Method, device and medium for monitoring vehicle running stability

Abstract

The present application relates to the technical field of vehicle stability monitoring, and discloses a method, device and medium for monitoring vehicle running stability, including: respectively obtaining angular velocity data of the car body and bogie, and analyzing the angular velocity data to output a vehicle instability alarm signal. Thus, based on the analysis results of the angular velocity data of the car body and bogie to output a vehicle instability alarm signal, the instability of the vehicle is judged in advance, and the probability of accidents is reduced. At the same time, while analyzing the angular velocity, the train running stability is monitored in combination with indicators such as vibration acceleration and inclination, avoiding the incomplete monitoring objects and monitoring dimensions when only monitoring the vibration acceleration of the vehicle bogie and car body, and improving the content of vehicle running stability monitoring. Furthermore, the three-way inclination indicators of the roll angle, pitch angle and yaw angle of the bogie and car body are combined to monitor and alarm the vehicle overturning, effectively improving the effect of vehicle running stability monitoring.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle stability monitoring, and in particular to a method, device and medium for monitoring vehicle running stability. Background Art

[0002] In the development of urban rail transit, as vehicle speeds continue to increase, the dynamic interaction between wheels and rails continues to intensify, causing the wheel-rail matching relationship to gradually deteriorate, which in turn affects the operating quality of the vehicle bogie and body. This not only affects passenger comfort but also affects vehicle driving safety. Therefore, it is necessary to monitor vehicle running stability to promptly identify running stability issues and promptly control vehicle speed to reduce the probability of danger.

[0003] Currently, existing vehicle running stability monitoring technology mainly focuses on independent detection and real-time judgment of the lateral vibration acceleration of the bogie and the vibration acceleration of the vehicle body in the lateral, vertical and longitudinal directions. However, this method only monitors the vibration acceleration in three directions and does not monitor the rotation state of the monitoring component around the axis. The monitoring information is incomplete, which is not conducive to comprehensive monitoring of the vehicle running status and analysis of problems.

[0004] It can be seen that how to monitor the stability of vehicle operation, improve the vehicle operation safety factor, and enhance the user experience is an urgent problem to be solved by technical personnel in this field. Summary of the Invention

[0005] The purpose of this application is to provide a method, device and medium for monitoring the stability of vehicle operation, to monitor the stability of vehicle operation, improve the vehicle operation safety factor, and enhance the user experience.

[0006] To solve the above technical problems, the present application provides a method for monitoring vehicle running stability, comprising:

[0007] respectively acquiring angular velocity data of the body and / or bogie of the vehicle to be tested;

[0008] Analyzing various types of angular velocity data to output a vehicle instability warning signal. Analyzing various types of angular velocity data to output a vehicle instability warning signal includes:

[0009] Sorting the angular velocity data in chronological order;

[0010] determining whether the angular velocity data is greater than a first threshold according to the sorting results;

[0011] If it is greater than the first threshold, the counter is incremented by 1;

[0012] If it is not greater than the first threshold, the counter is reset;

[0013] Determining whether the current value corresponding to the counter is greater than a first preset value;

[0014] If it is greater than the first preset value, output the vehicle instability warning signal and reset the counter;

[0015] If it is not greater than the first preset value, return to the step of determining in sequence according to the sorting results whether the angular velocity data is greater than the first threshold.

[0016] Preferably, analyzing the various types of angular velocity data to output a vehicle instability warning signal includes:

[0017] Sorting the angular velocity data within the first preset time period in chronological order;

[0018] determining whether the angular velocity data is greater than a second threshold according to the sorting results;

[0019] If it is greater than the second threshold, the counter is incremented by 1;

[0020] If it is not greater than the second threshold, the counter is decremented by 1;

[0021] Determining whether the value corresponding to the counter is greater than a second preset value after the first preset time period;

[0022] If it is greater than the second preset value, output the vehicle instability warning signal and reset the counter;

[0023] If it is not greater than the second preset value, the counter is cleared and the process returns to the step of sequentially determining whether the angular velocity data is greater than the second threshold according to the sorting result.

[0024] Preferably, the vehicle running stability monitoring method further includes:

[0025] respectively acquiring vibration acceleration data of the body and / or bogie of the vehicle to be tested;

[0026] The vibration acceleration data is analyzed to output a vehicle instability warning signal.

[0027] Preferably, analyzing the vibration acceleration data to output a vehicle instability warning signal includes:

[0028] Sorting the vibration acceleration data within a second preset time period in chronological order;

[0029] determining whether the vibration acceleration data is greater than a third threshold value according to the sorting results;

[0030] If it is greater than the third threshold, the counter is incremented by 1;

[0031] If it is not greater than the third threshold, the counter is reset;

[0032] Determining whether the current value corresponding to the counter is greater than a third preset value;

[0033] If it is greater than the third preset value, outputting the vehicle instability warning signal and clearing the counter;

[0034] If it is not greater than the third preset value, return to the step of sequentially determining whether the vibration acceleration data is greater than a third threshold value based on the sorting results.

[0035] Preferably, the vehicle running stability monitoring method further includes:

[0036] respectively obtaining the inclination angle data of the vehicle body and / or bogie of the vehicle to be tested;

[0037] Analyze various types of tilt angle data to output a vehicle rollover warning signal.

[0038] Preferably, analyzing various types of tilt angle data to output a vehicle rollover warning signal includes:

[0039] Sorting the various types of inclination data in chronological order;

[0040] Determining in sequence whether each type of inclination angle data is greater than a corresponding fourth threshold value according to the sorting result;

[0041] If it is greater than the fourth threshold, the counter is incremented by 1;

[0042] If it is not greater than the fourth threshold, the counter is reset;

[0043] Determining whether the current value corresponding to the counter is greater than a fourth preset value;

[0044] If it is greater than the fourth preset value, output the vehicle overturning alarm signal and reset the counter;

[0045] If it is not greater than the fourth preset value, return to the step of determining in sequence based on the sorting result whether each type of inclination angle data is greater than the corresponding fourth threshold value.

[0046] Preferably, analyzing various types of tilt angle data to output a vehicle rollover warning signal includes:

[0047] Sorting the various types of tilt angle data within the third preset time period in chronological order;

[0048] Determining in sequence whether each type of inclination angle data is greater than a corresponding fifth threshold value according to the sorting result;

[0049] If it is greater than the fifth threshold, the counter is incremented by 1;

[0050] If it is not greater than the fifth threshold, the counter is decremented by 1;

[0051] Determining whether the value corresponding to the counter is greater than a fifth preset value after the third preset time period;

[0052] If it is greater than the fifth preset value, output the vehicle overturning alarm signal and reset the counter;

[0053] If it is not greater than the fifth preset value, the counter is cleared, and the process returns to the step of sequentially determining whether each type of inclination angle data is greater than the corresponding fifth threshold value based on the sorting result.

[0054] Preferably, the tilt angle data includes a roll angle, a pitch angle and a yaw angle.

[0055] Preferably, when the vehicle speed is not 0, respectively obtaining the inclination data of the vehicle body and / or bogie of the vehicle to be tested includes:

[0056] Calculating the angular velocity data based on a quaternion method to obtain a roll angle, a pitch angle, and a yaw angle of the vehicle body and the bogie;

[0057] Acquiring vibration acceleration data of the vehicle body and / or the bogie;

[0058] Compensating for errors in the roll angle and the pitch angle using the vibration acceleration data;

[0059] The error of the yaw angle is compensated by magnetometer data.

[0060] Preferably, when the vehicle speed is 0, respectively obtaining the inclination data of the vehicle body and / or bogie of the vehicle to be tested includes:

[0061] Acquiring vibration acceleration data of the vehicle body and / or the bogie;

[0062] When the monitored object rotates around the Y-axis in a pre-established reference coordinate system, the roll angle is calculated based on the vibration acceleration data;

[0063] When the detection object rotates around the X-axis in the reference coordinate system, a pitch angle is calculated based on the vibration acceleration data.

[0064] In order to solve the above technical problems, the present application also provides a vehicle running stability monitoring device, comprising:

[0065] An acquisition module, used to respectively acquire angular velocity data of the body and / or bogie of the vehicle to be tested;

[0066] The analysis module is used to analyze various types of angular velocity data to output a vehicle instability warning signal.

[0067] In order to solve the above technical problems, the present application also provides a vehicle running stability monitoring device, comprising a memory for storing a computer program;

[0068] A processor is used to implement the steps of the vehicle running stability monitoring method when executing the computer program.

[0069] In order to solve the above technical problems, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle running smoothness monitoring method are implemented.

[0070] The present invention provides a method for monitoring vehicle running stability, comprising: obtaining angular velocity data of the vehicle body and bogie respectively, and analyzing the angular velocity data to output a vehicle instability warning signal. It can be seen that the technical solution provided by the present application outputs a vehicle instability warning signal based on the analysis results of the angular velocity data of the vehicle body and bogie, judges the instability of the vehicle in advance, and reduces the probability of accidents. At the same time, the technical solution provided by the present application, while analyzing through angular velocity, also combines indicators such as vibration acceleration and inclination to monitor the running stability of the train, making up for the incomplete monitoring objects and monitoring dimensions when only monitoring the vibration acceleration of the vehicle bogie and body when monitoring the running stability of the existing vehicle, thereby improving the content of vehicle running stability monitoring, thereby improving the vehicle safety factor and enhancing the user experience. Furthermore, the technical solution provided by the present application combines the three-dimensional inclination indicators of the roll angle, pitch angle and yaw angle of the bogie and body to monitor and warn the vehicle overturning, effectively improving the effect of vehicle running stability monitoring.

[0071] In addition, the present application also provides a vehicle running smoothness monitoring device and medium, which correspond to the above-mentioned vehicle running smoothness monitoring method and have the same effect as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0073] Figure 1 A flow chart of a method for monitoring vehicle running stability provided in an embodiment of the present application;

[0074] Figure 2A structural diagram of a vehicle running stability monitoring device provided in an embodiment of the present application;

[0075] Figure 3 This is a structural diagram of a vehicle running stability monitoring device provided in another embodiment of the present application. DETAILED DESCRIPTION

[0076] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0077] The core of this application is to provide a method, device and medium for monitoring the stability of vehicle operation, monitor the stability of vehicle operation, improve the vehicle operation safety factor, and enhance the user experience.

[0078] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0079] In the development of urban rail transit, as vehicle speeds continue to increase, the dynamic interaction between wheels and rails continues to intensify, causing the wheel-rail matching relationship to gradually deteriorate, which in turn affects the operating quality of the vehicle bogie and body. This not only affects passenger comfort but also affects vehicle driving safety. Therefore, it is necessary to monitor vehicle running stability to promptly identify running stability issues and promptly control vehicle speed to reduce the probability of danger.

[0080] Currently, existing vehicle running stability monitoring technology mainly focuses on independent detection and real-time judgment of the lateral vibration acceleration of the bogie and the vibration acceleration of the vehicle body in the lateral, vertical and longitudinal directions. However, this method only monitors the vibration acceleration in three directions and does not monitor the rotation state of the monitoring component around the axis. The monitoring information is incomplete, which is not conducive to comprehensive monitoring of the vehicle running status and analysis of problems.

[0081] In order to solve the above technical problems, monitor the vehicle operation smoothness, improve the vehicle operation safety factor, and enhance the user experience, the embodiment of the present application provides a vehicle operation smoothness monitoring method, which obtains angular velocity data of the body and / or bogie of the vehicle to be tested, and outputs a vehicle instability alarm signal based on various types of angular velocity data. Based on the analysis of the angular velocity data, the vehicle instability is judged in advance, thereby reducing the probability of accidents.

[0082] Figure 1This is a flow chart of a method for monitoring vehicle running stability provided in an embodiment of the present application, such as Figure 1 As shown, the method includes:

[0083] S10: Acquire angular velocity data of the vehicle body and / or bogie of the vehicle to be tested respectively;

[0084] In a specific embodiment, angular velocity sensitive devices can be installed on the car body and the bogie, and the angular velocity data of the car body and / or the bogie can be directly collected through the angular velocity sensitive devices. The angular velocity sensitive device can be a dual-axis angular velocity sensitive device (the directions of the dual axes include vertical and lateral directions) or a three-axis angular velocity sensitive device (the directions of the three axes include vertical, lateral and longitudinal directions). This application does not make specific limitations on this. From the perspective of monitoring accuracy, a three-axis angular velocity sensitive device is preferred.

[0085] S11: Analyze various angular velocity data to output a vehicle instability warning signal.

[0086] After obtaining the angular velocity data of the vehicle body and / or bogie in step S10, the various angular velocity data are analyzed to output a vehicle instability warning signal, providing the user with an early warning of instability. Furthermore, vibration acceleration data of the vehicle body and / or bogie can be obtained and analyzed to output a vehicle instability signal.

[0087] Furthermore, it is also possible to obtain inclination data of the vehicle body and / or bogie, and analyze various types of inclination data to output a vehicle rollover warning signal, where the inclination data includes roll angle, pitch angle, and yaw angle. When obtaining inclination data, inclination-sensitive devices can be installed on the vehicle body and bogie to directly collect the data, or after obtaining vibration acceleration data and angular velocity data of the vehicle body and / or bogie, the inclination data can be calculated using the vibration acceleration data and angular velocity data. This application does not impose specific limitations on this.

[0088] When calculating the inclination data, if the vehicle speed is not zero, the roll, pitch, and yaw angles of the vehicle body and bogie are calculated based on the quaternion method based on the obtained angular velocity data. Then, the errors in the roll and pitch angles are compensated using the obtained vibration acceleration data, and the error in the yaw angle is compensated using the magnetometer data.

[0089] If the vehicle speed is 0, the roll angle is calculated based on the vibration acceleration data of the vehicle body and / or bogie when the monitored object rotates around the Y axis in the pre-established reference coordinate system, and the pitch angle is calculated based on the vibration acceleration data when the monitored object rotates around the X axis in the reference coordinate system.

[0090] Therefore, a vehicle instability warning signal is output based on the analysis of the angular velocity data, and a vehicle overturning warning signal is output based on the analysis of the inclination angle data, thereby improving vehicle driving safety.

[0091] The vehicle running stability monitoring method provided in the embodiment of the present application includes: obtaining angular velocity data of the car body and bogie respectively, and analyzing the angular velocity data to output a vehicle instability warning signal. It can be seen that the technical solution provided by the present application outputs a vehicle instability warning signal based on the analysis results of the angular velocity data of the car body and bogie, judges the instability of the vehicle in advance, and reduces the probability of accidents. At the same time, the technical solution provided by the present application not only analyzes the angular velocity, but also combines indicators such as vibration acceleration and inclination to monitor the train running stability, making up for the incomplete monitoring objects and monitoring dimensions when only monitoring the vibration acceleration of the vehicle bogie and car body when monitoring the existing vehicle running stability, thereby improving the content of vehicle running stability monitoring, thereby improving the vehicle safety factor and enhancing the user experience. Furthermore, the technical solution provided by the present application combines the three-dimensional inclination indicators of the roll angle, pitch angle and yaw angle of the bogie and car body to monitor and warn the vehicle overturning, effectively improving the effect of vehicle running stability monitoring.

[0092] In a specific embodiment, when analyzing various types of angular velocity data and outputting a vehicle instability warning signal, the angular velocity data are first sorted in chronological order to obtain a sorting result. Based on the sorting result, a determination is then made as to whether the angular velocity data is greater than a first threshold value G1. If so, a counter is incremented by 1; otherwise, the counter is reset. Furthermore, a determination is made in real time as to whether the current value corresponding to the counter is greater than a first preset value H1. If so, a determination is made as to whether the current vehicle is at risk of instability. A vehicle instability warning signal is then output, and the counter is reset. If the current value corresponding to the counter is not greater than the first preset value H1, the angular velocity data is further determined as greater than the first threshold value G1 based on the sorting result.

[0093] Alternatively, the angular velocity data within the first preset duration may be sorted chronologically, and based on the sorting results, a determination may be made as to whether the angular velocity data is greater than a second threshold value G2. If so, a counter may be incremented by 1; otherwise, the counter may be decremented by 1. Simultaneously, after the first preset duration, a determination may be made as to whether the value corresponding to the counter is greater than a second preset value H2. If so, a determination is made as to whether the vehicle is at risk of instability, and a vehicle instability warning signal may be outputted, with the counter reset. If the current value corresponding to the counter is not greater than the second preset value H2, the counter may be reset, and the determination as to whether the angular velocity data is greater than the second threshold value G2 may continue as a function of the sorting results.

[0094] The vehicle running stability monitoring method provided in the embodiment of the present application analyzes the vehicle and / or angular velocity data and then outputs a vehicle instability warning signal, thereby judging the vehicle instability in advance and reducing the probability of accidents.

[0095] In implementation, in addition to analyzing the angular velocity data of the vehicle body and / or bogie to output a vehicle instability warning signal, the vibration acceleration data of the vehicle body and / or bogie may also be analyzed to output a vehicle instability warning signal.

[0096] Specifically, the vibration acceleration data within the second preset time period is sorted in chronological order to obtain a sorting result. Based on the sorting result, it is sequentially determined whether the vibration acceleration data is greater than a third threshold value G3. If it is greater than the third threshold value G3, a counter is incremented by 1; if it is not greater than the third threshold value G3, the counter is reset. If it is determined that the current value corresponding to the counter is greater than the third preset value H3, it is determined that there is a risk of vehicle instability. In this case, a vehicle instability warning signal is output and the counter is reset. If it is determined that the current value corresponding to the counter is not greater than the third preset value H3, the vibration acceleration data is further sequentially determined based on the sorting result to determine whether it is greater than the third threshold value G3.

[0097] The vehicle running stability monitoring method provided in the embodiment of the present application analyzes the vibration acceleration data on the basis of outputting the vehicle instability signal based on angular velocity analysis, and then outputs the vehicle instability signal, thereby further improving the accuracy of vehicle instability monitoring, predicting vehicle instability in advance, and improving the overall safety and reliability of the vehicle.

[0098] On the basis of the above embodiments, the technical solution provided in the present application can also obtain the inclination data of the body and / or bogie of the vehicle to be tested, analyze various types of inclination data, and then output a vehicle overturning alarm signal.

[0099] During implementation, the tilt data alarm signal can be directly collected and obtained through a tilt sensitive device, or it can be obtained by calculating the vibration acceleration and angular velocity data after obtaining the vibration acceleration and angular velocity data. This application does not make any specific limitations on this.

[0100] The tilt angle data includes roll angle, pitch angle, and yaw angle. When analyzing various tilt angle data to output a vehicle rollover warning signal, there are two specific methods:

[0101] Method 1: Sort each type of inclination angle data in chronological order, and determine whether each type of inclination angle data is greater than the corresponding fourth threshold value G4 based on the sorting results. If it is greater than the fourth threshold value G4, control the counter to increment by 1; if it is not greater than the fourth threshold value G4, control the counter to reset. If it is determined that the current counter value is greater than the fourth preset value H4, it is determined that the vehicle has a capsize wind direction, and a vehicle capsize warning signal is output and the counter is reset. If it is determined that the current counter value is not greater than the fourth preset value H4, then continue to determine whether each type of inclination angle data is greater than the corresponding fourth threshold value G4 based on the sorting results.

[0102] Method 2: The various types of inclination angle data within the third preset duration are sorted in chronological order, and based on the sorting results, each type of inclination angle data is sequentially determined to be greater than the corresponding fifth threshold value G5. If so, a counter is incremented by 1; if not, the counter is decremented by 1. Furthermore, if it is determined that the value corresponding to the counter is greater than the fifth preset value H5 after the third preset duration, the vehicle is determined to be at risk of overturning. A vehicle overturning warning signal is output, and the counter is reset. If the current value corresponding to the counter is not greater than the fifth preset value H5, the counter is reset, and the process returns to sequentially determine whether each type of inclination angle data is greater than the corresponding fifth threshold value G5 based on the sorting results.

[0103] The vehicle running stability monitoring method provided in the embodiment of the present application analyzes various types of inclination angle data of the vehicle body and / or bogie, and then outputs a vehicle overturning alarm signal, thereby making an early judgment and early warning of whether the vehicle will overturn, so that maintenance personnel can perform vehicle maintenance in advance, avoid vehicle overturning, and improve vehicle driving safety.

[0104] In a specific embodiment, when the inclination angle data is obtained by calculating the vibration acceleration data and the angular velocity data, if the vehicle speed is not 0, obtaining the inclination angle data of the vehicle body and / or the bogie of the vehicle to be tested specifically includes:

[0105] The roll, pitch, and yaw angles of the vehicle body and bogie are calculated based on the acquired angular velocity data using the quaternion method. The errors in the roll and pitch angles are compensated for using the acquired vibration acceleration data, and the errors in the yaw angle are compensated for using the magnetometer data.

[0106] Specifically, in order to describe the posture, it is necessary to introduce a three-dimensional spatial coordinate system and use the spatial vector transformation method to describe it. Two different three-dimensional coordinate systems are defined: the reference coordinate system (also known as the navigation coordinate system) and the carrier coordinate system.

[0107] During the operation of the monitored object, the reference coordinate system remains unchanged. The carrier coordinate system undergoes one or more rotations relative to the reference coordinate system to obtain a new carrier coordinate system. In practice, if sensors are used to collect operational data related to the monitored object, since the sensors are rigidly mounted on the object, the data they acquire is in the carrier coordinate system. Therefore, attitude calculations require converting the data from the carrier coordinate system to the reference coordinate system before performing attitude calculations.

[0108] According to the Euler rotation theorem, the displacement of a rigid body around a fixed point can be achieved by rotating it once around an axis at that point. In the Euler rotation, the carrier coordinate system is rotated three times to obtain the reference coordinate system. The rotation axis in each of the three rotations is a coordinate axis of the rotated coordinate system, and the rotation angle is the Euler angle. Therefore, the attitude matrix determined by the Euler angle is the product of three coordinate transformation matrices. The coordinate transformation matrix has the following standard form:

[0109]

[0110]

[0111]

[0112] in, is the matrix for rotation around the X axis, R Y (θ) is the matrix of rotation around the Y axis, R Z (γ) is the matrix of rotation around the Z axis.

[0113] According to the rotation order of Z axis, Y axis and X axis, the attitude rotation matrix can be obtained:

[0114]

[0115] According to matrix A, the rotation (or change) angles in the Z, Y, and X directions are:

[0116]

[0117] θ=arcsin[A(1,3)](6)

[0118]

[0119] Among them, A(2,3) represents the data in the second row and third column of matrix A. The same applies to other matrices, which will not be described here.

[0120] Corresponding to matrix A, the attitude rotation matrix is ​​expressed using the quaternion method to obtain matrix B:

[0121]

[0122] Combining matrix A and matrix B, according to formula (5), formula (6) and formula (7), the rotation (or change) angles in the Z direction, Y direction and X direction are:

[0123]

[0124] θ=arcsin[B(1,3)]=arcsin(2(q1q3-q0q2))(10)

[0125]

[0126] Furthermore, the differential equation of quaternion is:

[0127]

[0128] In formula (12), ω is the angular velocity measurement value of the monitored object. Formula (12) can also be expressed as:

[0129]

[0130] The update algorithm of quaternion in discrete domain is:

[0131]

[0132] Wherein, Δω is the angular velocity of the monitored object.

[0133] In particular, in a specific embodiment, if only a gyroscope is used to monitor angular velocity and calculate the angle, although the dynamic performance of the gyroscope is good, integrating the angular velocity measured by the gyroscope over time will cause cumulative errors. Therefore, it is not advisable to use only a gyroscope to monitor angular velocity.

[0134] In order to obtain an accurate yaw angle, the technical solution provided in this application is that the accelerometer can be used to compensate for the velocity errors of the roll angle and pitch angle of the gyroscope, and the velocity error of the yaw angle can be compensated using the signal of the magnetometer (i.e., electronic compass), thereby obtaining an accurate yaw angle.

[0135] That is to say, when the vehicle speed is not 0, after the inclination data are calculated based on the quaternion method, that is, the roll angle, pitch angle and yaw angle are obtained, the errors in the roll angle and pitch angle are compensated by the vibration acceleration data, and the error in the yaw angle is compensated by the magnetometer data.

[0136] Furthermore, the quaternion is updated according to formula (14), and the updated quaternion is substituted into formula (9), formula (10) and formula (11) to calculate the inclination data.

[0137] The vehicle running smoothness monitoring method provided in the embodiment of the present application, when the vehicle speed is not 0, after obtaining the angular velocity data of the body and / or bogie of the vehicle to be tested, calculates the angular velocity data based on the quaternion method to obtain the roll angle, pitch angle and yaw angle of the body and / or bogie, and compensates for the errors in the roll angle and pitch angle by using the vibration acceleration data, and compensates for the error in the yaw angle by using the magnetometer data, thereby obtaining accurate inclination data, thereby improving the monitoring accuracy of the vehicle running posture.

[0138] Furthermore, when the vehicle's speed is zero, only the acceleration signal can be used to determine the inclination angle. Specifically, after obtaining the vibration acceleration data of the vehicle body and / or bogie, the roll angle is calculated based on the vibration acceleration data when the monitored object rotates about the Y-axis in a pre-established reference coordinate system. The pitch angle is calculated based on the vibration acceleration data when the monitored object rotates about the X-axis in the reference coordinate system.

[0139] During implementation, a reference coordinate system is established in three-dimensional space, with the Y axis as the direction of travel of the train. Assuming that the angle of rotation of the monitored object around the Y axis is θ, then θ is the roll angle of the monitored object, and the calculation formula of θ is:

[0140]

[0141] If the angle of rotation of the monitored object around the Y axis is ψ, then ψ is the pitch angle of the monitored object, and the calculation formula of ψ is:

[0142]

[0143] In fact, the yaw angle cannot be solved using only the acceleration signal. In this case, the yaw angle can be calculated based on the quaternion method, and the yaw angle error can be compensated by the geomagnetic data to obtain the yaw angle.

[0144] The vehicle running smoothness monitoring method provided in the embodiment of the present application can obtain vibration acceleration data of the vehicle body and / or bogie when the vehicle speed is 0. When the monitored object rotates around the Y-axis in a pre-established reference coordinate system, the roll angle is calculated based on the vibration acceleration data. When the monitored object rotates around the X-axis in the reference coordinate system, the pitch angle is calculated based on the vibration acceleration data. In this way, static inclination data can be obtained and the obtained inclination data can be analyzed to determine whether the vehicle is running smoothly. Based on the three-dimensional angle analysis, operation and maintenance personnel can obtain the development law of the vehicle's running posture in advance and provide corresponding support for maintenance operations.

[0145] In the above embodiments, a method for monitoring vehicle running stability is described in detail. This application also provides a corresponding embodiment of a vehicle running stability monitoring device. It should be noted that this application describes the embodiments of the device from two perspectives: one is based on the functional module, and the other is based on the hardware structure.

[0146] Figure 2 This is a structural diagram of a vehicle running stability monitoring device provided in an embodiment of the present application, such as Figure 2 As shown, the device includes:

[0147] An acquisition module 10 is used to respectively acquire angular velocity data of the body and / or bogie of the vehicle to be tested;

[0148] The analysis module 11 is used to analyze various angular velocity data to output a vehicle instability warning signal.

[0149] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, and they will not be repeated here.

[0150] The vehicle running stability monitoring device provided in the embodiment of the present application includes: obtaining angular velocity data of the car body and bogie respectively, and analyzing the angular velocity data to output a vehicle instability warning signal. It can be seen that the technical solution provided by the present application outputs a vehicle instability warning signal based on the analysis results of the angular velocity data of the car body and bogie, judges the instability of the vehicle in advance, and reduces the probability of accidents. At the same time, the technical solution provided by the present application not only analyzes the angular velocity, but also combines indicators such as vibration acceleration and inclination to monitor the train running stability, making up for the incomplete monitoring objects and monitoring dimensions when only monitoring the vibration acceleration of the vehicle bogie and car body when monitoring the existing vehicle running stability, thereby improving the content of vehicle running stability monitoring, thereby improving the vehicle safety factor and enhancing the user experience. Furthermore, the technical solution provided by the present application combines the three-dimensional inclination indicators of the roll angle, pitch angle and yaw angle of the bogie and car body to monitor and warn the vehicle overturning, effectively improving the effect of vehicle running stability monitoring.

[0151] Figure 3 This is a structural diagram of a vehicle running stability monitoring device provided in another embodiment of the present application, such as Figure 3 As shown, the vehicle running stability monitoring device includes: a memory 20 for storing a computer program;

[0152] The processor 21 is configured to implement the steps of the vehicle running stability monitoring method mentioned in the above embodiment when executing the computer program.

[0153] The vehicle running stability monitoring device provided in this embodiment may include but is not limited to a smart phone, a tablet computer, a laptop computer, or a desktop computer.

[0154] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of a digital signal processor (DSP), a field programmable gate array (FPGA), and a programmable logic array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0155] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory, and non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the vehicle running stability monitoring method disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include but is not limited to relevant data involved in the vehicle running stability monitoring method, etc.

[0156] In some embodiments, the vehicle running stability monitoring device may further include a display screen 22 , an input / output interface 23 , a communication interface 24 , a power supply 25 , and a communication bus 26 .

[0157] Those skilled in the art will understand that Figure 3The structure shown in the figure does not constitute a limitation on the vehicle running stability monitoring device, and may include more or fewer components than shown in the figure.

[0158] The vehicle running stability monitoring device provided in an embodiment of the present application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method: a vehicle running stability monitoring method.

[0159] The vehicle running stability monitoring device provided in the embodiment of the present application outputs a vehicle instability warning signal based on the analysis results of the angular velocity data of the car body and the bogie, judges the instability of the vehicle in advance, and reduces the probability of accidents. At the same time, the technical solution provided by the present application not only analyzes through angular velocity, but also combines indicators such as vibration acceleration and inclination to monitor the running stability of the train, making up for the fact that the existing vehicle running stability monitoring only monitors the vibration acceleration of the vehicle bogie and the car body, resulting in incomplete monitoring objects and monitoring dimensions, and improves the content of vehicle running stability monitoring, thereby improving the vehicle safety factor and user experience. Furthermore, the technical solution provided by the present application combines the three-way inclination indicators of the roll angle, pitch angle and yaw angle of the bogie and the car body to monitor and warn of vehicle overturning, effectively improving the effect of vehicle running stability monitoring.

[0160] Finally, the present application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiment.

[0161] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium and executes all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc. Various media that can store program code.

[0162] The above is a detailed introduction to a vehicle running stability monitoring method, device and medium provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of this application.

[0163] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Claims

1. A method for monitoring vehicle running stability, characterized in that: include: respectively acquiring angular velocity data of the body and / or bogie of the vehicle to be tested; Analyzing various types of angular velocity data to output a vehicle instability warning signal; Also includes: Respectively acquiring inclination angle data of a vehicle body and / or a bogie of the vehicle to be tested, wherein the inclination angle data includes a roll angle, a pitch angle, and a yaw angle; Analyzing various types of tilt angle data to output a vehicle rollover warning signal; When the vehicle speed is not 0, respectively obtaining the inclination data of the vehicle body and / or bogie of the vehicle to be tested includes: Calculating the angular velocity data based on a quaternion method to obtain a roll angle, a pitch angle, and a yaw angle of the vehicle body and the bogie; Acquiring vibration acceleration data of the vehicle body and / or the bogie; Compensating for errors in the roll angle and the pitch angle using the vibration acceleration data; Compensating for the error of the yaw angle by using magnetometer data; When the vehicle speed is 0, respectively obtaining the inclination angle data of the vehicle body and / or bogie of the vehicle to be tested includes: Acquiring vibration acceleration data of the vehicle body and / or the bogie; When the monitored object rotates around the Y-axis in a pre-established reference coordinate system, the roll angle is calculated based on the vibration acceleration data; When the monitored object rotates around the X-axis in the reference coordinate system, a pitch angle is calculated according to the vibration acceleration data.

2. The method for monitoring vehicle running stability according to claim 1, characterized in that: The analyzing of various types of angular velocity data to output a vehicle instability warning signal includes: Sorting the angular velocity data in chronological order; determining whether the angular velocity data is greater than a first threshold according to the sorting results; If it is greater than the first threshold, the counter is incremented by 1; If it is not greater than the first threshold, the counter is reset; Determining whether the current value corresponding to the counter is greater than a first preset value; If it is greater than the first preset value, output the vehicle instability warning signal and reset the counter; If it is not greater than the first preset value, return to the step of determining in sequence according to the sorting results whether the angular velocity data is greater than the first threshold.

3. The method for monitoring vehicle running stability according to claim 1, characterized in that: The analyzing of various types of angular velocity data to output a vehicle instability warning signal includes: Sorting the angular velocity data within the first preset time period in chronological order; determining whether the angular velocity data is greater than a second threshold according to the sorting results; If it is greater than the second threshold, the counter is incremented by 1; If it is not greater than the second threshold, the counter is decremented by 1; Determining whether the value corresponding to the counter is greater than a second preset value after the first preset time period; If it is greater than the second preset value, output the vehicle instability warning signal and reset the counter; If it is not greater than the second preset value, the counter is cleared and the process returns to the step of sequentially determining whether the angular velocity data is greater than the second threshold according to the sorting result.

4. The method for monitoring vehicle running stability according to claim 1, characterized in that: Also includes: respectively acquiring vibration acceleration data of the body and / or bogie of the vehicle to be tested; The vibration acceleration data is analyzed to output a vehicle instability warning signal.

5. The method for monitoring vehicle running stability according to claim 4, characterized in that: Analyzing the vibration acceleration data to output a vehicle instability warning signal includes: Sorting the vibration acceleration data within a second preset time period in chronological order; determining whether the vibration acceleration data is greater than a third threshold value according to the sorting results; If it is greater than the third threshold, the counter is incremented by 1; If it is not greater than the third threshold, the counter is reset; Determining whether the current value corresponding to the counter is greater than a third preset value; If it is greater than the third preset value, output the vehicle instability warning signal and reset the counter; If it is not greater than the third preset value, return to the step of sequentially determining whether the vibration acceleration data is greater than a third threshold value based on the sorting results.

6. The method for monitoring vehicle running stability according to claim 1, characterized in that: The analyzing of various types of tilt angle data to output a vehicle overturning warning signal includes: Sorting the various types of inclination data in chronological order; Determining in sequence whether each type of inclination angle data is greater than a corresponding fourth threshold value according to the sorting result; If it is greater than the fourth threshold, the counter is incremented by 1; If it is not greater than the fourth threshold, the counter is reset; Determining whether the current value corresponding to the counter is greater than a fourth preset value; If it is greater than the fourth preset value, output the vehicle overturning alarm signal and reset the counter; If it is not greater than the fourth preset value, return to the step of determining in sequence based on the sorting result whether each type of inclination angle data is greater than the corresponding fourth threshold value.

7. The method for monitoring vehicle running stability according to claim 1, characterized in that: The analyzing of various types of tilt angle data to output a vehicle rollover warning signal includes: Sorting the various types of tilt angle data within the third preset time period in chronological order; Determining in sequence whether each type of inclination angle data is greater than a corresponding fifth threshold value according to the sorting result; If it is greater than the fifth threshold, the counter is incremented by 1; If it is not greater than the fifth threshold, the counter is decremented by 1; Determining whether the value corresponding to the counter is greater than a fifth preset value after the third preset time period; If it is greater than the fifth preset value, output the vehicle overturning alarm signal and reset the counter; If it is not greater than the fifth preset value, the counter is cleared, and the process returns to the step of sequentially determining whether each type of inclination angle data is greater than the corresponding fifth threshold value based on the sorting result.

8. A vehicle running stability monitoring device, characterized in that: include: An acquisition module, used to respectively acquire angular velocity data of the body and / or bogie of the vehicle to be tested; An analysis module, configured to analyze the various angular velocity data to output a vehicle instability warning signal; Also used for: Respectively acquiring inclination angle data of a vehicle body and / or a bogie of the vehicle to be tested, wherein the inclination angle data includes a roll angle, a pitch angle, and a yaw angle; Analyzing various types of tilt angle data to output a vehicle rollover warning signal; When the vehicle speed is not 0, respectively obtaining the inclination data of the vehicle body and / or bogie of the vehicle to be tested includes: Calculating the angular velocity data based on a quaternion method to obtain a roll angle, a pitch angle, and a yaw angle of the vehicle body and the bogie; Acquiring vibration acceleration data of the vehicle body and / or the bogie; Compensating for errors in the roll angle and the pitch angle using the vibration acceleration data; Compensating for the error of the yaw angle by using magnetometer data; When the vehicle speed is 0, respectively obtaining the inclination angle data of the vehicle body and / or bogie of the vehicle to be tested includes: Acquiring vibration acceleration data of the vehicle body and / or the bogie; When the monitored object rotates around the Y-axis in a pre-established reference coordinate system, the roll angle is calculated based on the vibration acceleration data; When the monitored object rotates around the X-axis in the reference coordinate system, a pitch angle is calculated according to the vibration acceleration data.

9. A vehicle running stability monitoring device, characterized in that: including a memory for storing a computer program; A processor is configured to implement the steps of the vehicle running smoothness monitoring method as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method for monitoring vehicle running stability according to any one of claims 1 to 7.

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