Novel automobile electronic stability system side slip angle measuring device

Abstract

The utility model discloses a novel automobile electronic stability system side slip angle measuring device, and belongs to the technical field of vehicle engineering measurement. Comprising a circular rotating disc, the circular rotating disc is connected with the vehicle body through a first rotating shaft, and an angle sensor is arranged on the circular rotating disc; a connecting pile is arranged in the center of the bottom of the circular turntable, an inclined rod is movably connected to the bottom of the connecting pile, a rolling wheel is arranged at the tail end of the inclined rod, and the inclined rod is connected with the circular turntable through a buffer device; the novel automobile electronic stability system side slip angle measuring device adopting the structure solves the problem that the conventional measuring device is inaccurate in responsible and positioning, and can measure and calculate more accurate numerical values and input the numerical values into an automobile body electronic stability control system.

Description

Technical Field

[0001] The utility model relates to the technical field of vehicle engineering measurement, in particular to a centroid sideslip angle measuring device for a new type of automotive electronic stability system. Background Art

[0002] At present, a vehicle body electronic stability control system, namely an ESC system, is installed on a vehicle. It is an active safety device that can help avoid dangers when a vehicle makes a sharp turn or changes lanes. The full name of ESC is Electronic Stability Controller (vehicle body electronic stability control system), which is a further expansion of the functions of the anti-lock braking system (ABS) and traction control system (TCS) of an automobile. By obtaining the yaw angular velocity, lateral acceleration and lateral acceleration of the vehicle during driving through an IMU inertial sensor, and obtaining the steering wheel angle signal through a steering wheel angle sensor, the ESC can control the driving force and braking force of the front, rear, left and right wheels through an ECU (electronic control unit) to ensure the lateral stability of the vehicle during driving. The ESC system is a masterstroke and an important part of the current vehicle safety electronic equipment.

[0003] During the use process, it is necessary to calculate the centroid sideslip angle of the vehicle. The existing measurement method is to measure the lateral speed and longitudinal speed of the vehicle through tools such as VBOX or RT3000, and estimate the centroid sideslip angle based on these two parameters. However, this method has some problems:

[0004] Since the Beta angle is the ratio of the lateral vehicle speed to the longitudinal vehicle speed, when either of these two variables is measured inaccurately, it will cause a large error between the measured Beta angle and the actual Beta angle, thus affecting the operation of the entire ESC system; the measurement of VBOX usually requires at least 1-2 GPSs, has a high dependence on the data collected by satellites, cannot objectively determine the accuracy of the data, and requires expensive special sensors, with a relatively high cost; Summary of the Utility Model

[0005] The purpose of the utility model is to provide a centroid sideslip angle measuring device for a new type of automotive electronic stability system. By obtaining the sensor data of the target vehicle, including the data detected by a newly installed angle sensor and a steering wheel angle sensor, the sideslip angle of the vehicle is directly calculated, the estimation accuracy of the centroid sideslip angle of the vehicle is improved, and the measurement cost is saved.

[0006] To achieve the above purpose, the utility model provides a centroid sideslip angle measuring device for a new type of automotive electronic stability system: including the vehicle body of an automobile, a measuring device is arranged at the bottom of the vehicle body, the measuring device is arranged at the centroid position of the vehicle body, and a control and calculation device and a sensor group are arranged inside the vehicle body.

[0007] Preferably, the sensor group includes an inertial sensor and a steering wheel angle sensor. The inertial sensor is arranged inside the vehicle body, and the steering wheel angle sensor is arranged on the rotating shaft of the steering wheel of the vehicle body. The inertial sensor and the steering wheel angle sensor are connected to the control computing device through signal lines.

[0008] Preferably, the control computing device includes a display screen and a computing device.

[0009] Preferably, the measuring device includes a circular turntable. The circular turntable is connected to the vehicle body through a first rotating shaft. An angle sensor is arranged on the circular turntable. A connecting pile is arranged at the center of the bottom of the circular turntable. The bottom of the connecting pile is movably connected to an inclined rod. A rolling wheel is arranged at the end of the inclined rod. The inclined rod is connected to the circular turntable through a buffer device.

[0010] Preferably, the buffer device is set as a spring or an elastic rope. The rolling wheel contacts the ground, and the material of the rolling wheel is set as nylon.

[0011] Therefore, the centroid side slip angle measuring device of the novel vehicle electronic stability system adopting the above structure in the present invention has the following beneficial effects:

[0012] (1) In the present invention, the disc is installed at the position of the vehicle centroid, and an angle sensor is installed on it. The externally connected small wheels are parallel to the vehicle driving direction; a spring needs to be installed on the rod connecting the disc and the small wheels to eliminate the error caused by suspension oscillation; the material of the small wheels is selected as nylon to eliminate the influence of the friction between the wheels and the ground on the measurement result, and a more accurate measurement result can be obtained.

[0013] Next, through the drawings and embodiments, the technical solutions of the present invention will be further described in detail. Description of the Drawings

[0014] Figure 1 It is a schematic structural diagram of an embodiment of the centroid side slip angle measuring device of the novel vehicle electronic stability system in the present invention;

[0015] Figure 2 It is a calculation flow chart in the embodiment of the centroid side slip angle measuring device of the novel vehicle electronic stability system in the present invention.

[0016] Reference numerals: 1, vehicle body; 2, circular turntable; 3, buffer device; 4, inclined rod; 5, rolling wheel; 6, angle sensor. Detailed Embodiments

[0017] The technical solutions of the present invention will be further described below through the drawings and embodiments.

[0018] Unless otherwise defined, the technical terms or scientific terms used in this utility model shall have the ordinary meanings understood by those with ordinary skills in the field to which this utility model belongs. The specific connection methods of each part all adopt conventional means such as bolts, rivets, welding, etc. that are mature in the prior art. The machines, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be elaborated here. The "first", "second" and similar words used in this utility model do not indicate any sequence, quantity or importance, but are only used to distinguish different components. Words such as "comprising" or "including" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. Words such as "connected" or "linked" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right", etc. are only used to indicate the relative position relationship. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0019] Embodiment

[0020] As Figure 1 shown, this utility model provides a centroid sideslip angle measuring device for a new type of automotive electronic stability system, including the vehicle body 1 of the car. A measuring device is arranged at the bottom of the vehicle body 1. The measuring device is arranged at the centroid position of the vehicle body 1. A control calculation device and a sensor group are arranged inside the vehicle body 1;

[0021] The sensor group includes an inertial sensor and a steering wheel angle sensor. The inertial sensor is arranged inside the vehicle body 1, and the steering wheel angle sensor is arranged on the rotating shaft of the steering wheel of the vehicle body 1. The inertial sensor and the steering wheel angle sensor are connected to the control calculation device through signal lines and are used for calculating the collected data;

[0022] The control calculation device includes a display screen and a calculation device. The display screen is used to display the currently measured centroid sideslip angle. The calculation device adopts the existing embedded system, and a computer program running on the processor through the two-degree-of-freedom model of the car. The measurement data is observed through the CANAPE tool, and the calculation result is output to the display screen;

[0023] The measuring device includes a circular turntable 2. The circular turntable 2 is connected to the vehicle body 1 through a first rotating shaft. The circular turntable 2 can freely rotate by means of the first rotating shaft. An angle sensor 6 is arranged on the circular turntable 2 for detecting the rotation angle of the circular turntable 2. A connecting pile is arranged at the center of the bottom of the circular turntable 2. The bottom of the connecting pile is movably connected to an inclined rod 4. A rolling wheel 5 is arranged at the end of the inclined rod 4. The inclined rod 4 is connected to the circular turntable 2 through a buffer device 3.

[0024] The buffer device 3 is set as a spring or an elastic cord. The rolling wheel 5 contacts the ground, and the material of the rolling wheel is set as nylon. The buffer device 3 is used to eliminate the error caused by the oscillation of the tilting frame; the material of the rolling wheel 5 is selected as nylon to eliminate the influence of the friction force generated between the wheel and the ground on the measurement result.

[0025] In the specific using process, the specific steps are as follows:

[0026] Step 1: Place the installed device parallel to the vehicle body driving direction, read the original value of the current angle sensor, and determine it as the zero point of the centroid sideslip angle of the target vehicle;

[0027] Step 2: Start the vehicle. When the vehicle speed is uniform, the steering wheel performs a steady-state steering, and the original values read by the steering wheel angle sensor, the inertial sensor, and the angle sensor are transmitted to the calculation device in the control calculation device through the signal line; the formula for the specific calculation process is as follows:

[0028] According to the kinematic analysis equation:

[0029]

[0030] a x is the longitudinal acceleration, a y is the lateral acceleration, u is the longitudinal speed, v is the lateral speed, r is the yaw rate, and the above accelerations and speeds are all obtained through the inertial sensor;

[0031] According to the dynamic analysis equation, the formula obtained is as follows:

[0032] ∑F Y =F Y1 cosδ+F Y2

[0033] ∑M Z =aF Y1 cosδ-bF Y2

[0034] F Y is the external force, M Z is the external torque, F Y1 is the front wheel side force, F Y2 is the rear wheel side force, a is the distance from the centroid to the front axle, b is the distance from the centroid to the rear axle, δ is the front wheel steering angle, measured by the steering wheel angle sensor. Considering that δ is small, so cosδ = 1, and the following equation is obtained according to the tire side force characteristics:

[0035] F Y1 =-C f α f F Y2 =-C r αr

[0036]

[0037] where

[0038]

[0039] a f is the front wheel slip angle, and a r is the rear wheel slip angle; substituting into the formula and arranging, for the convenience of programming implementation, the above differential equations are Laplace-transformed to obtain the transfer function of vehicle dynamics with respect to the center-of-mass slip angle β:

[0040]

[0041] C αf is the front wheel cornering stiffness, C αr is the rear wheel cornering stiffness, m is the mass of the whole vehicle, β is the center-of-mass slip angle, and s is the operator after Laplace transformation;

[0042] Step 3: Determine the validity of the angle sensor signal: Obtain the original value of the angle sensor, and the computing device makes a determination on this value. If it is within the threshold range, the signal is considered valid, and the signal valid bit is sent to the ESC system as β, and β is used as the current center-of-mass slip angle of the vehicle; if it is not within the threshold, the signal is considered invalid. At this time, the previous valid measurement value of β is maintained, the signal valid bit is also sent to the ESC system, and the previous valid measurement value of β is used as the center-of-mass slip angle of the target vehicle;

[0043] Therefore, the center-of-mass slip angle measuring device of a new type of automotive electronic stability system adopting the above structure of the present utility model directly calculates the vehicle slip angle by obtaining the sensor data of the target vehicle, including the data detected by the newly installed angle sensor and the steering wheel angle sensor, improves the estimation accuracy of the vehicle center-of-mass slip angle, and saves the measurement cost.

[0044] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present utility model and are not intended to limit them. Although the present utility model has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: they can still modify or equivalently replace the technical solutions of the present utility model, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present utility model.

Claims

1. A centroidal side slip angle measuring device for a new type of automotive electronic stability system, characterized in that: It includes the body of an automobile. A measuring device is provided at the bottom of the body, and the measuring device is arranged at the centroid position of the body. A control calculation device and a sensor group are arranged inside the body; The measuring device includes a circular turntable. The circular turntable is connected to the body through a first rotating shaft. An angle sensor is arranged on the circular turntable. A connecting pile is arranged at the center of the bottom of the circular turntable. The bottom of the connecting pile is movably connected to an inclined rod. A rolling wheel is arranged at the end of the inclined rod. The inclined rod is connected to the circular turntable through a buffer device.

2. The centroid side slip angle measuring device of a new automotive electronic stability system according to claim 1, characterized in that: The sensor group includes an inertial sensor and a steering wheel angle sensor. The inertial sensor is arranged inside the body. The steering wheel angle sensor is arranged on the rotating shaft of the steering wheel of the body. The inertial sensor and the steering wheel angle sensor are connected to the control calculation device through signal lines.

3. The centroid side slip angle measuring device of a new type of automotive electronic stability system according to claim 2, characterized in that: The control calculation device includes a display screen and a calculation device.

4. A centroid side slip angle measuring device for a new type of automotive electronic stability system according to claim 3, characterized in that: The buffer device is set as a spring or an elastic rope. The rolling wheel contacts the ground, and the material of the rolling wheel is set as nylon.

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