Automobile road spectrum acquisition method and acquisition device

Abstract

The invention provides an automobile road spectrum acquisition method and device, and the method comprises the following steps: installing a road spectrum acquisition device, an acquisition module and a display module, and carrying out the horizontal adjustment of a sensor housing and a swing rod of the road spectrum acquisition device; up-down vibration signals of wheels are transmitted through a road spectrum acquisition device, the up-down vibration signals of the wheels are converted into electric signals, and pulse signals are fed back to an acquisition module; a PWM signal is sent to a road spectrum acquisition device through an acquisition module, the sending time is T1, and a signal pulse signal fed back by the acquisition device is obtained; up-down vibration signals of wheels are converted into electric signals through a road spectrum collecting device, then the relative height H of a vehicle body is calculated through a collecting module by means of a sent PWM signal T1 and a feedback signal pulse signal T2, then the absolute height of the vehicle body is obtained through a software look-up table method, low-pass filtering processing is carried out on obtained data, and the relative height H of the vehicle body is obtained. Therefore, the absolute height of the vehicle body can be quickly obtained, and the data acquisition precision is improved.

Description

Technical Field

[0001] The present invention relates to a collection device, in particular to a method and a collection device for collecting automobile road spectra, and belongs to the technical field of automobile road spectra collection. Background Art

[0002] Automobile road spectrum collection refers to the collection of various performance data of the car on the road, such as speed, acceleration, braking, steering, suspension movement, etc., as well as road condition information, environmental parameters, etc., through specific sensors and equipment during the driving process of the car. These data are of great significance to automobile research and development, road design, traffic management and other aspects.

[0003] With the rapid development of automobile electrification and intelligence, electronically controlled air suspension and electronically controlled steering are increasingly used in vehicles. Electronically controlled air suspension needs to adjust the comfort of the suspension according to the road spectrum signal, and electronically controlled steering needs to provide steering feel according to the road spectrum signal. However, when collecting traditional automobile road spectrum data, height sensors are often used directly to obtain corresponding height changes by using angle changes. However, only using height sensors cannot quickly obtain the absolute height of the vehicle relative to the ground, and there is a problem of low collection accuracy. Moreover, since the frame heights of different vehicles usually differ to a certain extent, when the road spectrum collection device is installed, the sensor housing and the swing arm are at a certain angle when they are in the initial position, and the system needs to be debugged after the installation is completed. Therefore, a method and device for collecting automobile road spectrum are proposed. Summary of the invention

[0004] In view of this, the present invention provides a method and device for collecting automobile road spectra to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial choice.

[0005] The technical solution of the embodiment of the present invention is implemented as follows: a method for collecting automobile road spectra, comprising the following steps:

[0006] S1. Install the road spectrum collection device, collection module and display module, and adjust the sensor housing and swing arm of the road spectrum collection device horizontally;

[0007] S2, transmitting the up and down vibration signal of the wheel through the road spectrum acquisition device, converting the up and down vibration signal of the wheel into an electrical signal, and feeding back the pulse signal to the acquisition module;

[0008] S3, sending a PWM signal to the road spectrum acquisition device through the acquisition module, the sending time is T1, and obtaining the signal pulse signal fed back by the acquisition device, the sending time is T2, and using the acquisition circuit to calculate the relative height H of the vehicle body;

[0009] S4. According to the vehicle model, the absolute height of the vehicle body to the ground is measured, and a data table of the current absolute vehicle body height to the ground and the relative height is obtained to obtain the comparison data of the software table lookup method;

[0010] S5, using the acquisition module to obtain the absolute vehicle height through a software table lookup method according to the relative height H of the vehicle body, and performing low-pass filtering on the obtained absolute vehicle height data, and sending the processed data to the display device through CAN communication;

[0011] S6. Receive the data sent by the acquisition module through the display device, and display and store the data in real time.

[0012] Further preferably, the calculation formula of the relative height H of the vehicle body is:

[0013] H=T2-T1.

[0014] Further preferably, the calculation formula for the low-pass filtering process is:

[0015] Y(n)=a*X(n)+(1-a)Y(n-1);

[0016] Among them, Y(n) is the output value of this filtering; a is the filtering coefficient; X(n) is the sampling value of this time; Y(n-1) is the output value of the previous filtering, and the sending cycle of Y(n) to the display device through CAN communication is 1ms.

[0017] A road spectrum collection device, the road spectrum collection device comprises a vehicle weighing beam, two airbags, a leaf spring and a vehicle wheel body, the two airbags are installed between the vehicle weighing beam and the leaf spring, the vehicle wheel body is installed in the middle of the inner wall of the leaf spring, a height sensor is installed at the bottom of one side of the vehicle weighing beam, a height adjustment mechanism is installed on the inner wall of the leaf spring, a vertical rod fine-tuning mechanism is installed at one end of the height adjustment mechanism, and a sensor sway bar is installed between the vertical rod fine-tuning mechanism and the height sensor.

[0018] Further preferably, the height adjustment mechanism comprises an L-shaped screw, a plurality of fixing nuts and a spring washer;

[0019] Among them, the outer wall of the L-shaped screw is slidingly connected to the inner wall of the leaf spring, several fixing nuts are threadedly connected to the outer wall of the L-shaped screw, the spring washer is sleeved on the outer wall of the L-shaped screw, and the spring washer is located between one of the fixing nut and the bottom of the leaf spring.

[0020] Further preferably, the vertical rod fine-tuning mechanism comprises an upper vertical rod, a lower sliding sleeve and a fine-tuning screw;

[0021] Among them, the bottom of the outer wall of the lower sleeve is slidingly connected to the inner wall of the upper vertical rod, the fine-tuning screw is rotationally connected to the inner wall of the lower sleeve, and the bottom of the outer wall of the fine-tuning screw is threadedly connected to the inner wall of the upper vertical rod.

[0022] Further preferably, one end of the L-shaped screw away from the leaf spring is installed at the bottom of the inner wall of the upper vertical rod, and a communication interface is provided on a side of the height sensor away from the sensor sway rod.

[0023] Further preferably, one end of the sensor sway bar is hinged to one side of the lower sliding sleeve, and the other end of the sensor sway bar is slidably connected to the inner wall of the height sensor.

[0024] The embodiment of the present invention has the following advantages due to the adoption of the above technical solution:

[0025] 1. The present invention converts the up and down vibration signals of the wheels into electrical signals through a road spectrum acquisition device, and then calculates the relative height H of the vehicle body by using the sent PWM signal T1 and the feedback signal pulse signal T2 through the acquisition module, and then obtains the absolute vehicle body height by using a software lookup table method, and performs low-pass filtering on the acquired data, so as to quickly obtain the absolute vehicle body height while improving the accuracy of the collected data.

[0026] 2. When installing the road spectrum collection device, the present invention performs horizontal adjustment on the sensor housing and the swing arm to ensure that the sensor and the swing arm remain horizontal in the initial position, thereby reducing the difficulty of system debugging and increasing the scope of application of the road spectrum collection device.

[0027] 3. The present invention can collect road spectrum signals under various road conditions such as rural roads, urban roads, highways, etc., and is not affected by weather such as wind and rain.

[0028] The above summary is for illustrative purposes only and is not limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 paying creative work.

[0030] Figure 1 It is a schematic block diagram of the road spectrum acquisition method of the present invention;

[0031] Figure 2 It is a schematic diagram of signal transmission between the height sensor and the acquisition module of the present invention;

[0032] Figure 3 is a collection circuit diagram of the collection module of the present invention;

[0033] Figure 4 It is a structural schematic diagram of the road spectrum acquisition device of the present invention;

[0034] Figure 5 It is a schematic cross-sectional structural diagram of a height sensor of the present invention;

[0035] Figure 6 It is a schematic cross-sectional structural diagram of the upper vertical rod and the lower sliding sleeve of the present invention;

[0036] Figure 7 It is a rear view structural schematic diagram of the height sensor of the present invention.

[0037] Figure numerals: 101, automobile weighing beam; 102, airbag; 3, height adjustment mechanism; 104, leaf spring; 105, automobile wheel body; 6, height sensor; 7, sensor sway bar; 8, vertical rod fine-tuning mechanism; 9, communication interface; 301, L-shaped screw; 302, fixing nut; 303, spring washer; 801, upper vertical rod; 802, lower sliding sleeve; 803, fine-tuning screw. DETAILED DESCRIPTION

[0038] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0039] It should be noted that the terms "first", "second", "symmetrical", "array", etc. are only used to distinguish between description and position description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the definition of "first", "symmetrical", etc. can explicitly or implicitly include one or more of these features; similarly, when the number of certain features is not limited in the form of words such as "two" or "three", it should be noted that this feature also explicitly or implicitly includes one or more feature quantities.

[0040] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0041] like Figure 1-Figure 7 As shown, an embodiment of the present invention provides a method for collecting automobile road spectra, comprising the following steps:

[0042] S1. Install the road spectrum collection device, collection module and display module, and adjust the sensor housing and swing arm of the road spectrum collection device horizontally;

[0043] S2, transmitting the up and down vibration signal of the wheel through the road spectrum acquisition device, converting the up and down vibration signal of the wheel into an electrical signal, and feeding back the pulse signal to the acquisition module;

[0044] S3. Send a PWM signal to the road spectrum acquisition device through the acquisition module, the sending time is T1, and obtain the signal pulse signal fed back by the acquisition device, the sending time is T2, and use the acquisition circuit to calculate the relative height H of the vehicle body; the calculation formula of the relative height H of the vehicle body is:

[0045] H = T2 - T1;

[0046] S4. According to the vehicle model, the absolute height of the vehicle body to the ground is measured, and the data table of the current absolute vehicle body height to the ground and the relative height is obtained, and the comparison data of the software table lookup method is obtained, as shown in the following table:

[0047] Absolute vehicle height above ground (mm) Relative height of vehicle body H Notes 90 H1＝？ ? The question mark indicates the parameter to be measured 95 H2＝？ 100 H3＝？ 105 H4＝？ 110 H5＝？ 115 H6＝？ 120 H7＝？ ... ... 150 H13＝？ ;

[0048] S5. Obtain the absolute vehicle height by using the acquisition module according to the relative height H of the vehicle body through a software table lookup method, perform low-pass filtering on the obtained absolute vehicle height data, and send the processed data to the display device through CAN communication; the calculation formula for low-pass filtering is:

[0049] Y(n)=a*X(n)+(1-a)Y(n-1)

[0050] Among them, Y(n) is the output value of this filtering; a is the filtering coefficient; X(n) is the current sampling value; Yn-1 is the output value of the previous filtering, and the sending cycle of Y(n) to the display device through CAN communication is 1ms;

[0051] S6. Receive the data sent by the acquisition module through the display device, and display and store the data in real time.

[0052] A road spectrum collection device includes a vehicle weighing beam 101, two airbags 102, a leaf spring 104 and a vehicle wheel body 105. The two airbags 102 are installed between the vehicle weighing beam 101 and the leaf spring 104. The vehicle wheel body 105 is installed in the middle of the inner wall of the leaf spring 104. A height sensor 6 is installed at the bottom of one side of the vehicle weighing beam 101, a height adjustment mechanism 3 is installed on the inner wall of the leaf spring 104, a vertical rod fine-tuning mechanism 8 is installed at one end of the height adjustment mechanism 3, and a sensor sway bar 7 is installed between the vertical rod fine-tuning mechanism 8 and the height sensor 6.

[0053] In one embodiment, the height adjustment mechanism 3 includes an L-shaped screw 301, a plurality of fixing nuts 302 and a spring washer 303;

[0054] The outer wall of the L-shaped screw 301 is slidably connected to the inner wall of the leaf spring 104, a plurality of fixing nuts 302 are threadedly connected to the outer wall of the L-shaped screw 301, a spring washer 303 is sleeved on the outer wall of the L-shaped screw 301, and the spring washer 303 is located between a fixing nut 302 and the bottom of the leaf spring 104;

[0055] The L-shaped screw 301 penetrates the leaf spring 104 , and is fixed to the leaf spring 104 by using a fixing nut 302 and a spring washer 303 .

[0056] In one embodiment, the vertical rod fine-tuning mechanism 8 includes an upper vertical rod 801, a lower lower sleeve 802 and a fine-tuning screw 803;

[0057] The bottom of the outer wall of the lower sleeve 802 is slidably connected to the inner wall of the upper vertical rod 801, the fine-tuning screw 803 is rotatably connected to the inner wall of the lower sleeve 802, and the bottom of the outer wall of the fine-tuning screw 803 is threadedly connected to the inner wall of the upper vertical rod 801;

[0058] By rotating the fine-tuning screw 803, the thread is used to drive the lower sleeve 802 to slide in the upper vertical rod 801, and the sliding lower sleeve 802 drives the sensor sway bar 7 to move. The moving sensor sway bar 7 slides on one side of the height sensor 6 and drives the shell on one side of the height sensor 6 to rotate, so that the sensor sway bar 7 and the shell on one side of the height sensor 6 can be adjusted to a horizontal state according to actual needs.

[0059] In one embodiment, one end of the L-shaped screw 301 away from the leaf spring 104 is installed at the bottom of the inner wall of the upper vertical rod 801, and a communication interface 9 is provided on the side of the height sensor 6 away from the sensor sway rod 7; one end of the sensor sway rod 7 is hinged to one side of the lower sleeve 802, and the other end of the sensor sway rod 7 is slidably connected to the inner wall of the height sensor 6;

[0060] The height sensor 6 is connected to the acquisition module by using the communication interface 9 in conjunction with the transmission wire, and the sensor sway bar 7 is driven to move by the moving lower sleeve 802. The moving sensor sway bar 7 slides in the height sensor 6 and drives the height sensor 6 to rotate at the same time.

[0061] When the present invention is in operation: when the road spectrum acquisition device needs to be installed, first, the L-shaped screw 301 is moved to penetrate the leaf spring 104, and the L-shaped screw 301 is fixed on the leaf spring 104 using the fixing nut 302 and the spring pad 303, and the overall installation height of the device is preliminarily adjusted by controlling the length of the L-shaped screw 301 penetrating the leaf spring 104.

[0062] When the L-shaped screw 301 is fixed, the height sensor 6 is installed and fixed on the automobile weighing beam 101 according to actual needs, and the inclination state of the sensor sway bar 7 is observed. When the sensor sway bar 7 is not in a horizontal state as a whole, the lower sliding sleeve 802 is driven to slide in the upper vertical rod 801 by rotating the fine-tuning screw 803 using the thread, and the sliding lower sliding sleeve 802 drives the sensor sway bar 7 to move. The moving sensor sway bar 7 slides on one side of the height sensor 6 and drives the shell on one side of the height sensor 6 to rotate, so that the sensor sway bar 7 and the shell on one side of the height sensor 6 can be adjusted to a horizontal state according to actual needs to adapt to the body height of different vehicles.

[0063] After the road spectrum acquisition device is installed, the height sensor 6 is connected to the acquisition module by using the communication interface 9 in conjunction with the transmission wire, and the acquisition module and the display module are installed as required.

[0064] When it is necessary to collect automobile road spectrum data, when the automobile wheel body 105 encounters a bumpy road surface and jumps up or down, the moving leaf spring 104 drives the height adjustment mechanism 3 to move, and the moving height adjustment mechanism 3 drives the sensor sway bar 7 to move through the vertical rod fine-tuning mechanism 8. The moving sensor sway bar 7 slides in the height sensor 6 and drives the height sensor 6 to rotate, so that the inductance generated by the coil in the height sensor 6 changes. Figure 1 and Figure 2 As shown, when the acquisition module sends a PWM signal to the height sensor 6, the height sensor 6 feeds back the electrical signal to the acquisition module, and the acquisition module calculates the current relative height H of the vehicle body according to the different feedback times.

[0065] The acquisition circuit of the acquisition module is as follows Figure 3 As shown, the microcontroller port 1 periodically sends out PWM drive signals. Since Height_sensor is an inductor (with a coil inside), HS_Test will be gradually pulled down as the conduction time continues (it will continue to be on for hundreds of microseconds). When the voltages of HS-2 and HS+3 are different, the MCU will collect a falling edge signal at port 2. The time T2 when this decline occurs minus the PWM sending time T1 is the relative height H of the vehicle body.

[0066] Then, the acquisition module uses the table lookup method to quickly obtain the absolute vehicle height, and then performs low-pass filtering on the obtained absolute vehicle height to obtain Y(n), and sends the obtained Y(n) to the display device through CAN communication at a 1ms cycle. The display device is responsible for real-time display and storage, and the display device can also play back the collected road spectrum data. In this way, we have collected the road spectrum data of a road or a section of road.

[0067] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for collecting automobile road spectra, characterized in that: The following steps are involved: S1. Install the road spectrum collection device, collection module and display module, and adjust the sensor housing and swing arm of the road spectrum collection device horizontally; S2, transmitting the up and down vibration signal of the wheel through the road spectrum acquisition device, converting the up and down vibration signal of the wheel into an electrical signal, and feeding back the pulse signal to the acquisition module; S3, sending a PWM signal to the road spectrum acquisition device through the acquisition module, the sending time is T1, and obtaining the signal pulse signal fed back by the acquisition device, the sending time is T2, and using the acquisition circuit to calculate the relative height H of the vehicle body; S4. According to the vehicle model, the absolute height of the vehicle body to the ground is measured, and a data table of the current absolute vehicle body height to the ground and the relative height is obtained to obtain the comparison data of the software table lookup method; S5, using the acquisition module to obtain the absolute vehicle height through a software table lookup method according to the relative height H of the vehicle body, and performing low-pass filtering on the obtained absolute vehicle height data, and sending the processed data to the display device through CAN communication; S6. Receive the data sent by the acquisition module through the display device, and display and store the data in real time.

2. The method for collecting automobile road spectra according to claim 1, characterized in that: The calculation formula of the relative height H of the vehicle body is: H=T2-T1.

3. The method for collecting automobile road spectra according to claim 1, characterized in that: The calculation formula for the low-pass filtering process is: Y(n)=a*X(n)+(1-a)Y(n-1); Among them, Y(n) is the output value of this filtering; a is the filtering coefficient; X(n) is the sampling value of this time; Y(n-1) is the output value of the previous filtering, and the sending cycle of Y(n) to the display device through CAN communication is 1ms.

4. A road spectrum collection device according to the vehicle road spectrum collection method according to any one of claims 1 to 3, the road spectrum collection device comprising a vehicle weighing beam (101), two airbags (102), a leaf spring (104) and a vehicle wheel body (105), characterized in that: The two air bags (102) are installed between the automobile weighing beam (101) and the leaf spring (104); the automobile wheel body (105) is installed at the middle of the inner wall of the leaf spring (104); a height sensor (6) is installed at the bottom of one side of the automobile weighing beam (101); a height adjustment mechanism (3) is installed on the inner wall of the leaf spring (104); a vertical rod fine adjustment mechanism (8) is installed at one end of the height adjustment mechanism (3); and a sensor sway bar (7) is installed between the vertical rod fine adjustment mechanism (8) and the height sensor (6).

5. The road spectrum collection device of the automobile road spectrum collection method according to claim 4 is characterized in that: The height adjustment mechanism (3) comprises an L-shaped screw rod (301), a plurality of fixing nuts (302) and a spring washer (303); The outer wall of the L-shaped screw (301) is slidably connected to the inner wall of the leaf spring (104), a plurality of fixing nuts (302) are threadedly connected to the outer wall of the L-shaped screw (301), the spring pad (303) is sleeved on the outer wall of the L-shaped screw (301), and the spring pad (303) is located between one of the fixing nuts (302) and the bottom of the leaf spring (104).

6. The road spectrum collection device of the automobile road spectrum collection method according to claim 5, characterized in that: The vertical rod fine-tuning mechanism (8) comprises an upper vertical rod (801), a lower sliding sleeve (802) and a fine-tuning screw rod (803); The bottom of the outer wall of the lower sleeve (802) is slidably connected to the inner wall of the upper vertical rod (801), the fine-tuning screw (803) is rotationally connected to the inner wall of the lower sleeve (802), and the bottom of the outer wall of the fine-tuning screw (803) is threadedly connected to the inner wall of the upper vertical rod (801).

7. The road spectrum collection device of the automobile road spectrum collection method according to claim 6 is characterized in that: One end of the L-shaped screw rod (301) away from the leaf spring (104) is mounted on the bottom of the inner wall of the upper vertical rod (801), and a communication interface (9) is provided on the side of the height sensor (6) away from the sensor sway rod (7).

8. The road spectrum collection device of the automobile road spectrum collection method according to claim 6, characterized in that: One end of the sensor sway rod (7) is hinged to one side of the lower sleeve (802), and the other end of the sensor sway rod (7) is slidably connected to the inner wall of the height sensor (6).

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