Type identification method and device for wheel speed sensor

Abstract

The embodiment of the invention provides a type identification method and device for a wheel speed sensor, and relates to the technical field of vehicle control, the method comprises the steps that a wheel speed signal of the wheel speed sensor is received, and the wheel speed sensor is a newly installed wheel speed sensor; obtaining a target electrical characteristic according to the wheel speed signal, wherein the target electrical characteristic comprises electrical characteristic information of the wheel speed signal; based on a preset classification method, performing classification processing on the target electrical characteristics to obtain a sensor type of the wheel speed sensor corresponding to the target electrical characteristics; wherein the electrical characteristic information of the wheel speed signals generated by different types of wheel speed sensors is different. The accuracy of determining the type of the sensor can be improved, the accuracy of vehicle control is ensured, and the efficiency of replacing the wheel speed sensor is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method and device for identifying the type of a wheel speed sensor. Background Art

[0002] A vehicle's wheel speed control system primarily consists of wheel speed sensors, an ECU (electronic control unit, also known as a "driving computer," "onboard computer," etc.), and actuators. Wheel speed sensors monitor wheel speed in real time and convert this information into electrical signals, which are then transmitted to the ECU. The ECU receives and processes the electrical signals from the wheel speed sensors, calculating the vehicle's actual speed and the motion status of each wheel. Based on this data, the ECU determines whether the wheels are experiencing abnormal conditions such as locking or slipping. If these conditions occur, it promptly issues control commands to the actuators. Based on the ECU's control commands, the actuators precisely adjust the vehicle's brake pressure to prevent wheel locking or slipping, ensuring excellent vehicle stability and controllability under various road conditions. Currently, the mainstream wheel speed sensors are magnetoelectric sensors, which generate current signals from a magnetic ring sensor. These sensors primarily fall into three types: active, non-intelligent, PWM-based, and AK-based. In typical vehicles, the ECU typically includes signal processing methods for each of these three types of wheel speed sensors, allowing them to be used interchangeably within the vehicle.

[0003] In related technologies, wheel speed sensor types are typically preconfigured in the ECU. If a wheel speed sensor is damaged or needs to be replaced for testing, the preconfigured wheel speed sensor type must be manually re-flashed or the ECU software calibrated. This approach is prone to manual flashing errors or calibrating the wrong sensor type, leading to vehicle control failures. Furthermore, wheel speed sensor replacement is inefficient.

[0004] Therefore, there is an urgent need for a wheel speed sensor type identification method and device that can improve the accuracy of determining the sensor type, ensure the accuracy of vehicle control, and improve the efficiency of replacing the wheel speed sensor. Summary of the Invention

[0005] The embodiments of the present application provide a method and device for identifying the type of a wheel speed sensor, which can improve the accuracy of determining the sensor type, ensure the precision of vehicle control, and improve the efficiency of replacing the wheel speed sensor.

[0006] In a first aspect, an embodiment of the present application provides a method for identifying a type of a wheel speed sensor, the method comprising: receiving a wheel speed signal from a wheel speed sensor, where the wheel speed sensor is a newly installed wheel speed sensor; acquiring target electrical characteristics according to the wheel speed signal, wherein the target electrical characteristics include electrical characteristic information of the wheel speed signal; classifying the target electrical characteristics based on a preset classification method to obtain a sensor type of the wheel speed sensor corresponding to the target electrical characteristics; Among them, the electrical characteristic information of the wheel speed signals generated by different types of wheel speed sensors is different.

[0007] In a second aspect, an embodiment of the present application provides a device for identifying a type of a wheel speed sensor, the device comprising: a transceiver unit, configured to receive a wheel speed signal from a wheel speed sensor, wherein the wheel speed sensor is a newly installed wheel speed sensor; a first processing unit, configured to obtain target electrical characteristics according to the wheel speed signal, wherein the target electrical characteristics include electrical characteristic information of the wheel speed signal; The second processing unit is configured to classify the target electrical characteristic based on a preset classification method to obtain a sensor type of the wheel speed sensor corresponding to the target electrical characteristic.

[0008] Optionally, the second processing unit is specifically configured to: If the highest current value in the target electrical characteristic exceeds the current threshold, performing a cyclic redundancy check on the transmission protocol identifier in the target electrical characteristic, and if the check passes, determining that the wheel speed sensor is an intelligent wheel speed sensor using a data transmission protocol; If the duty cycle in the target electrical characteristic is within a preset duty cycle range, and the deviation percentage of the square wave in the target electrical characteristic from the standard square wave is greater than a set percentage, determining that the wheel speed sensor is an intelligent wheel speed sensor using pulse width modulation; If the voltage amplitude in the target electrical characteristic is within a preset amplitude range, and the frequency in the target electrical characteristic is within a preset frequency range, determining that the wheel speed sensor is a non-intelligent wheel speed sensor; Alternatively, the target electrical characteristic is classified based on a neural network algorithm to obtain a sensor type of the wheel speed sensor corresponding to the target electrical characteristic.

[0009] Optionally, the second processing unit is specifically configured to: Determine whether a maximum current value in the target electrical characteristic exceeds a current threshold; if so, perform a cyclic redundancy check on a transmission protocol identifier in the target electrical characteristic; and if the check passes, determine that the wheel speed sensor is an intelligent wheel speed sensor using a data transmission protocol.

[0010] Optionally, the second processing unit is further configured to: If the maximum current value in the target electrical characteristic does not exceed the current threshold, or the cyclic redundancy check of the transmission protocol identifier in the target electrical characteristic fails, then it is determined whether the duty cycle in the target electrical characteristic is within a preset duty cycle range, and whether the deviation percentage of the square wave in the target electrical characteristic from the standard square wave is greater than a set percentage. If so, it is determined that the wheel speed sensor is an intelligent wheel speed sensor using pulse width modulation.

[0011] Optionally, the second processing unit is further configured to: If the duty cycle in the target electrical characteristic is not within the preset duty cycle range, or the deviation percentage of the square wave in the target electrical characteristic from the standard square wave is not greater than the set percentage, then it is determined whether the voltage amplitude in the target electrical characteristic is within the preset amplitude range, and whether the frequency in the target electrical characteristic is within the preset frequency range. If so, it is determined that the wheel speed sensor is a non-intelligent wheel speed sensor.

[0012] Optionally, the second processing unit is also used to classify the target electrical characteristics based on a neural network algorithm to obtain the sensor type of the wheel speed sensor corresponding to the target electrical characteristics if the voltage amplitude in the target electrical characteristics is not within a preset amplitude range, or the frequency in the target electrical characteristics is not within a preset frequency range.

[0013] Optionally, the preset classification method includes a decision tree algorithm and a fuzzy classification method.

[0014] Optionally, the first processing unit is specifically configured to use a preset fault detection method to detect whether the wheel speed signal is a fault signal, and when it is determined that the wheel speed signal is not a fault signal, perform digital filtering on the wheel speed signal to obtain a processed wheel speed signal; The target electrical characteristic is obtained according to the processed wheel speed signal.

[0015] Optionally, the wheel speed signal is a pulse signal, and the first processing unit is further configured to: Initialize an input capture unit in the single chip microcomputer and configure the input capture unit to a double edge capture mode. The input capture unit is used to obtain the target electrical characteristic according to the wheel speed signal.

[0016] Beneficial effects of this application: In the wheel speed sensor type identification method provided in an embodiment of the present application, a target electrical characteristic containing this electrical characteristic information is obtained by analyzing the electrical characteristic information of the wheel speed signal. Since the electrical characteristic information of the wheel speed signals generated by different types of wheel speed sensors varies, a preset classification method can be used to analyze the electrical characteristic information in the target electrical characteristic. Based on the electrical characteristic information in the target electrical characteristic, the sensor type of the wheel speed sensor corresponding to the target electrical characteristic is determined. In this way, after a wheel speed sensor is replaced in a vehicle, the vehicle's ECU automatically determines the sensor type of the wheel speed sensor. Based on the sensor type, a corresponding signal processing method is selected to process the wheel speed signal and obtain vehicle speed information and wheel status. Compared to related art methods that require manual flashing or calibration of the sensor type in the ECU, resulting in inefficient wheel speed sensor replacement and the potential for manual flashing or calibration errors that can lead to vehicle control errors, the present application improves the efficiency of wheel speed sensor replacement and enhances vehicle control accuracy.

[0017] These implementations or other implementations of the present application will be more concise and understandable in the description of the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of 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 paying any creative labor.

[0019] Figure 1 A schematic diagram of a wheel speed signal of an intelligent wheel speed sensor using a data transmission protocol provided in an embodiment of the present application; Figure 2 A schematic diagram of a wheel speed signal of an intelligent wheel speed sensor using pulse width modulation provided in an embodiment of the present application; Figure 3 A schematic diagram of a wheel speed signal of a non-intelligent wheel speed sensor provided in an embodiment of the present application; Figure 4 A simplified schematic diagram of the working process of an input capture unit and a comparator in a single-chip microcomputer provided in an embodiment of the present application; Figure 5 A schematic flow chart of a method for identifying the type of a wheel speed sensor provided in an embodiment of the present application; Figure 6 A schematic flow chart of an analysis method based on an electrical characteristics analysis method provided in an embodiment of the present application; Figure 7 A schematic diagram of a wheel speed sensor type identification device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of this application more clear, this application will be further described in detail below with reference to the accompanying drawings. Obviously, the embodiments described are only some 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 any creative efforts are within the scope of protection of this application.

[0021] IHB is a highly integrated brake-by-wire product that combines the functions of the electronic brake booster (EBB) and electronic stability control (ESC). This integration makes the vehicle's braking system more compact and lightweight, while also enabling more efficient braking. Wheel speed sensors play a crucial role in the One-Box system. They continuously monitor the rotational speed of each wheel and transmit this information to the electronic control unit (ECU) via the CAN bus. Based on this data, the ECU calculates the vehicle's speed and the speed differences between the wheels. This is essential for detecting slip or locking, implementing the anti-lock braking system (ABS), adjusting the traction control system (TCS), and ensuring the effectiveness of the vehicle stability control (ESC).

[0022] Because modern vehicles must be compatible with a variety of wheel speed sensor types, traditional ECUs must be pre-configured with the sensor type. Changing sensor types requires reflashing or recalibrating the ECU software. This leads to technical pain points such as the inability to recognize sensor type changes or abnormal switching in real time, and the lack of an automatic switching mechanism in the event of a single sensor failure. Furthermore, current technologies are limited, with most using pre-configured static recognition methods, simple type judgment based on fixed thresholds, and no online self-learning capabilities.

[0023] In view of this, an embodiment of the present application provides a method for identifying the type of a wheel speed sensor. In this method, a target electrical characteristic containing the electrical characteristic information is obtained by analyzing the electrical characteristic information of a wheel speed signal. Since the electrical characteristic information of wheel speed signals generated by different types of wheel speed sensors differ, a preset classification method can be used to analyze the electrical characteristic information in the target electrical characteristic. Based on the electrical characteristic information in the target electrical characteristic, the sensor type of the wheel speed sensor corresponding to the target electrical characteristic is determined. In this way, the sensor type of the wheel speed sensor is automatically determined based on the real-time wheel speed signal, accurately determining the sensor type of the wheel speed sensor in use. Based on the automatically identified sensor type of the wheel speed sensor, the received wheel speed signal is processed using a corresponding wheel speed signal processing method. This method solves the problem in related arts of manually flashing or calibrating the wheel speed sensor type in the ECU, which may result in incorrect sensor type settings, and solves the problem of inefficient wheel speed sensor replacement caused by manually flashing or calibrating the wheel speed sensor type in the ECU, thereby improving vehicle control accuracy and the efficiency of wheel speed sensor replacement.

[0024] Based on the foregoing, an embodiment of the present application provides a hardware interface configuration method for implementing a method for identifying the type of a wheel speed sensor. The wheel speed signal is a pulse signal, and the hardware interface configuration is completed before executing the method for identifying the type of the wheel speed sensor. The method includes initializing the input capture unit in the microcontroller and configuring the input capture unit to dual-edge capture mode. The input capture unit is used to obtain target electrical characteristics based on the wheel speed signal. In other words, the wheel speed signal capture interface and acquisition channel are configured based on the hardware circuit design and MCU (microcontroller) resource information. If the wheel speed signal is output as a rectangular wave signal, only the timestamp information of the rising and falling edges needs to be collected. According to the protocol specification, the wheel speed sensors corresponding to the wheel speed signal are classified using a comparator and a corresponding preset classification algorithm, taking advantage of the different electrical characteristics such as current value and voltage amplitude of different types of wheel speed sensors to determine the sensor type.

[0025] In one embodiment, wheel speed sensors include three types of sensors: an intelligent wheel speed sensor using the data transmission protocol (AK protocol), an intelligent wheel speed sensor using the pulse width modulation (PWM protocol), and a non-intelligent wheel speed sensor. The wheel speed signals of different sensor types are not completely consistent. The edge triggering characteristics of the wheel speed signal of the intelligent wheel speed sensor using the data transmission protocol are rising edge triggering and falling edge triggering. The wheel speed signal contains transmission protocol information and related wheel speed information, such as Figure 1The figure shows a schematic diagram of a wheel speed signal of an intelligent wheel speed sensor using a data transmission protocol according to an embodiment of the present application. The edge triggering characteristics of the wheel speed signal of the intelligent wheel speed sensor using pulse width modulation are rising edge triggering and falling edge triggering. The wheel direction information and air gap information in the wheel speed signal are as follows: Figure 2 The figure shows a schematic diagram of a wheel speed signal of an intelligent wheel speed sensor using pulse width modulation provided by an embodiment of the present application. The edge triggering feature of the wheel speed information of the non-intelligent wheel speed sensor is rising edge triggering, and the pulse width feature of the wheel speed signal is duty cycle, such as Figure 3 As shown, it is a schematic diagram of the wheel speed signal of a non-intelligent wheel speed sensor provided in an embodiment of the present application. It should be noted that the wheel speed signal shown in the above diagram is only used to clearly illustrate the present solution and does not limit the specific implementation of the present solution.

[0026] In one embodiment, the input capture unit in the microcontroller is initialized and configured in a dual-edge capture mode (rising edge + falling edge), and direct memory access transmission is set. The captured timestamp information is directly stored in a ring buffer (the length can be defined according to requirements, 256 is used as an example here). Then, the comparator module is configured and three current threshold areas are set, including: low current area (0-7mA): invalid signal; medium current area (7-14mA): AK protocol signal speed signal; high current area (14-28mA): speed signal.

[0027] In one embodiment, Figure 1 The high current shown is 28mA. The "long teeth" in the half cycle represent the information of the wheel speed signal, and multiple "short teeth" represent the transmission protocol identifier of the AK protocol. Its waveform generation threshold is 7mA, 14mA, and 28mA. Figure 2 The high current shown is 14mA, and its waveform generation thresholds are 7mA and 14mA. Figure 3 The high current shown is 14mA, and its waveform generation thresholds are 7mA and 14mA.

[0028] Based on the three wheel speed sensor types described above, the wheel speed sensor type identification method is implemented. For intelligent wheel speed sensors using the AK protocol, a high-current detection channel is added, along with an SPI interface (the SPI interface reads AK protocol data), dual-edge capture is enabled, and a comparator is used. For intelligent wheel speed sensors using the PWM protocol, dual-edge capture is enabled, along with a comparator. For non-intelligent wheel speed sensors, only the comparator is enabled. Furthermore, a digital-to-analog converter is used to acquire channel voltage amplitude, current value, and other information.

[0029] In one embodiment, if Figure 4As shown, it is a simple schematic diagram of the working process of the input capture unit and comparator in a single-chip microcomputer provided by an embodiment of the present application; when targeting an intelligent wheel speed sensor using a data transmission protocol, the input capture unit is enabled, the current detection channel of the input capture unit is initialized, and based on the configured double-edge capture, the upper edge and lower edge of the wheel speed signal are detected, and the timestamp is enabled to obtain timestamp information including the upper edge time information and the lower edge time information, and also obtains information such as current and / or voltage. Based on the configured direct memory access, the obtained timestamp information and information such as current and / or voltage are stored in a ring buffer, so as to facilitate subsequent comparison based on the medium current and low current comparators, and comparison based on the medium current and high current comparators, to determine the sensor type of the intelligent wheel speed sensor using the data transmission protocol. When targeting an intelligent wheel speed sensor using pulse width modulation, the input capture unit is enabled, its current detection channel is initialized, and based on the configured dual-edge capture, the rising and falling edges of the wheel speed signal are detected. Timestamp information containing the time information of the rising and falling edges is enabled, and current and / or voltage information is also obtained. Based on the configured direct memory access, the obtained timestamp information and current and / or voltage information are stored in a ring buffer for subsequent comparison based on the medium current and low current comparators to determine the sensor type of the intelligent wheel speed sensor using pulse width modulation. When targeting a non-intelligent wheel speed sensor, the input capture unit is disabled, and only the rising edge of the wheel speed signal is detected to obtain timestamp information containing the time information of the rising edge. Current and / or voltage information is also obtained. Based on the configured direct memory access, the obtained timestamp information and current and / or voltage information are stored in a ring buffer for subsequent comparison based on the medium current and low current comparators to determine the sensor type of the non-intelligent wheel speed sensor.

[0030] See also Figure 5 As shown, an embodiment of the present application provides a method for identifying the type of a wheel speed sensor, the method comprising: Step 501: Receive a wheel speed signal from a wheel speed sensor, where the wheel speed sensor is a newly installed wheel speed sensor.

[0031] Step 502: Obtain target electrical characteristics according to the wheel speed signal, where the target electrical characteristics include electrical characteristic information of the wheel speed signal.

[0032] In one embodiment, as described above Figure 4 From the corresponding part, it can be seen that the wheel speed signal is a rectangular wave signal. By capturing the edge and collecting the time stamp information of the high level and low level, the target electrical characteristics including electrical characteristic information can be obtained.

[0033] Step 503: Classify the target electrical characteristics based on a preset classification method to obtain the sensor type of the wheel speed sensor corresponding to the target electrical characteristics; wherein the electrical characteristic information of the wheel speed signals generated by different types of wheel speed sensors is different.

[0034] In one embodiment, the preset classification method can be a machine learning classifier, and the machine learning classifier can be a random forest, a decision tree, a fuzzy classification method, or a combination algorithm of the aforementioned classification methods. There is no restriction on the specific structure of the preset classification method here, and it can be set as needed.

[0035] In one embodiment, the preset classification method includes a decision tree algorithm and a fuzzy classification method.

[0036] In one embodiment, the electrical characteristic information of the wheel speed signals generated by different types of wheel speed sensors is different, which can be seen in Figure 1-3 From the electrical characteristic information of the wheel speed signal in FIG, it can be seen that the electrical characteristic information of the wheel speed signal of the three sensor types mentioned above is different from each other.

[0037] In one embodiment, during the analysis to determine the sensor type of the newly installed wheel speed sensor in step 503, the analysis time must not exceed a certain limit. If this limit is exceeded, the analysis and identification process is terminated and fault detection proceeds directly. For example, if the execution time exceeds a certain threshold (50ms in this example), this indicates a timeout fault, and the calibrated signal quality is 0.

[0038] In one embodiment, the above-mentioned wheel speed sensor type identification method can be used to implement a wheel speed sensor adaptive identification system based on the RH850 / U2A microcontroller (main feature: multi-core processor, usually including two independent CPU cores, supporting multi-threaded processing, improving multi-tasking capabilities and real-time performance).

[0039] The above method can automatically identify three mainstream wheel speed sensor types: non-intelligent wheel speed sensors, intelligent PWM wheel speed sensors with direction recognition, and AK protocol intelligent wheel speed sensors. This completes wheel speed sensor type identification without pre-configuring sensor type parameters, thereby obtaining accurate wheel speed information, which is beneficial for subsequent vehicle control or decision-making modules to perform further action processing.

[0040] Based on the above Figure 5 In the method flow, the embodiment of the present application provides a method for identifying the type of a wheel speed sensor. In step 502, the target electrical characteristics are obtained according to the wheel speed signal, including: Step 5021: Use a preset fault detection method to detect whether the wheel speed signal is a fault signal. When it is determined that the wheel speed signal is not a fault signal, perform digital filtering on the wheel speed signal to obtain a processed wheel speed signal.

[0041] Step 5022: Obtain target electrical characteristics according to the processed wheel speed signal.

[0042] In one embodiment, each time a wheel speed signal is obtained, before obtaining the target electrical characteristics based on the wheel speed signal, it is preferably first detected whether the wheel speed signal is a fault signal. If the wheel speed signal is a fault signal, the information contained therein is erroneous or meaningless, and further analysis and processing of the wheel speed signal is unnecessary. Therefore, after confirming that the wheel speed signal is not a fault signal, the wheel speed signal is filtered to remove high-frequency noise, the signal is smoothed using a moving average, and signal loss is detected and compensated for to improve the quality of the wheel speed signal.

[0043] In one embodiment, the process for fault safety and diagnosis is primarily responsible for continuously monitoring the status of a newly installed wheel speed sensor and responding to abnormalities. The process includes: ① initializing channel status: maintaining each channel independent and using static variables to maintain persistence across calls; ② signal quality monitoring: updating the wheel speed signal quality. If it is below a threshold, it is determined to be a signal loss state, and then fault processing is performed, terminating subsequent logic processing; ③ type change detection: if a change in the wheel speed sensor type is detected, the old device type is recorded and updated to the new device type (this process step is performed after the sensor type corresponding to the target electrical characteristics is obtained based on the wheel speed sensor type identification method of the present application); ④ parameter range detection: detecting whether key parameters exceed a reasonable range based on the signal type of the wheel speed signal. If so, a corresponding fault code is set; ⑤ specific protocol error detection: performing a CRC check (cyclic redundancy check for transmission protocol identifier) ​​on the AK protocol data of the intelligent wheel speed sensor using the data transmission protocol. If the check fails, a CRC error is marked (this step is performed during the analysis and processing using a preset classification method); ⑥ fault handling and last valid time update: if the above detection results indicate a fault, a unified processing function is called to handle it; otherwise, the last valid time is updated.

[0044] In one embodiment, when a wheel speed signal is received, identification processing is started. First, the current wheel speed signal is checked to see if there is a fault. If there is a fault, the identification processing process is terminated. If there is no fault, the wheel speed signal (the signal of the newly installed wheel speed sensor) is input normally, and the electrical characteristic feature of the wheel speed signal is extracted to obtain the target electrical characteristic. Then, a preset classification method is used as a signal category recognition engine to identify the target electrical characteristic and obtain the sensor type of the wheel speed sensor corresponding to the wheel speed signal. Then, the wheel speed calculation process is entered to control the vehicle driving state through the vehicle control decision system. If, during the target electrical characteristic identification process, a wheel logic fault occurs and the wheel speed signal corresponding to the target electrical characteristic is determined to be a fault signal, corresponding relief measures can also be taken through the vehicle control decision system.

[0045] Based on the above Figure 5 In the method flow, an embodiment of the present application provides a method for identifying the type of a wheel speed sensor. In step 503, based on a preset classification method, the target electrical characteristics are classified and processed to obtain the sensor type of the wheel speed sensor corresponding to the target electrical characteristics, including: Method 1: If the highest current value in the target electrical characteristic exceeds the current threshold, a cyclic redundancy check is performed on the transmission protocol identifier in the target electrical characteristic. If the check passes, it is determined that the wheel speed sensor is an intelligent wheel speed sensor using the data transmission protocol.

[0046] Method 2: If the duty cycle in the target electrical characteristic is within a preset duty cycle range and the deviation percentage of the square wave in the target electrical characteristic from the standard square wave is greater than a set percentage, then the wheel speed sensor is determined to be an intelligent wheel speed sensor using pulse width modulation.

[0047] Method 3: If the voltage amplitude in the target electrical characteristic is within a preset amplitude range, and the frequency in the target electrical characteristic is within a preset frequency range, then it is determined that the wheel speed sensor is a non-intelligent wheel speed sensor.

[0048] Method 4: Classify the target electrical characteristics based on a neural network algorithm to obtain the sensor type of the wheel speed sensor corresponding to the target electrical characteristics.

[0049] In the above methods, Method 1, Method 2, and Method 3 can be processed in parallel using multiple threads in order to quickly obtain the sensor type of the newly installed wheel speed sensor. Alternatively, Method 1, Method 2, and Method 3 can be analyzed and processed in sequence. For example, if Method 3 does not determine the sensor type, Method 2 can be used. If Method 2 still does not determine the sensor type, Method 3 can be used to determine the sensor type. Alternatively, Method 4 can be used alone to obtain the sensor type corresponding to the target electrical characteristics. Alternatively, if Method 1, Method 2, and Method 3 are unable to determine the sensor type corresponding to the target electrical characteristics, Method 4 can be used to obtain the sensor type corresponding to the target electrical characteristics. It should be noted that this application does not impose any specific restrictions on the execution order of Method 1, Method 2, Method 3, and Method 4 when using a preset classification method to identify the wheel speed sensor type, or on which method is executed or not. The execution methods and the execution order of the methods can be combined and set as needed.

[0050] Based on the above Figure 5 In the method flow, an embodiment of the present application provides a method for identifying the type of a wheel speed sensor. In step 503, based on a preset classification method, the target electrical characteristics are classified and processed to obtain the sensor type of the wheel speed sensor corresponding to the target electrical characteristics, including: Step 5031: Determine whether the highest current value in the target electrical characteristic exceeds the current threshold. If so, a cyclic redundancy check is performed on the transmission protocol identifier in the target electrical characteristic. If the check passes, the wheel speed sensor is determined to be an intelligent wheel speed sensor using the data transmission protocol. Otherwise, if the highest current value in the target electrical characteristic does not exceed the current threshold, or if the cyclic redundancy check on the transmission protocol identifier in the target electrical characteristic fails, proceed to step 5032.

[0051] Step 5032: Determine whether the duty cycle in the target electrical characteristic is within a preset duty cycle range, and whether the deviation percentage of the square wave in the target electrical characteristic from the standard square wave is greater than a preset percentage. If so, the wheel speed sensor is determined to be an intelligent wheel speed sensor using pulse width modulation. Otherwise, if the duty cycle in the target electrical characteristic is not within the preset duty cycle range, or the deviation percentage of the square wave in the target electrical characteristic from the standard square wave is not greater than a preset percentage, proceed to step 5033.

[0052] Step 5033: Determine whether the voltage amplitude in the target electrical characteristic is within a preset amplitude range, and whether the frequency in the target electrical characteristic is within a preset frequency range. If so, determine that the wheel speed sensor is a non-intelligent wheel speed sensor. Otherwise, if the voltage amplitude in the target electrical characteristic is not within the preset amplitude range, or the frequency in the target electrical characteristic is not within the preset frequency range, proceed to step 5034.

[0053] Step 5034: Classify the target electrical characteristics based on the neural network algorithm to obtain the sensor type of the wheel speed sensor corresponding to the target electrical characteristics.

[0054] Based on the above-mentioned method flow of steps 5031 to 5034, the present application provides a flow chart of an analysis method based on a preset classification method, see Figure 6 Shown, including: (a) The judgment conditions for intelligent wheel speed sensors using a data transmission protocol include whether the highest current value in the target electrical characteristic exceeds the current threshold, whether the AK protocol feature is set (transmission protocol identifier), and whether its CRC (cyclic redundancy check) is valid (if valid, the cyclic redundancy check can pass; otherwise, it will fail).

[0055] (b) The corresponding judgment conditions for intelligent wheel speed sensors using pulse width modulation include whether the duty cycle in the target electrical characteristics is within the range of 30%-70% (preset duty cycle range) and whether the deviation percentage of the square wave in the target electrical characteristics from the standard square wave is greater than 10% (set percentage).

[0056] Among them, because intelligent wheel speed sensors using pulse width modulation generate asymmetric pulse signals, they are usually accompanied by information such as wheel direction and air gap fault. If the duty cycle is determined to be within the valid range (preset duty cycle range) and the duty cycle deviates from the standard square wave (10%) by more than the set threshold, it is determined to be an intelligent wheel speed sensor using pulse width modulation. Figure 6 A duty cycle between 30% and 70% and >10% deviation from 50% refers to an intelligent wheel speed sensor using pulse width modulation (PWM) that does not have a 50% duty cycle. Assuming a period of 300µs and a high-level duration of 90µs, indicating a left turn, the duty cycle equals high-level duration / period = 30%. Conversely, if the high-level duration is 180µs, the duty cycle is 60%, and so on. Of course, at different vehicle speeds, the high and low-level durations may not be 90µs or 180µs; this depends on the specification or sensor characteristics. A deviation of >10% from 50% means the PWM waveform deviates from the center point by more than 10%.

[0057] (c) The judgment conditions corresponding to the non-intelligent wheel speed sensor include whether the voltage amplitude in the target electrical characteristic is within 0.5-4V (preset amplitude range) and whether the frequency in the target electrical characteristic is within 50-500Hz (preset frequency range).

[0058] Since non-intelligent wheel speed sensors generate the most basic wheel speed signal, they only need to meet basic electrical characteristics—that is, the voltage amplitude and frequency must be within a reasonable range—to be classified as non-intelligent. For example, an amplitude of 0.5V to 4V refers to the voltage sampled by the MCU. This is because the sensor emits a current signal, approximately in the range of 7mA, 14mA, and 28mA. However, the MCU can only sample voltage, so hardware processing is required. The frequency corresponds to the speed range, with 50Hz corresponding to a speed range of 1kph to 120kph.

[0059] (d) If (a), (b), and (c) are unable to obtain the device type of the wheel speed sensor, the target electrical characteristics are classified based on the neural network algorithm to obtain the sensor type of the wheel speed sensor corresponding to the target electrical characteristics.

[0060] Based on the same concept, the embodiment of the present application provides a type identification device for a wheel speed sensor. Figure 7 A schematic diagram of a type identification device for a wheel speed sensor provided in an embodiment of the present application is shown in FIG. Figure 7 including: The transceiver unit 701 is used to receive a wheel speed signal from a wheel speed sensor, where the wheel speed sensor is a newly installed wheel speed sensor; A first processing unit 702 is configured to obtain target electrical characteristics according to the wheel speed signal, wherein the target electrical characteristics include electrical characteristic information of the wheel speed signal; The second processing unit 703 is configured to classify the target electrical characteristic based on a preset classification method, and obtain a sensor type of the wheel speed sensor corresponding to the target electrical characteristic.

[0061] Optionally, the second processing unit 703 is specifically configured to: If the highest current value in the target electrical characteristic exceeds the current threshold, performing a cyclic redundancy check on the transmission protocol identifier in the target electrical characteristic, and if the check passes, determining that the wheel speed sensor is an intelligent wheel speed sensor using a data transmission protocol; If the duty cycle in the target electrical characteristic is within a preset duty cycle range, and the deviation percentage of the square wave in the target electrical characteristic from the standard square wave is greater than a set percentage, determining that the wheel speed sensor is an intelligent wheel speed sensor using pulse width modulation; If the voltage amplitude in the target electrical characteristic is within a preset amplitude range, and the frequency in the target electrical characteristic is within a preset frequency range, determining that the wheel speed sensor is a non-intelligent wheel speed sensor; Alternatively, the target electrical characteristic is classified based on a neural network algorithm to obtain a sensor type of the wheel speed sensor corresponding to the target electrical characteristic.

[0062] Optionally, the second processing unit 703 is specifically configured to: Determine whether a maximum current value in the target electrical characteristic exceeds a current threshold; if so, perform a cyclic redundancy check on a transmission protocol identifier in the target electrical characteristic; and if the check passes, determine that the wheel speed sensor is an intelligent wheel speed sensor using a data transmission protocol.

[0063] Optionally, the second processing unit 703 is further configured to: If the maximum current value in the target electrical characteristic does not exceed the current threshold, or the cyclic redundancy check of the transmission protocol identifier in the target electrical characteristic fails, then it is determined whether the duty cycle in the target electrical characteristic is within a preset duty cycle range, and whether the deviation percentage of the square wave in the target electrical characteristic from the standard square wave is greater than a set percentage. If so, it is determined that the wheel speed sensor is an intelligent wheel speed sensor using pulse width modulation.

[0064] Optionally, the second processing unit 703 is further configured to: If the duty cycle in the target electrical characteristic is not within the preset duty cycle range, or the deviation percentage of the square wave in the target electrical characteristic from the standard square wave is not greater than the set percentage, then it is determined whether the voltage amplitude in the target electrical characteristic is within the preset amplitude range, and whether the frequency in the target electrical characteristic is within the preset frequency range. If so, it is determined that the wheel speed sensor is a non-intelligent wheel speed sensor.

[0065] Optionally, the second processing unit 703 is also used to classify the target electrical characteristics based on a neural network algorithm to obtain the sensor type of the wheel speed sensor corresponding to the target electrical characteristics if the voltage amplitude in the target electrical characteristics is not within a preset amplitude range, or the frequency in the target electrical characteristics is not within a preset frequency range.

[0066] Optionally, the preset classification method includes a decision tree algorithm and a fuzzy classification method.

[0067] Optionally, the first processing unit 702 is specifically configured to use a preset fault detection method to detect whether the wheel speed signal is a fault signal, and when it is determined that the wheel speed signal is not a fault signal, perform digital filtering on the wheel speed signal to obtain a processed wheel speed signal; The target electrical characteristic is obtained according to the processed wheel speed signal.

[0068] Optionally, the wheel speed signal is a pulse signal, and the first processing unit 702 is further configured to: Initialize an input capture unit in the single chip microcomputer and configure the input capture unit to a double edge capture mode. The input capture unit is used to obtain the target electrical characteristic according to the wheel speed signal.

[0069] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0070] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0071] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0072] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0073] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A method for identifying the type of a wheel speed sensor, characterized in that: The method comprises: receiving a wheel speed signal from a wheel speed sensor, where the wheel speed sensor is a newly installed wheel speed sensor; acquiring target electrical characteristics according to the wheel speed signal, wherein the target electrical characteristics include electrical characteristic information of the wheel speed signal; classifying the target electrical characteristics based on a preset classification method to obtain a sensor type of the wheel speed sensor corresponding to the target electrical characteristics; Among them, the electrical characteristic information of the wheel speed signals generated by different types of wheel speed sensors is different.

2. The method for identifying the type of a wheel speed sensor according to claim 1, wherein: The classifying the target electrical characteristics based on a preset classification method to obtain the sensor type of the wheel speed sensor corresponding to the target electrical characteristics includes: If the highest current value in the target electrical characteristic exceeds the current threshold, performing a cyclic redundancy check on the transmission protocol identifier in the target electrical characteristic, and if the check passes, determining that the wheel speed sensor is an intelligent wheel speed sensor using a data transmission protocol; If the duty cycle in the target electrical characteristic is within a preset duty cycle range, and the deviation percentage of the square wave in the target electrical characteristic from the standard square wave is greater than a set percentage, determining that the wheel speed sensor is an intelligent wheel speed sensor using pulse width modulation; If the voltage amplitude in the target electrical characteristic is within a preset amplitude range, and the frequency in the target electrical characteristic is within a preset frequency range, determining that the wheel speed sensor is a non-intelligent wheel speed sensor; Alternatively, the target electrical characteristic is classified based on a neural network algorithm to obtain a sensor type of the wheel speed sensor corresponding to the target electrical characteristic.

3. The method for identifying the type of a wheel speed sensor according to claim 1, wherein: The classifying the target electrical characteristics based on a preset classification method to obtain the sensor type of the wheel speed sensor corresponding to the target electrical characteristics includes: Determine whether a maximum current value in the target electrical characteristic exceeds a current threshold; if so, perform a cyclic redundancy check on a transmission protocol identifier in the target electrical characteristic; and if the check passes, determine that the wheel speed sensor is an intelligent wheel speed sensor using a data transmission protocol.

4. The method for identifying the type of wheel speed sensor according to claim 3, wherein: Also includes: If the maximum current value in the target electrical characteristic does not exceed the current threshold, or the cyclic redundancy check of the transmission protocol identifier in the target electrical characteristic fails, then it is determined whether the duty cycle in the target electrical characteristic is within a preset duty cycle range, and whether the deviation percentage of the square wave in the target electrical characteristic from the standard square wave is greater than a set percentage. If so, it is determined that the wheel speed sensor is an intelligent wheel speed sensor using pulse width modulation.

5. The method for identifying the type of wheel speed sensor according to claim 4, wherein: Also includes: If the duty cycle in the target electrical characteristic is not within the preset duty cycle range, or the deviation percentage of the square wave in the target electrical characteristic from the standard square wave is not greater than the set percentage, then it is determined whether the voltage amplitude in the target electrical characteristic is within the preset amplitude range, and whether the frequency in the target electrical characteristic is within the preset frequency range. If so, it is determined that the wheel speed sensor is a non-intelligent wheel speed sensor.

6. The method for identifying the type of a wheel speed sensor as claimed in claim 5, wherein: Also includes: If the voltage amplitude in the target electrical characteristic is not within a preset amplitude range, or the frequency in the target electrical characteristic is not within a preset frequency range, the target electrical characteristic is classified based on a neural network algorithm to obtain the sensor type of the wheel speed sensor corresponding to the target electrical characteristic.

7. The method for identifying the type of a wheel speed sensor according to any one of claims 1 to 6, wherein: The preset classification methods include a decision tree algorithm and a fuzzy classification method.

8. The method for identifying the type of a wheel speed sensor according to any one of claims 1 to 6, wherein: The acquiring target electrical characteristics according to the wheel speed signal includes: Using a preset fault detection method to detect whether the wheel speed signal is a fault signal, and when it is determined that the wheel speed signal is not a fault signal, performing digital filtering processing on the wheel speed signal to obtain a processed wheel speed signal; The target electrical characteristic is obtained according to the processed wheel speed signal.

9. The method for identifying the type of a wheel speed sensor according to any one of claims 1 to 6, wherein: The wheel speed signal is a pulse signal. Before obtaining the target electrical characteristics according to the wheel speed signal, the method further includes: Initialize an input capture unit in the single chip microcomputer and configure the input capture unit to a double edge capture mode. The input capture unit is used to obtain the target electrical characteristic according to the wheel speed signal.

10. A device for identifying the type of a wheel speed sensor, characterized in that: The device comprises: a transceiver unit, configured to receive a wheel speed signal from a wheel speed sensor, wherein the wheel speed sensor is a newly installed wheel speed sensor; a first processing unit, configured to obtain target electrical characteristics according to the wheel speed signal, wherein the target electrical characteristics include electrical characteristic information of the wheel speed signal; The second processing unit is configured to classify the target electrical characteristic based on a preset classification method to obtain a sensor type of the wheel speed sensor corresponding to the target electrical characteristic.

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