Vehicle wheel speed signal processing apparatus, method, system and vehicle

Abstract

The application relates to a vehicle wheel speed signal processing device, method, system and vehicle, comprising a vehicle wheel speed signal processing device, which comprises a wheel speed sensor, a collection decomposition module and a control module; the wheel speed sensor is used for outputting a wheel speed signal; the collection decomposition module is used for collecting the wheel speed signal output by the wheel speed sensor and decomposing the wheel speed signal to obtain a decomposition processing signal; and the control module is used for analyzing the decomposition processing signal to obtain an analysis result and controlling the vehicle based on the analysis result. According to the technical scheme of the application, the collection decomposition module is built by replacing an integrated chip with discrete devices, the diagnosis, collection and processing of the wheel speed signal are realized, the use cost is reduced, and the selectivity is improved.

Description

Technical Field

[0001] This application relates to the field of automotive control technology, and in particular to a vehicle wheel speed signal processing device, method, system, and vehicle. Background Technology

[0002] With the continuous rapid growth of the automobile market for many years, people's requirements for automotive driving safety technology, especially active safety technology, are also increasing. Today, multiple systems in automobiles need to accurately obtain the current wheel speed, or estimate the vehicle speed through logical calculations of wheel speed signals by the vehicle's electronic control unit. Electromagnetic wheel speed sensors are widely used in wheel speed signal acquisition. Among them, the wheel speed signal types output by active wheel speed sensors include AK protocol (Arbeits Kreis protocol, AK protocol) intelligent wheel speed sensor signals.

[0003] Currently, AK protocol smart wheel speed sensor signals generally require a dedicated integrated chip to parse them before sending them to a microcontroller. Figure 1 A diagram of an integrated wheel speed signal diagnostic acquisition architecture is shown. (For example...) Figure 1 As shown, the existing technology uses an integrated chip to diagnose and acquire the AK wheel speed signal. The wheel speed information is output to the microcontroller by the Wheel Speed ​​Output (WSO) signal, and the diagnostic information is output to the microcontroller through the Serial Peripheral Interface (SPI).

[0004] However, the drawbacks of existing technologies are: 1. Most chips on the market are highly integrated and include AK protocol wheel speed processing functionality. Chips that support AK protocol wheel speed processing independently are rare, resulting in limited selection and substitutability for integrated chips. 2. Integrated chips are more expensive. Summary of the Invention

[0005] In view of this, this application proposes a vehicle wheel speed signal processing device, method, system, and vehicle. At least by using discrete components to build an acquisition and decomposition module to replace the integrated chip, the diagnosis, acquisition, and processing of wheel speed signals are realized, reducing usage costs and increasing selectivity.

[0006] According to one aspect of this application, a vehicle wheel speed signal processing device is provided, the device comprising:

[0007] The system comprises a wheel speed sensor, a data acquisition and decomposition module, and a control module; the output terminal of the wheel speed sensor is connected to the input terminal of the data acquisition and decomposition module; the output terminal of the data acquisition and decomposition module is connected to the input terminal of the control module; the data acquisition and decomposition module is a module composed of discrete components.

[0008] The wheel speed sensor is used to output wheel speed signals;

[0009] The acquisition and decomposition module is used to acquire the wheel speed signal output by the wheel speed sensor and decompose the wheel speed signal to obtain a decomposed processed signal;

[0010] The control module is used to parse the decomposed processing signal, obtain the parsing result, and control the vehicle based on the parsing result.

[0011] Furthermore, the acquisition and decomposition module includes a protection unit and a signal acquisition unit;

[0012] The signal output terminal of the protection unit is connected to the input terminal of the signal acquisition unit; the input terminal of the protection unit is connected to the signal output terminal of the wheel speed sensor; the control input terminal of the protection unit is connected to the control output terminal of the control module; the voltage signal output terminal of the protection unit is connected to the voltage input terminal of the control module; the output terminal of the signal acquisition unit is connected to the input terminal of the control module.

[0013] The protection unit is used to protect the vehicle wheel speed signal processing device in the event of an abnormal condition in the wheel speed signal of the wheel speed sensor.

[0014] The signal acquisition unit is used to acquire the wheel speed signal output by the wheel speed sensor and decompose the wheel speed signal to obtain a decomposed processed signal.

[0015] Furthermore, the protection unit includes a voltage acquisition unit and a signal control unit;

[0016] The input terminal of the voltage acquisition unit is connected to the signal output terminal of the wheel speed sensor;

[0017] The output terminal of the voltage acquisition unit is connected to the voltage input terminal of the control module; the input terminal of the signal control unit is connected to the control output terminal of the control module; the output terminal of the signal control unit is connected to the input terminal of the voltage acquisition unit.

[0018] The voltage acquisition unit is used to acquire the signal voltage of the wheel speed sensor, and the signal voltage is used to indicate whether there is an abnormality in the wheel speed signal of the wheel speed sensor;

[0019] The signal control unit is used to control the wheel speed sensor to stop transmitting the wheel speed signal when the wheel speed signal of the wheel speed sensor is abnormal, based on the output signal of the control output terminal of the control module.

[0020] Furthermore, the voltage acquisition unit includes a first target transistor;

[0021] The collector of the first target transistor is connected to the voltage input terminal of the control module through a resistor; the signal output terminal of the wheel speed sensor is connected to the emitter of the first target transistor.

[0022] The first target transistor is used to acquire the signal voltage of the wheel speed sensor and transmit the signal voltage to the control module.

[0023] Furthermore, the output signal of the control output terminal of the control module includes a low level output by the control output terminal of the control module, and the signal control unit includes a second target transistor;

[0024] The base of the second target transistor is connected to the control output terminal of the control module through a resistor; the collector of the second target transistor is connected to the signal output terminal of the wheel speed sensor and the input terminal of the voltage acquisition unit, respectively.

[0025] When the wheel speed signal of the wheel speed sensor is abnormal, the control output terminal of the control module outputs a low level.

[0026] The second target transistor is used to control the wheel speed sensor to stop transmitting the wheel speed signal when the wheel speed signal of the wheel speed sensor is abnormal, based on the low level output by the control output terminal of the control module.

[0027] Furthermore, the decomposition processing signal includes a protocol data signal and a wheel speed pulse signal, and the signal acquisition unit includes a first comparator and a second comparator;

[0028] The positive terminal of the first comparator is connected to the signal output terminal of the protection unit; the negative terminal of the first comparator is connected to the voltage output terminal of the wheel speed sensor; the positive terminal of the second comparator is connected to the signal output terminal of the protection unit; the negative terminal of the second comparator is connected to the voltage output terminal of the wheel speed sensor; the output terminal of the first comparator is connected to the protocol data input terminal of the control unit; the output terminal of the second comparator is connected to the pulse input terminal of the control unit.

[0029] The first comparator is used to acquire the wheel speed signal output by the wheel speed sensor, decompose the wheel speed signal output by the wheel speed sensor to obtain the protocol data signal, and the protocol data signal is used to acquire protocol data information;

[0030] The second comparator is used to acquire the wheel speed signal output by the wheel speed sensor, decompose the wheel speed signal output by the wheel speed sensor to obtain a wheel speed pulse signal, and the wheel speed pulse signal is used to calculate the wheel speed.

[0031] According to another aspect of this application, a vehicle wheel speed signal processing method is provided, the method being applied to the aforementioned vehicle wheel speed signal processing apparatus, the method comprising:

[0032] When the wheel speed signal output of the wheel speed sensor is normal, the wheel speed signal of the wheel speed sensor is acquired by the acquisition and decomposition module composed of discrete components;

[0033] The wheel speed signal from the wheel speed sensor is decomposed by the acquisition and decomposition module to obtain a decomposed signal; the decomposed signal is used by the control module to obtain the analysis result, and the analysis result is used to control the vehicle.

[0034] According to another aspect of this application, a vehicle wheel speed signal processing system is provided, the system including the vehicle wheel speed signal processing device described above.

[0035] According to another aspect of this application, a vehicle is provided, the vehicle including the vehicle wheel speed signal processing system described above.

[0036] Implementing this application will have the following beneficial effects:

[0037] This application embodiment utilizes discrete components to build an acquisition and decomposition module, replacing the integrated chip, thereby realizing the diagnosis, acquisition, and processing of wheel speed signals, reducing usage costs, and improving selectivity.

[0038] Other features and aspects of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0039] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this application together with the specification and serve to explain the principles of this application.

[0040] Figure 1 A diagram of an integrated wheel speed signal diagnostic acquisition architecture is shown.

[0041] Figure 2 A schematic diagram of a vehicle wheel speed signal processing device is shown.

[0042] Figure 3 A schematic diagram of a vehicle wheel speed signal processing device is shown. Figure 1 .

[0043] Figure 4 A schematic diagram of a vehicle wheel speed signal processing device is shown. Figure 2 .

[0044] Figure 5 A data table for a vehicle wheel speed signal processing device is shown.

[0045] Figure 6 Table 1 shows a data table for a vehicle wheel speed signal processing device.

[0046] Figure 7 The waveform of a wheel speed signal is shown.

[0047] Figure 8 The waveform diagram of a decomposed wheel speed signal is shown.

[0048] Figure 9 A table showing calculation data for wheel speed is provided.

[0049] Figure 10 A flowchart of a vehicle wheel speed signal processing method is shown. Detailed Implementation

[0050] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0051] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0052] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0053] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0054] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0055] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0056] Figure 2 A schematic diagram of a vehicle wheel speed signal processing device is shown, as follows: Figure 2 As shown, the above-mentioned device includes:

[0057] The system comprises a wheel speed sensor, a data acquisition and decomposition module, and a control module; the output terminal of the wheel speed sensor is connected to the input terminal of the data acquisition and decomposition module; the output terminal of the data acquisition and decomposition module is connected to the input terminal of the control module; the data acquisition and decomposition module is a module composed of discrete components.

[0058] The aforementioned wheel speed sensor is used to output wheel speed signals;

[0059] The aforementioned acquisition and decomposition module is used to acquire the wheel speed signal output by the aforementioned wheel speed sensor, and decompose the aforementioned wheel speed signal to obtain the decomposed processed signal;

[0060] The aforementioned control module is used to parse the decomposed and processed signals, obtain the parsing results, and control the vehicle based on the parsing results.

[0061] Specifically, the aforementioned acquisition and decomposition module can be a circuit, and the aforementioned connections can be achieved through electrical connections. The aforementioned control module can be a microcontroller unit (MCU), specifically a single-chip microcomputer. The aforementioned wheel speed sensor can be an electromagnetic wheel speed sensor, and the output wheel speed signal can be an AK protocol intelligent wheel speed sensor signal. The aforementioned acquisition and decomposition module can be a module composed of discrete components, which can include resistors, transistors, comparators, etc.

[0062] In an optional embodiment, Figure 3 A schematic diagram of a vehicle wheel speed signal processing device is shown. Figure 1 ,like Figure 3 As shown, the above-mentioned acquisition and decomposition module includes a protection unit and a signal acquisition unit;

[0063] The signal output terminal of the protection unit is connected to the input terminal of the signal acquisition unit; the input terminal of the protection unit is connected to the signal output terminal of the wheel speed sensor; the control input terminal of the protection unit is connected to the control output terminal of the control module; the voltage signal output terminal of the protection unit is connected to the voltage input terminal of the control module; and the output terminal of the signal acquisition unit is connected to the input terminal of the control module.

[0064] The aforementioned protection unit is used to protect the vehicle wheel speed signal processing device in the event of an abnormal condition in the wheel speed signal of the aforementioned wheel speed sensor.

[0065] The aforementioned signal acquisition unit is used to acquire the wheel speed signal output by the aforementioned wheel speed sensor, and decompose the aforementioned wheel speed signal to obtain a decomposed processed signal.

[0066] Specifically, the aforementioned acquisition and decomposition module can be a circuit composed of discrete components, the aforementioned protection unit and signal acquisition unit can be circuits composed of discrete components, the aforementioned connections can be achieved through electrical connections, and the aforementioned abnormal conditions can include overvoltage, undervoltage, open circuit, short ground, short power supply, etc. of the aforementioned wheel speed signal.

[0067] In an optional embodiment, Figure 4 A schematic diagram of a vehicle wheel speed signal processing device is shown. Figure 2 ,like Figure 4 As shown, the protection unit includes a voltage acquisition unit and a signal control unit;

[0068] The input terminal of the voltage acquisition unit is connected to the signal output terminal of the wheel speed sensor.

[0069] The output terminal of the voltage acquisition unit is connected to the voltage input terminal of the control module; the input terminal of the signal control unit is connected to the control output terminal of the control module; and the output terminal of the signal control unit is connected to the input terminal of the voltage acquisition unit.

[0070] The voltage acquisition unit is used to acquire the signal voltage of the wheel speed sensor, and the signal voltage is used to indicate whether there is an abnormality in the wheel speed signal of the wheel speed sensor.

[0071] The aforementioned signal control unit is used to control the wheel speed signal of the aforementioned wheel speed sensor to stop transmitting based on the output signal of the control output terminal of the aforementioned control module when an abnormal condition occurs in the wheel speed signal of the aforementioned wheel speed sensor.

[0072] Specifically, the voltage acquisition unit and the signal control unit mentioned above can be circuits composed of discrete components, and the connections can be achieved through electrical connections. Let me first clarify which discrete components can make up the voltage acquisition unit and the signal control unit.

[0073] In an optional embodiment, the voltage acquisition unit includes a first target transistor;

[0074] The collector of the first target transistor is connected to the voltage input terminal of the control module via a resistor; the signal output terminal of the wheel speed sensor is connected to the emitter of the first target transistor.

[0075] The aforementioned first target transistor is used to acquire the signal voltage of the aforementioned wheel speed sensor and transmit the signal voltage to the aforementioned control module.

[0076] Specifically, such as Figure 3 As shown, the first target transistor can be represented by Q1. The first target transistor can be an NPN transistor. It can be connected to the voltage input terminal of the control module via resistor R6. The voltage at node 1 is used as VOUT1, and the voltage at node 2 is used as VIN1. The signal voltage of the wheel speed sensor can be represented by VIN1. Abnormal conditions can include overvoltage, undervoltage, open circuit, short ground, and short power supply of the wheel speed signal. The wheel speed signal can be an AK wheel speed signal, and can be represented as WSSx, where WSSx refers to x-channel wheel speed signals. WSS stands for Wheel Speed ​​Sensor, and X can be front left / front right / rear left / rear right (Front Left / Front Right / Rear Left / Rear Right, FL / FR / RL / RR). According to the AK protocol, the current corresponding to the aforementioned wheel speed signal WSSx has three values: 28mA, 14mA, and 7mA. Representing this current as IWSS, by appropriately setting the resistance values ​​of resistors R3, R6, and R7, and based on Ohm's law and the voltage drop across the collector and emitter of the first target transistor, the normal voltage range of VOUT1 can be obtained. The absolute value of the voltage drop across the collector and emitter of the first target transistor can be 0.3V. When VIN1 is below or above the normal voltage range, it is judged as undervoltage or overvoltage; when VIN1 is 0V, it is judged as an open circuit or short circuit of the WSSX signal; when VIN1 equals the power supply voltage VBATT, it is judged as a short circuit of the WSSX signal. The power supply voltage can be taken from 9 to 16V. Based on Ohm's law and basic circuit knowledge, the voltage change of VIN1 is converted into a voltage change of VOUT1. The control module can determine whether the wheel speed signal of the wheel speed sensor is abnormal based on the value of VOUT1.

[0077] Figure 5 A data table for a vehicle wheel speed signal processing device is shown, such as Figure 5As shown, for example, the power supply voltage is 12V, fluctuating by 2V, meaning the maximum power supply voltage is 12.2V and the minimum is 11.8V. The ground voltage is 0V, fluctuating by 0.3V. R3 is 200Ω, R7 is 25KΩ, and R6 is 100KΩ. The accuracy of the resistor values ​​for R3-R7 is 1%. When IWSS is 7mA, the normal range of VIN1 is 1.39V-1.41V; when IWSS is 14mA, the normal range of VIN1 is 2.77V-2.83V; and when IWSS is 28mA, the normal range of VIN1 is 5.54V-5.66V. When VIN1 is 0.27V≤VOUT1≤1.15V, WSSX is normal; when 1.15V<VOUT1<2.32V, WSSX is overvoltage (overcurrent); when 0.06V<VOUT1<0.27V, WSSX is undervoltage (insufficient current); when VOUT1≤0.06V, WSSX is open-circuited or short-grounded; when 2.32V≤VOUT1, WSSX is short-powered. The control module can use VOUT1 to determine if the wheel speed signal from the wheel speed sensor is abnormal.

[0078] In an optional embodiment, the output signal of the control output terminal of the control module includes a low level output by the control output terminal of the control module, and the signal control unit includes a second target transistor.

[0079] The base of the second target transistor is connected to the control output terminal of the control module via a resistor; the collector of the second target transistor is connected to the signal output terminal of the wheel speed sensor and the input terminal of the voltage acquisition unit, respectively.

[0080] In the event of an abnormal wheel speed signal from the aforementioned wheel speed sensor, the control output terminal of the aforementioned control module outputs a low level.

[0081] The aforementioned second target transistor is used to control the wheel speed sensor to stop transmitting the wheel speed signal when the wheel speed signal of the aforementioned wheel speed sensor malfunctions, based on the low level output by the control output terminal of the control module.

[0082] Specifically, such as Figure 3As shown, the output signal of the control output terminal of the control module is designated as VOUT4, and the second target transistor is designated as Q2. The base of the second target transistor can be connected to the control output terminal of the control module through resistor R1, and the collector of the second target transistor can be connected to the signal output terminal of the wheel speed sensor and the input terminal of the voltage acquisition unit through resistors R3, R4, and R5, respectively. When the wheel speed signal of the wheel speed sensor is abnormal, the control output terminal of the control module outputs a low level. The base of the transistor can be represented as b, the emitter as e, and the collector as c. Here, it is assumed that the absolute value of the turn-on voltage Vbe at the b and e terminals of the first and second target transistors is 0.7V, and the current at the c terminal is less than 100mA, and the absolute value of the voltage drop Vce at the c and e terminals of both the first and second target transistors is 0.3V. In the event of an abnormal wheel speed signal from the aforementioned wheel speed sensor, the control output terminal of the aforementioned control module outputs a low level. By setting the resistance values ​​of R1-R5, the second target transistor can be turned off when VOUT4 is low. Figure 5 As shown, the resistance of R3 can be 200Ω, the resistances of R1 and R5 can be 10KΩ, and the resistances of R2 and R4 can be 100KΩ. When the wheel speed signal from the aforementioned wheel speed sensor malfunctions, the control output of the aforementioned control module outputs a low level, the aforementioned second target transistor is turned off, and the wheel speed signal from the aforementioned wheel speed sensor stops transmitting. When the wheel speed signal from the aforementioned wheel speed sensor does not malfunction, the control output of the aforementioned control module outputs a high level, the aforementioned second target transistor is turned on, and the wheel speed signal from the aforementioned wheel speed sensor transmits normally.

[0083] In an optional embodiment, the above-mentioned decomposition processing signal includes a protocol data signal and a wheel speed pulse signal, and the above-mentioned signal acquisition unit includes a first comparator and a second comparator;

[0084] The positive terminal of the first comparator is connected to the signal output terminal of the protection unit; the negative terminal of the first comparator is connected to the voltage output terminal of the wheel speed sensor; the positive terminal of the second comparator is connected to the signal output terminal of the protection unit; the negative terminal of the second comparator is connected to the voltage output terminal of the wheel speed sensor; the output terminal of the first comparator is connected to the protocol data input terminal of the control unit; and the output terminal of the second comparator is connected to the pulse input terminal of the control unit.

[0085] The first comparator is used to acquire the wheel speed signal output by the wheel speed sensor, decompose the wheel speed signal output by the wheel speed sensor to obtain the protocol data signal, and the protocol data signal is used to acquire protocol data information.

[0086] The second comparator is used to acquire the wheel speed signal output by the wheel speed sensor, decompose the wheel speed signal output by the wheel speed sensor to obtain the wheel speed pulse signal, and the wheel speed pulse signal is used to calculate the wheel speed.

[0087] Specifically, such as Figure 3 As shown, the first comparator is denoted as U1, the second comparator as U2, the voltage at node 3 as VIN3, the voltage at node 4 as VOUT3, the voltage at node 5 as VIN5, and the voltage at node 6 as VOUT2. The voltage output of the wheel speed sensor can be represented as WSP (Wheel Speed ​​SensorPower). The output signal of the first comparator is the protocol data signal, which can be represented by VOUT3, and the output signal of the second comparator is the wheel speed pulse signal, which can be represented by VOUT2. By properly setting the resistance values ​​of R10 and R11, VIN1 > VIN2 when the current of WSSX is 28mA, and VIN1 < VIN2 when the current of WSSX is 14mA or 7mA. By properly setting the resistance values ​​of R8 and R9, VIN1 > VIN3 when the current of WSSX is 28mA or 14mA, and VIN1 < VIN3 when the current of WSSX is 7mA. V_WSP is the power supply for the wheel speed sensor. Then the AK wheel speed signal will be decomposed into two sets of square wave voltage signals. Set A contains only the wheel speed pulse signal (VOUT2), and set B contains the protocol data signal (VOUT3). Figure 6 A data table for a vehicle wheel speed signal processing device is shown, such as... Figure 6 As shown, assume the wheel speed power supply here is 7.2V±0.1V; the above control module can be a microcontroller with a power supply voltage of 3.3V, R9 is 10KΩ, R8 and R10 are both 20KΩ, R11 is 27KΩ, R12 and R13 are both 10KΩ, the resistor values ​​of R8-R11 have an accuracy of 1%, and the resistor values ​​of R12-R13 have an accuracy of 5%. Figure 7 The diagram shows a waveform of a wheel speed signal, where Datalog represents the data bits and SensoroutputCurrent represents the wheel speed signal output by the aforementioned wheel speed sensor. Figure 8 The diagram shows a waveform of a decomposed wheel speed signal, where the aforementioned protocol data signal and the aforementioned wheel speed pulse signal are as follows: Figure 8As shown. According to the AK protocol, the above protocol data signal is used to acquire protocol data information, including wheel speed pulse signal and protocol pulse signal; the above wheel speed pulse signal is used to calculate wheel speed. The specific process is as follows: The AK protocol speed pulse width is tp (usually 50us), followed by the data protocol bits, with a maximum of 9 data units. Each data unit represents 1 bit of data, occupying a duration of tp. There is a time interval of tp / 2 between the speed pulse and the first data unit of the data protocol bits. Within one frame of data in the AK protocol data segment, if a rising edge of current is detected, it indicates data 1; if a falling edge of current is detected, it indicates data 0. If there is no current edge, the data bit is invalid. The speed pulse waveform of VOUT2 is consistent with that before decomposition, so the microcontroller can directly calculate the wheel speed based on its waveform frequency. The waveform of VOUT3 contains speed pulses and protocol pulse data. According to the AK protocol data segment definition, the pulse after tp / 2 time after the speed pulse is the first data unit of the data protocol bit. Converting the protocol bit waveform into a waveform with a period of tp / 2, we can obtain a square wave of 010110010110. According to the AK protocol definition, we can define 01 data in the converted waveform as 1, 10 as 0, and 00 and 11 as invalid data. The actual protocol bit data can then be obtained from the converted waveform data. Figure 9 A table showing calculation data for wheel speed is provided, such as... Figure 9 As shown, for example, the process of calculating the car wheel speed based on VOUT2 is as follows: Based on the frequency of the speed pulse, the gear ratio, and the wheel diameter, F W Vmax is the wheel speed, D is the wheel diameter, and n is the number of gears in one revolution, based on the formula. The actual vehicle speed can then be calculated. The number of bits in the AK signal protocol pulse data is not fixed during vehicle movement; the faster the speed, the fewer bits are used. Here, we assume the protocol pulse is 2 bits. Therefore, according to the AK protocol, the speed pulse period is 4tp = 200us. The wheel speed period is then 64 * 200us = 0.0128s, and the frequency is 1 / 0.0128 = 78.125Hz, yielding a wheel speed of 6.66 km / h. Specifically, the process of obtaining the protocol bit data from VOUT3 is as follows: The microcontroller uses the falling edge of the wheel speed pulse as a trigger to periodically collect VOUT3 data, with a collection period set to 0.5tp. Figure 8A set of data can be collected as: 0 0101 10 01 01 10. The first 0 in the data represents the time interval between the speed pulse and the protocol pulse, which is invalid. Each subsequent pair of data points is one bit, for a total of 6 bits. Setting 11 and 00 as invalid data, 10 as 0, and 01 as 1, the parsed actual data is: 1 1 0 1 1 0. A signal acquisition unit built using discrete components decomposes the wheel speed signal, obtaining decomposed processed signals: protocol data signal and wheel speed pulse signal. By parsing these decomposed processed signals, wheel speed and other related data can be obtained. This approach achieves wheel speed signal diagnosis, acquisition, and processing while reducing costs, improving replaceability, and increasing engineering efficiency.

[0088] This application provides a vehicle wheel speed signal processing method, which is applied to the aforementioned vehicle wheel speed signal processing device. Figure 10 A flowchart of a vehicle wheel speed signal processing method is shown, such as... Figure 10 As shown, the above method includes:

[0089] S1001. When the wheel speed signal output of the above wheel speed sensor is normal, the wheel speed signal of the above wheel speed sensor is acquired by the acquisition and decomposition module composed of discrete components.

[0090] Specifically, when the wheel speed signal output of the aforementioned wheel speed sensor is normal, VOUT4 is at a high level, Q2 is turned on, the wheel speed signal of the aforementioned wheel speed sensor is transmitted normally, and the aforementioned acquisition and decomposition module based on discrete components acquires the wheel speed signal of the aforementioned wheel speed sensor.

[0091] S1003. Based on the above acquisition and decomposition module, the wheel speed signal of the above wheel speed sensor is decomposed and processed to obtain a decomposed and processed signal; the above decomposed and processed signal is used by the controlled module to obtain the analysis result, and the analysis result is used to control the vehicle.

[0092] Specifically, the signal acquisition unit in the aforementioned acquisition and decomposition module decomposes the wheel speed signal from the aforementioned wheel speed sensor to obtain a decomposed signal. The decomposed signal includes a protocol data signal and a wheel speed pulse signal. The aforementioned control module can parse the decomposed signal to obtain relevant data such as the vehicle wheel speed.

[0093] This application also provides a vehicle wheel speed signal processing system, which includes the aforementioned vehicle wheel speed signal processing device.

[0094] This application also provides a vehicle, which includes the aforementioned vehicle wheel speed signal processing system.

[0095] This application may be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this application.

[0096] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0097] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0098] The computer program instructions used to perform the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing state information from the computer-readable program instructions. These electronic circuits can execute the computer-readable program instructions to implement various aspects of this application.

[0099] Various aspects of this application are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should 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.

[0100] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0101] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0102] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0103] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technical improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A vehicle wheel speed signal processing device, characterized in that, The device includes: The system comprises a wheel speed sensor, a data acquisition and decomposition module, and a control module; the output terminal of the wheel speed sensor is connected to the input terminal of the data acquisition and decomposition module; the output terminal of the data acquisition and decomposition module is connected to the input terminal of the control module; the data acquisition and decomposition module is a module composed of discrete components. The wheel speed sensor is used to output wheel speed signals; The acquisition and decomposition module is used to acquire the wheel speed signal output by the wheel speed sensor and decompose the wheel speed signal to obtain a decomposed processed signal; The control module is used to analyze the decomposed processing signal, obtain the analysis result, and control the vehicle based on the analysis result; The acquisition and decomposition module includes a protection unit and a signal acquisition unit; the protection unit includes a voltage acquisition unit and a signal control unit; the input terminal of the voltage acquisition unit is connected to the signal output terminal of the wheel speed sensor; the output terminal of the voltage acquisition unit is connected to the voltage input terminal of the control module; the input terminal of the signal control unit is connected to the control output terminal of the control module; the output terminal of the signal control unit is connected to the input terminal of the voltage acquisition unit. The voltage acquisition unit is used to acquire the signal voltage of the wheel speed sensor, and the signal voltage is used to indicate whether the wheel speed signal of the wheel speed sensor is abnormal. The signal control unit is used to control the wheel speed signal of the wheel speed sensor to stop transmitting based on the output signal of the control output terminal of the control module when the wheel speed signal of the wheel speed sensor is abnormal.

2. The apparatus according to claim 1, characterized in that, The signal output terminal of the protection unit is connected to the input terminal of the signal acquisition unit; the input terminal of the protection unit is connected to the signal output terminal of the wheel speed sensor; the control input terminal of the protection unit is connected to the control output terminal of the control module; the voltage signal output terminal of the protection unit is connected to the voltage input terminal of the control module; the output terminal of the signal acquisition unit is connected to the input terminal of the control module. The protection unit is used to protect the vehicle wheel speed signal processing device in the event of an abnormal condition in the wheel speed signal of the wheel speed sensor. The signal acquisition unit is used to acquire the wheel speed signal output by the wheel speed sensor and decompose the wheel speed signal to obtain a decomposed processed signal.

3. The apparatus according to claim 1, characterized in that, The voltage acquisition unit includes a first target transistor; The collector of the first target transistor is connected to the voltage input terminal of the control module through a resistor; the signal output terminal of the wheel speed sensor is connected to the emitter of the first target transistor. The first target transistor is used to acquire the signal voltage of the wheel speed sensor and transmit the signal voltage to the control module.

4. The apparatus according to claim 1, characterized in that, The output signal of the control output terminal of the control module includes a low level output by the control output terminal of the control module, and the signal control unit includes a second target transistor; The base of the second target transistor is connected to the control output terminal of the control module through a resistor; the collector of the second target transistor is connected to the signal output terminal of the wheel speed sensor and the input terminal of the voltage acquisition unit, respectively. When the wheel speed signal of the wheel speed sensor is abnormal, the control output terminal of the control module outputs a low level. The second target transistor is used to control the wheel speed sensor to stop transmitting the wheel speed signal when the wheel speed signal of the wheel speed sensor is abnormal, based on the low level output by the control output terminal of the control module.

5. The apparatus according to claim 2, characterized in that, The decomposition and processing signal includes protocol data signal and wheel speed pulse signal, and the signal acquisition unit includes a first comparator and a second comparator; The positive terminal of the first comparator is connected to the signal output terminal of the protection unit; the negative terminal of the first comparator is connected to the voltage output terminal of the wheel speed sensor; the positive terminal of the second comparator is connected to the signal output terminal of the protection unit; the negative terminal of the second comparator is connected to the voltage output terminal of the wheel speed sensor; the output terminal of the first comparator is connected to the protocol data input terminal of the control unit; the output terminal of the second comparator is connected to the pulse input terminal of the control unit. The first comparator is used to acquire the wheel speed signal output by the wheel speed sensor, decompose the wheel speed signal output by the wheel speed sensor to obtain the protocol data signal, and the protocol data signal is used to acquire protocol data information; The second comparator is used to acquire the wheel speed signal output by the wheel speed sensor, decompose the wheel speed signal output by the wheel speed sensor to obtain a wheel speed pulse signal, and the wheel speed pulse signal is used to calculate the wheel speed.

6. A method for processing vehicle wheel speed signals, wherein the method is applied to the vehicle wheel speed signal processing apparatus according to any one of claims 1 to 5, characterized in that, The method includes: When the wheel speed signal output of the wheel speed sensor is normal, the wheel speed signal of the wheel speed sensor is acquired by the acquisition and decomposition module composed of discrete components; The wheel speed signal from the wheel speed sensor is decomposed and processed by the acquisition and decomposition module to obtain the decomposed and processed signal. The decomposed signal is used by the control module to obtain the analysis result, and the analysis result is used to control the vehicle; The voltage acquisition unit acquires the signal voltage of the wheel speed sensor, which is used to indicate whether the wheel speed signal of the wheel speed sensor is abnormal. The signal control unit is used to control the wheel speed signal of the wheel speed sensor to stop transmitting based on the output signal of the control output terminal of the control module when the wheel speed signal of the wheel speed sensor is abnormal.

7. A vehicle wheel speed signal processing system, characterized in that, The system includes a vehicle wheel speed signal processing device as described in any one of claims 1 to 5.

8. A vehicle, characterized in that, The vehicle includes the vehicle wheel speed signal processing system as described in claim 7.

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