Wheel speed recognition method, system and equipment based on sensor and storage medium

Abstract

The invention provides a sensor-based wheel speed identification method, system and device and a storage medium, and the method comprises the steps: inputting a signal of a wheel speed sensor, and dividing the period of an input sine wave signal of the wheel speed sensor into an ascending stage and a descending stage; continuously carrying out maximum value search in the rising stage to obtain a first maximum value MAX; performing minimum value search in the descending stage to obtain a first minimum value MIN; obtaining an amplitude AMP according to the difference between the first maximum value MAX and the first minimum value MIN; detecting newly input data, and marking a zero crossing point according to a comparison between the deviation of the newly input data and the first maximum value MAX or the first minimum value and half of the amplitude value AMP; and counting a zero-crossing period T, and obtaining a wheel speed w based on the zero-crossing period T and a preset sensor tooth number N, w = 2pi / (T * N). The method can automatically obtain the accurate position of the zero crossing point, solves the problems of unstable output and phase lag, and flexibly adapts to different air gap conditions by adjusting the sensitivity.

Description

Background Art

[0002] The braking system is an important part of the vehicle's active safety control system. The braking system needs to monitor the wheel speed in real time. Its electronic control unit collects signals from four wheel speed sensors and uses a certain algorithm to obtain the vehicle's wheel speed. Based on the wheel speed value, it calculates the acceleration (deceleration) of the wheel and estimates the vehicle body speed, thereby forming corresponding control instructions to control the vehicle to obtain the best handling stability. Therefore, obtaining accurate wheel speed signals is the premise and key to achieving effective control of vehicle active safety.

[0003] The wheel speed sensor measures the wheel speed and generates a high-frequency wheel speed signal, which needs to be identified to get the real wheel speed value. Wheel speed identification is an important sensing link in the control system and is the basis for the implementation of control algorithms such as ABS and TCS.

[0004] However, in the existing measurement method, the input signal of the wheel speed sensor is still a sinusoidal signal after being processed by the limiting, amplifying and filtering circuits. It needs to be shaped into a square wave signal of the same frequency, and the wheel speed is obtained by measuring the interval of the transition edge (zero crossing point) of the square wave. However, the effect is not ideal. The main technical disadvantages include the following:

[0005] (1) The voltage comparator circuit can only set a single threshold. When the input signal is close to the threshold voltage under the influence of interference signals, the shaped waveform is sometimes positive and sometimes negative, resulting in unstable output state or even errors.

[0006] (2) Select the hysteresis voltage comparator (Schmitt trigger) circuit and introduce a positive feedback network based on the inverting input single threshold voltage comparator. This can overcome the shortcomings of the voltage comparator circuit during shaping. However, the phase of the shaped square wave signal lags behind the original input signal.

[0007] (3) The threshold adjustment of the hysteresis voltage comparator needs to be achieved by changing the feedback resistor or the external control voltage, which is not flexible enough.

[0008] Therefore, the present invention provides a sensor-based wheel speed identification method, system, device and storage medium. Summary of the invention

[0009] In view of the problems in the prior art, the purpose of the present invention is to provide a sensor-based wheel speed recognition method, system, device and storage medium, which overcomes the difficulties of the prior art, can automatically search for the maximum and minimum values ​​of the input signal, calculate the amplitude, calculate the accurate position of the zero crossing point, and solve the problems of output instability and phase lag. At the same time, by adjusting the sensitivity, it can flexibly adapt to different air gap conditions.

[0010] An embodiment of the present invention provides a sensor-based wheel speed recognition method, comprising the following steps:

[0011] S110, inputting a signal from a wheel speed sensor, and dividing a period of the input sinusoidal wave signal from the wheel speed sensor into a rising phase and a falling phase;

[0012] S120, continuously searching for a maximum value in the ascending phase to obtain a first maximum value MAX; searching for a minimum value in the descending phase to obtain a first minimum value MIN;

[0013] S130, obtaining an amplitude AMP according to a difference between a first maximum value MAX and a first minimum value MIN;

[0014] S140, detecting newly input data, and marking a zero crossing point according to a comparison between a deviation of the newly input data and the first maximum value MAX or the first minimum value and half of the amplitude AMP;

[0015] S150 , counting the zero-crossing period T, and obtaining the wheel speed w based on the zero-crossing period T and the preset number of sensor teeth N, where w=2π / (T×N).

[0016] Preferably, the step S110 includes the following steps:

[0017] S111, set the initial values ​​of the current maximum value m and the current minimum value n to be equal to the first input data;

[0018] S112, obtaining the slope of each newly input data;

[0019] S113. Compare the slopes of the newly input data with those of the previous data. When the slope of the newly input data is greater than that of the previous data, it is an ascending stage. When the slope of the newly input data is less than that of the previous data, it is a descending stage.

[0020] Preferably, the step S120 includes the following steps:

[0021] S121, continue to search for the maximum value in the rising stage, and determine whether the newly input data a> the current maximum value m is satisfied. If so, execute step S122, if not, execute step S123;

[0022] S122, replace the current maximum value m with the newly input data a, and execute step S124;

[0023] S123, keep the current maximum value m unchanged, and execute step S124;

[0024] S124: When the newly input data a<(current maximum value m+preset configuration sensitivity c), the newly input data a is taken as the first maximum value MAX.

[0025] Preferably, the step S120 further includes the following steps:

[0026] S125. Continuously perform minimum value search during the descending stage, and determine whether it satisfies that the newly input data b < the current minimum value n. If so, execute step S126; if not, execute step S127;

[0027] S126. Replace the current minimum value n with the newly input data b, and execute step S124;

[0028] S127. Keep the current minimum value n unchanged, and execute step S124;

[0029] S128. When the newly input data b > (the current minimum value n + the preset configuration sensitivity c), use the newly input data b as the first minimum value MIN.

[0030] Preferably, in the step S130, the amplitude AMP = MAX - MIN.

[0031] Preferably, the step S140 includes:

[0032] S141. Detect the newly input data. When in the ascending stage, if the newly input data a > MIN + 0.5 * AMP, mark the data as a zero crossing point.

[0033] Preferably, the step S140 further includes:

[0034] S142. When in the descending stage, if the newly input data b < MAX - 0.5 * AMP, mark the data as another zero crossing point.

[0035] An embodiment of the present invention further provides a wheel speed identification system based on a sensor, which is used to implement the above-mentioned wheel speed identification method based on a sensor. The wheel speed identification system based on a sensor includes:

[0036] A period discrimination module, which inputs the signal of the wheel speed sensor and discriminates the period of the input sine wave signal of the wheel speed sensor into an ascending stage and a descending stage;

[0037] An extreme value search module, which continuously performs maximum value search during the ascending stage to obtain the first maximum value MAX; and performs minimum value search during the descending stage to obtain the first minimum value MIN;

[0038] An amplitude detection module, which obtains the amplitude AMP according to the difference between the first maximum value MAX and the first minimum value MIN;

[0039] A zero point marking module detects newly input data and marks a zero crossing point according to a comparison between the deviation of the newly input data and the first maximum value MAX or the first minimum value and half of the amplitude AMP;

[0040] The wheel speed module counts the zero-crossing period T and obtains the wheel speed w based on the zero-crossing period T and the preset number of sensor teeth N, where w=2π / (T×N).

[0041] An embodiment of the present invention further provides a sensor-based wheel speed recognition device, comprising:

[0042] processor;

[0043] a memory storing executable instructions of the processor;

[0044] Wherein, the processor is configured to perform the steps of the above-mentioned sensor-based wheel speed identification method by executing the executable instructions.

[0045] An embodiment of the present invention further provides a computer-readable storage medium for storing a program, wherein the program, when executed, implements the steps of the above-mentioned sensor-based wheel speed identification method.

[0046] The purpose of the present invention is to provide a sensor-based wheel speed recognition method, system, device and storage medium, which can automatically search for the maximum and minimum values ​​of the input signal, calculate the amplitude, calculate the accurate position of the zero crossing point, solve the output instability and phase lag problems. At the same time, by adjusting the sensitivity, it can flexibly adapt to different air gap conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Other features, objectives and advantages of the present invention will become more apparent from a reading of the detailed description of non-limiting embodiments made with reference to the following accompanying drawings.

[0048] Figure 1 It is a flow chart of the sensor-based wheel speed identification method of the present invention.

[0049] Figure 2 It is a principle diagram of marking the zero crossing point of the sensor-based wheel speed recognition method of the present invention.

[0050] Figure 3 It is a structural schematic diagram of the sensor-based wheel speed recognition system of the present invention.

[0051] Figure 4 It is a structural schematic diagram of the sensor-based wheel speed recognition device of the present invention.

[0052] Figure 5 It is a schematic diagram of the structure of a computer-readable storage medium according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the present application. The present application can also be implemented or applied through other different specific implementation methods, and the details in the present application can also be modified or changed in various ways according to different viewpoints and application systems without departing from the spirit of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0054] The following is a detailed description of the embodiments of the present application with reference to the accompanying drawings so that those skilled in the art can easily implement the present application. The present application can be embodied in a variety of different forms and is not limited to the embodiments described herein.

[0055] In the representations of the present application, the representations with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics represented in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the represented specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples represented in the present application and the features of the different embodiments or examples, unless they contradict each other.

[0056] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the representation of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0057] In order to clearly describe the present application, components irrelevant to the description are omitted, and the same reference symbols are given to the same or similar components throughout the specification.

[0058] Throughout the specification, when a device is said to be "connected" to another device, this includes not only the case of "direct connection" but also the case of "indirect connection" by placing other elements therebetween. In addition, when a device is said to "include" a certain component, unless otherwise stated, it does not exclude other components, but means that other components may be included.

[0059] When a device is said to be "on" another device, it may be directly on the other device, but there may also be other devices between it. In contrast, when a device is said to be "directly" on another device, there are no other devices between it.

[0060] Although the terms first, second, etc. are used to represent various elements in some examples, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, the first interface and the second interface, etc. are represented. Moreover, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising" and "including" indicate the existence of features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Only when the combination of elements, functions, steps or operations is inherently mutually exclusive in some way, will there be an exception to this definition.

[0061] The technical terms used herein are only used to refer to specific embodiments and are not intended to limit the present application. The singular form used herein also includes the plural form unless the sentence clearly indicates the contrary meaning. The meaning of "including" used in the specification is to specify specific characteristics, regions, integers, steps, operations, elements and / or components, and does not exclude the existence or addition of other characteristics, regions, integers, steps, operations, elements and / or components.

[0062] Although not defined differently, all terms, including technical and scientific terms used herein, have the same meaning as those generally understood by those skilled in the art to which this application belongs. Terms defined in commonly used dictionaries are additionally interpreted as having meanings consistent with the relevant technical literature and the contents of the current disclosure, and unless defined, shall not be overly interpreted as ideal or very formal meanings.

[0063] Figure 1 FIG. 1 is a flow chart of the sensor-based wheel speed identification method of the present invention. Figure 1 As shown, the sensor-based wheel speed recognition method of the present invention includes:

[0064] S110 , input a signal from a wheel speed sensor, and divide the period of the input sinusoidal wave signal from the wheel speed sensor into a rising phase and a falling phase.

[0065] S120, continuously searching for a maximum value in the ascending phase to obtain a first maximum value MAX, and continuously searching for a minimum value in the descending phase to obtain a first minimum value MIN.

[0066] S130 . Obtain an amplitude AMP according to a difference between a first maximum value MAX and a first minimum value MIN.

[0067] S140, detecting newly input data, and marking a zero crossing point based on a comparison between a deviation of the newly input data and the first maximum value MAX or the first minimum value and half of the amplitude AMP.

[0068] S150 , counting the zero-crossing period T, and obtaining the wheel speed w based on the zero-crossing period T and the preset number of sensor teeth N, where w=2π / (T×N).

[0069] In a preferred embodiment, the step S110 includes the following steps:

[0070] S111. Assume that the initial values ​​of the current maximum value m and the current minimum value n are both equal to the first input data.

[0071] S112. Obtain the slope of each newly input data.

[0072] S113. Compare the slopes of the newly input data with the previous data. When the slope of the newly input data is greater than that of the previous data, it is an ascending stage. When the slope of the newly input data is less than that of the previous data, it is a descending stage, but not limited to this.

[0073] In a preferred embodiment, the step S120 includes the following steps:

[0074] S121. Continue to search for the maximum value in the rising stage to determine whether the newly input data a>current maximum value m is satisfied. If so, execute step S122; if not, execute step S123.

[0075] S122, replace the current maximum value m with the newly input data a, and execute step S124.

[0076] S123. Keep the current maximum value m unchanged and execute step S124.

[0077] S124. When the newly input data a<(current maximum value m+preset configuration sensitivity c), the newly input data a is used as the first maximum value MAX. The sensitivity of the search extreme value can be flexibly adjusted by changing the preset configuration sensitivity c (cfg_sensitivity) to adapt to different air gap conditions, but not limited to this.

[0078] In a preferred embodiment, the step S120 further includes the following steps:

[0079] S125. Continuously perform minimum value search during the descending stage, and determine whether it satisfies that the newly input data b < the current minimum value n. If so, execute step S126; if not, execute step S127.

[0080] S126. Replace the current minimum value n with the newly input data b, and execute step S124.

[0081] S127. Keep the current minimum value n unchanged, and execute step S124.

[0082] S128. When the newly input data b > (the current minimum value n + the preset configuration sensitivity c), use this newly input data b as the first minimum value MIN, but not limited thereto.

[0083] In a preferred embodiment, in the step S130, the amplitude AMP = MAX - MIN, but not limited thereto.

[0084] In a preferred embodiment, the step S140 includes:

[0085] S141. Detect the newly input data. When in the ascending stage, if the newly input data a > MIN + 0.5 * AMP, mark this data as a zero crossing point, but not limited thereto.

[0086] In a preferred embodiment, the step S140 further includes:

[0087] S142. When in the descending stage, if the newly input data b < MAX - 0.5 * AMP, mark this data as another zero crossing point, but not limited thereto.

[0088] The input signal digital processing method of the wheel speed sensor of the present invention, the algorithm automatically searches for the maximum and minimum values of the input signal, calculates the amplitude, calculates the accurate position of the zero crossing point, and solves the problems of unstable output and phase lag. The present invention does not require an analog comparator, has a stable output state, will not lag behind the original input signal, and can flexibly adjust the sensitivity to adapt to different air gap conditions.

[0089] Figure 2 It is the schematic diagram of marking the zero crossing point of the wheel speed recognition method based on the sensor of the present invention. Refer to Figure 2 As shown, the general process of wheel speed recognition through the present invention is as follows:

[0090] First, set the initial values of the current maximum value m and the current minimum value n to be equal to the first input data. Obtain the slope of each newly input data. Compare the slope of the newly input data with the slope of the previous data. When the slope of the newly input data is greater than the slope of the previous data, it is the rising stage. When the slope of the newly input data is less than the slope of the previous data, it is the falling stage, but not limited to this.

[0091] Then, continuously search for the maximum value during the rising stage. Determine whether it satisfies that the newly input data a > the current maximum value m. If so, replace the current maximum value m with the newly input data a. If not, keep the current maximum value m unchanged. And when the newly input data a < (the current maximum value m + the preset configuration sensitivity c), take the newly input data a as the first maximum value MAX. The sensitivity of searching for the extreme value can be flexibly adjusted by changing the preset configuration sensitivity c (cfg_sensitivity) to adapt to different air gap conditions. Continuously search for the minimum value during the falling stage. Determine whether it satisfies that the newly input data b < the current minimum value n. If so, replace the current minimum value n with the newly input data b. If not, keep the current minimum value n unchanged. And when the newly input data a > (the current minimum value n + the preset configuration sensitivity c), take the newly input data b as the first minimum value MIN, but not limited to this.

[0092] According to the difference between the first maximum value MAX and the first minimum value MIN, obtain the amplitude AMP, where AMP = MAX - MIN.

[0093] Detect the newly input data. When in the rising stage, if the newly input data a > MIN + 0.5 * AMP, then mark this data as a zero crossing point. When in the falling stage, if the newly input data b < MAX - 0.5 * AMP, then mark this data as another zero crossing point.

[0094] Finally, count the zero crossing period T. Based on the zero crossing period T and the preset number of sensor teeth N, obtain the wheel speed w, where w = 2π / (T × N).

[0095] Figure 3 It is a schematic structural diagram of the sensor-based wheel speed identification system of the present invention. As Figure 3 shown, an embodiment of the present invention further provides a sensor-based wheel speed identification system for implementing the above-mentioned sensor-based wheel speed identification method. The sensor-based wheel speed identification system 5 includes:

[0096] A period discrimination module 51 inputs the signal of the wheel speed sensor and discriminates the period of the input sine wave signal of the wheel speed sensor into a rising stage and a falling stage.

[0097] The extreme value search module 52 continuously performs maximum value search in the ascending phase to obtain a first maximum value MAX, and performs minimum value search in the descending phase to obtain a first minimum value MIN.

[0098] The amplitude detection module 53 obtains the amplitude AMP according to the difference between the first maximum value MAX and the first minimum value MIN.

[0099] The zero point marking module 54 detects the newly input data and marks the zero crossing point according to the comparison between the deviation of the newly input data and the first maximum value MAX or the first minimum value and half of the amplitude AMP.

[0100] The wheel speed module 55 counts the zero-crossing period T, and obtains the wheel speed w based on the zero-crossing period T and the preset number of sensor teeth N, where w=2π / (T×N).

[0101] In a preferred embodiment, the period distinguishing module 51 is configured to set the initial values ​​of the current maximum value m and the current minimum value n equal to the first input data. Obtain the slope of each newly input data. Compare the slopes of the newly input data with the previous data. When the slope of the newly input data is greater than the slope of the previous data, it is an ascending stage. When the slope of the newly input data is smaller than the slope of the previous data, it is a descending stage, but the present invention is not limited thereto.

[0102] In a preferred embodiment, the extreme value search module 52 is configured to continuously search for the maximum value in the rising stage to determine whether the newly input data a> the current maximum value m is satisfied. If so, the current maximum value m is replaced by the newly input data a. If not, the current maximum value m is kept unchanged. Finally, when the newly input data a<(current maximum value m+preset configuration sensitivity c), the newly input data a is used as the first maximum value MAX. The sensitivity of the search extreme value can be flexibly adjusted by changing the preset configuration sensitivity c (cfg_sensitivity) to adapt to different air gap conditions, but is not limited thereto.

[0103] In a preferred embodiment, the extreme value search module 52 is further configured to continue the minimum value search in the descending phase to determine whether the newly input data b < the current minimum value n is satisfied. If so, the current minimum value n is replaced by the newly input data b. If not, the current minimum value n is kept unchanged. Finally, when the newly input data a > (current minimum value n + preset configuration sensitivity c), the newly input data b is used as the first minimum value MIN, but is not limited thereto.

[0104] In a preferred embodiment, the amplitude AMP in the amplitude detection module 53 is equal to MAX-MIN, but not limited thereto.

[0105] In a preferred embodiment, the zero - point marking module 54 is configured to detect newly input data. When in the rising stage, if the newly input data a > MIN + 0.5 * AMP, the data is marked as a zero - crossing point. When in the falling stage, if the newly input data b < MAX - 0.5 * AMP, the data is marked as another zero - crossing point, but not limited thereto.

[0106] The sensor - based wheel speed identification system of the present invention can automatically search for the maximum and minimum values of the input signal, calculate the amplitude, calculate the accurate position of the zero - crossing point, solve the problems of unstable output and phase lag. At the same time, by adjusting the sensitivity, it can flexibly adapt to different air - gap conditions.

[0107] An embodiment of the present invention also provides a sensor - based wheel speed identification device, including a processor and a memory in which executable instructions of the processor are stored. Wherein, the processor is configured to execute the steps of the sensor - based wheel speed identification method via executing the executable instructions.

[0108] As shown above, the sensor - based wheel speed identification device of the present embodiment of the invention can automatically search for the maximum and minimum values of the input signal, calculate the amplitude, calculate the accurate position of the zero - crossing point, solve the problems of unstable output and phase lag. At the same time, by adjusting the sensitivity, it can flexibly adapt to different air - gap conditions.

[0109] Those skilled in the art can understand that various aspects of the present invention can be implemented as a system, a method, or a program product. Therefore, various aspects of the present invention can be specifically implemented in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software aspects, which can be collectively referred to as "circuit", "module", or "platform" here.

[0110] Figure 4 is a schematic structural diagram of the sensor - based wheel speed identification device of the present invention. The following refers to Figure 4 to describe the electronic device 600 according to this embodiment of the present invention. Figure 4 The electronic device 600 shown is only an example and should not bring any limitation to the functions and usage scope of the embodiments of the present invention.

[0111] As Figure 4 shown, the electronic device 600 is presented in the form of a general - purpose computing device. The components of the electronic device 600 may include but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including the storage unit 620 and the processing unit 610), a display unit 640, etc.

[0112] The storage unit stores program codes, which can be executed by the processing unit 610, so that the processing unit 610 performs the steps according to various exemplary embodiments of the present invention described in the above method section of this specification. For example, the processing unit 610 can perform the following steps: Figure 1 Follow the steps shown in .

[0113] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 6201 and / or a cache memory unit 6202 , and may further include a read-only memory unit (ROM) 6203 .

[0114] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0115] Bus 630 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0116] The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 600, and / or communicate with any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 650. Furthermore, the electronic device 600 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via a bus 630. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, etc.

[0117] The embodiment of the present invention further provides a computer-readable storage medium for storing a program, and the steps of the sensor-based wheel speed identification method are implemented when the program is executed. In some possible implementations, various aspects of the present invention can also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps of various exemplary embodiments of the present invention described in the above method section of this specification.

[0118] As shown above, the sensor-based wheel speed recognition system of the present invention can automatically search for the maximum and minimum values ​​of the input signal, calculate the amplitude, calculate the accurate position of the zero-crossing point, and solve the problems of output instability and phase lag. At the same time, by adjusting the sensitivity, it can flexibly adapt to different air gap conditions.

[0119] Figure 5 Schematic diagram of the structure of the computer-readable storage medium of the present invention. Figure 5 As shown, a program product 800 for implementing the above method according to an embodiment of the present invention is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0120] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0121] Computer readable storage media may include data signals propagated in baseband or as part of a carrier wave, in which readable program codes are carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0122] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0123] In summary, the purpose of the present invention is to provide a sensor-based wheel speed recognition method, system, device and storage medium, which can automatically search for the maximum and minimum values ​​of the input signal, calculate the amplitude, calculate the exact position of the zero crossing point, and solve the problems of output instability and phase lag. At the same time, by adjusting the sensitivity, it can flexibly adapt to different air gap conditions.

[0124] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A wheel speed recognition method based on a sensor, characterized in that: It includes the following steps: S110. Input the signal of the wheel speed sensor, and divide the period of the input sine wave signal of the wheel speed sensor into a rising stage and a falling stage; S120. Continuously perform maximum value search during the rising stage to obtain the first maximum value MAX; Perform minimum value search during the falling stage to obtain the first minimum value MIN; S130. Obtain the amplitude AMP according to the difference between the first maximum value MAX and the first minimum value MIN; S140. Detect the newly input data, and mark the zero crossing point according to the comparison between the deviation of the newly input data from the first maximum value MAX or the first minimum value and half of the amplitude AMP; S150. Count the zero crossing period T, and obtain the wheel speed w based on the zero crossing period T and the preset number of sensor teeth N, w = 2π / (T×N).

2. The sensor-based wheel speed recognition method according to claim 1, characterized in that: The step S110 includes the following steps: S111. Set the initial values of the current maximum value m and the current minimum value n to be equal to the first input data; S112. Obtain the slope of each newly input data; S113. Compare the slope of the newly input data with the slope of the previous data. When the slope of the newly input data is larger than the slope of the previous data, it is the rising stage. When the slope of the newly input data is smaller than the slope of the previous data, it is the falling stage.

3. The sensor-based wheel speed recognition method according to claim 2, characterized in that: The step S120 includes the following steps: S121. Continuously perform maximum value search during the rising stage, and judge whether it satisfies that when the newly input data a > the current maximum value m. If so, execute step S122. If not, execute step S123; S122. Replace the current maximum value m with the newly input data a, and execute step S124; S123. Keep the current maximum value m unchanged and execute step S124; S124. When the newly input data a < (the current maximum value m + the preset configuration sensitivity c), use the newly input data a as the first maximum value MAX.

4. The sensor-based wheel speed recognition method according to claim 2, characterized in that: The step S120 further includes the following steps: S125. Continuously perform minimum value search during the falling stage, and judge whether it satisfies that when the newly input data b < the current minimum value n. If so, execute step S126. If not, execute step S127; S126. Replace the current minimum value n with the newly input data b, and execute step S124; S127. Keep the current minimum value n unchanged and execute step S124; S128. When the newly input data b > (the current minimum value n + the preset configuration sensitivity c), use the newly input data b as the first minimum value MIN.

5. The sensor-based wheel speed recognition method according to claim 1, characterized in that: In the step S130, the amplitude AMP = MAX - MIN.

6. The sensor-based wheel speed recognition method according to claim 1, characterized in that: The step S140 includes: S141. Detect the newly input data. When in the rising stage, if the newly input data a > MIN + 0.5*AMP, mark the data as a zero crossing point.

7. The sensor-based wheel speed recognition method according to claim 6, characterized in that: The step S140 further includes: S142. When in the falling stage, if the newly input data b < MAX - 0.5*AMP, mark the data as another zero crossing point.

8. A sensor-based wheel speed recognition system, used to implement the sensor-based wheel speed recognition method according to claim 1, characterized in that: It includes: A period division module, which inputs the signal of the wheel speed sensor and divides the period of the input sine wave signal of the wheel speed sensor into a rising stage and a falling stage; The extreme value search module continuously searches for the maximum value in the ascending phase to obtain the first maximum value MAX; Perform a minimum value search in the descending phase to obtain the first minimum value MIN; an amplitude detection module, obtaining an amplitude AMP according to a difference between a first maximum value MAX and a first minimum value MIN; A zero point marking module detects newly input data and marks a zero crossing point according to a comparison between the deviation of the newly input data and the first maximum value MAX or the first minimum value and half of the amplitude AMP; The wheel speed module counts the zero-crossing period T and obtains the wheel speed w based on the zero-crossing period T and the preset number of sensor teeth N, where w=2π / (T×N).

9. A sensor-based wheel speed recognition device, characterized in that: include: processor; a memory storing executable instructions of the processor; Wherein, the processor is configured to perform the steps of the sensor-based wheel speed identification method according to any one of claims 1 to 7 by executing the executable instructions.

10. A computer-readable storage medium for storing a program, characterized in that: When the program is executed by a processor, the steps of the sensor-based wheel speed recognition method according to any one of claims 1 to 7 are implemented.

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