process according to an exemplary embodiment of the present invention.
휠의 회전에 따라 차속측정센서에서 감지하여 펄스 시퀀스를 출력(S51)한다. 상기 출력된 펄스 시퀀스는 각 펄스에 대해 펄스타임 보상이 이루어진다.According to the rotation of the wheel detects the vehicle speed measurement sensor outputs a pulse sequence (S51). The output pulse sequence is pulse time compensated for each pulse.
상기 펄스타임 보상은 각 펄스의 종류에 따라 펄스타임보상값을 달리한 펄스타임 보상값 테이블을 이용하여 펄스타임 보상(S52)이 이루어진다.In the pulse time compensation, pulse time compensation S52 is performed using a pulse time compensation value table in which a pulse time compensation value is changed according to the type of each pulse.
이를 위하여 상기 펄스 시퀀스에서 각 펄스의 종류를 판정한다. 펄스 종류판단은 각 펄스의 펄스 카운터를 1회전당 펄스 횟수로 나누어서 그 나머지값을 가지고서 몇 번째 펄스인지를 판단한다. 예컨대, 1회전당 4개의 펄스가 발생된다고 할 때, 2회전에 위치한 7번째 펄스는 7/4에 의해 나머지 값이 3이 산출되기 때문에, 3번째 펄스로 판단한다. 마찬가지로, 4회전에 위치한 16번째 펄스는 16/4에 의해 나머지 값이 0이 되기 때문에 4번째 펄스로 판단한다.For this purpose, the type of each pulse is determined in the pulse sequence. The pulse type judgment divides the pulse counter of each pulse by the number of pulses per revolution and determines the number of pulses based on the remaining values. For example, when four pulses are generated per revolution, the seventh pulse located in the second revolution is determined to be the third pulse since the remaining value 3 is calculated by 7/4. Similarly, the 16th pulse located in the fourth rotation is determined as the fourth pulse because the remaining value becomes 0 by 16/4.
상기 펄스의 종류 판정이 내려지면, 해당 펄스에 매칭하는 펄스타임보상값을 펄스타임보상값 테이블로부터 추출하여, 보상 펄스타임을 산출한다. 펄스의 펄스타임에 상치 추출한 해당 펄스의 펄스타임보상값을 곱함으로써 보상 펄스타임이 산출된다.When the type of the pulse is determined, a pulse time compensation value matching the pulse is extracted from the pulse time compensation value table to calculate a compensation pulse time. The compensation pulse time is calculated by multiplying the pulse time of the pulse by the pulse time compensation value of the corresponding pulse extracted.
그 후, 상기 보상 펄스타임을 이용하여 차속을 산출하는 과정(S53)을 가진다.Thereafter, a process (S53) of calculating a vehicle speed using the compensation pulse time is performed.
상기 차속계산은 각 루프별로 입력되는 펄스의 개수와 각각의 펄스의 시간을 이용하여 산출되는데, 펄스의 시간으로서 종래에는 보상 안 된 펄스타임이 적용되어 계산되지만, 본 발명에서는 펄스타임 보상부에서 보상된 보상 펄스타임이 적용되어 계산된다.The vehicle speed calculation is calculated by using the number of pulses input for each loop and the time of each pulse. In the present invention, a pulse time that is not compensated is applied as the time of the pulse. The calculated compensation pulse time is applied and calculated.
예컨대, 도 4의 제2루프에서 펄스타임 보상부를 거쳐 t1, t2의 펄스타임이 보상되었을 경우, 차속(Vloop) = α/{(t1의 보상된 펄스타임 + t2의 보상된 펄스타임)/2}에 의해 구해진다. 상기에서 α는 시스템 상수이다.For example, when the pulse times t1 and t2 are compensated in the second loop of FIG. 4 via the pulse time compensator, the vehicle speed V loop = α / {(compensated pulse time t1 + compensated pulse time t2) / 2}. Where α is a system constant.
상기 보상 펄스타임을 적용하여 계산된 차속은 필터링부에서 신호잡음이 제거되는 필터링(S54)을 거친 후 출력된다.The vehicle speed calculated by applying the compensation pulse time is output after the filtering S54 to remove the signal noise.
그 후, 보상 펄스타임을 적용하여 산출한 차속(연산차속)과, 상기 연산차속이 필터링되어 출력되는 차속(필터링차속)을 피드백 받아, 이들의 펄스타임보상값 오차를 산출하여 오차가 있을 때(S56)는 펄스타임보상값 내의 각 펄스타임보상값을 갱신(S57)한다.After that, the vehicle speed (computation vehicle speed) calculated by applying the compensation pulse time and the vehicle speed (filtering vehicle speed) outputted by filtering the operation vehicle speed are fed back, and these pulse time compensation value errors are calculated and there is an error ( S56) updates each pulse time compensation value in the pulse time compensation value (S57).
즉, 연산차속과 필터링차속을 피드백받아, 상기 필터링차속을 연산차속으로 나눈 값에 각 펄스의 펄스타임보상값을 더한 후, 이를 2로 나눈 중간값을 각 펄스의 펄스타임보상값으로 각각 새롭게 산출하여, 새롭게 산출한 펄스타임보상값이 종래의 펄스타임보상값과 다를 경우에는 펄스타임보상값 테이블 내의 각 펄스타임보상값을 새롭게 산출한 펄스타임보상값으로 갱신한다.That is, the feedback of the calculation vehicle speed and the filtering vehicle speed is fed back, and the pulse time compensation value of each pulse is added to the value obtained by dividing the filtering vehicle speed by the operation vehicle speed, and then the median value divided by 2 is newly calculated as the pulse time compensation value of each pulse, respectively. When the newly calculated pulse time compensation value is different from the conventional pulse time compensation value, each pulse time compensation value in the pulse time compensation value table is updated with the newly calculated pulse time compensation value.
상기 과정들(S51,S52,S53,S54,S55,S56,S57)은 차속측정이 종료(S58)될 때까지 반복적으로 수행되어, 펄스타임 보상 및 펄스타임보상값 갱신이 이루어지면서 정확한 차속이 측정된다.The processes S51, S52, S53, S54, S55, S56, and S57 are repeatedly performed until the vehicle speed measurement is completed (S58), so that accurate vehicle speed is measured while pulse time compensation and pulse time compensation value are updated. do.
상술한 본 발명의 설명에서는 구체적인 실시 예에 관해 설명하였으나, 여러 가지 변형이 본 발명의 범위에서 벗어나지 않고 실시될 수 있다. 따라서 본 발명의 특허 범위는 상기 설명된 실시 예에 의하여 정할 것이 아니고 특허청구범위뿐 아니라 균등 범위에도 미침은 자명할 것이다.In the above description of the present invention, specific embodiments have been described, but various modifications may be made without departing from the scope of the present invention. Therefore, the scope of the present invention is not to be determined by the embodiments described above, but will be apparent in the claims as well as equivalent scope.
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| CN115071421A (en) * | 2022-06-28 | 2022-09-20 | 东风华神汽车有限公司 | Vehicle speed display method and system of vehicle digital instrument |
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