538 results about "Wheel speed sensor" patented technology

The invention relates to the field of vehicle braking fault detection, in particular to a real-time fault detection method for a vehicle electronic braking system, which comprises the following steps of: acquiring vehicle driving state data through a vehicle-mounted sensor network and an electronic control unit, calculating filtered residual data of a target wheel speed sensor, and calculating the filtered residual data of the target wheel speed sensor; establishing calibration reference parameters of the health state; performing conjoint analysis on the acceleration data and the residual fluctuation data of the vehicle to obtain a dynamic response adaptive adjustment factor of the vehicle; obtaining a tiny drift confirmation factor of the vehicle through the candidate residual error in the low dynamic interference state of the vehicle; continuous fault judgment is performed by combining the dynamic response adjustment factor and the tiny drift confirmation factor of the vehicle, and the fault judgment result of the wheel speed sensor is obtained, so that the accuracy and sensitivity of fault detection when tiny systematic deviation occurs to the wheel speed sensor are improved.

The invention discloses a space-ground integrated dynamic traffic flow analysis and road topology reasoning method and device. A cloud server generates and issues real-time traffic information through multi-level processing such as map matching, traffic flow analysis, prediction and early warning and road topology analysis and updating; specifically, firstly, the high-precision positioning and communication capability of a low-orbit satellite is utilized, data fusion of an inertial measurement unit and a wheel speed sensor is combined, and a multi-source fusion algorithm is constructed to improve the positioning precision; secondly, traffic flow dynamic analysis and prediction are carried out based on a Transform interaction analysis model, and real-time updating of a road topological structure is realized at a cloud end by using a clustering algorithm and a graph theory model; finally, the traffic flow and road topology information is sent to related vehicles and a traffic management system, and real-time monitoring, early warning and optimization of the traffic state are achieved. According to the invention, the accuracy and real-time performance of traffic information acquisition, processing and issuing can be effectively improved, and the intelligent level of traffic management and decision making is enhanced.

An adaptive variable-structure duct robot motion control method based on environmental sensing. A duct robot is a dual-swing-arm tracked mechanism, and onboard sensing devices include a depth camera, an IMU, a wheel speed sensor and a TOF module. The method comprises: a depth camera capturing an image of the interior of a duct to perform scenario recognition, segmenting planar and curved surfaces in the image on the basis of scenario recognition results, and extracting edge lines of the duct; using the edge lines to calculate the width of a straight duct, the curvature of a curved duct, the angle of a slope and the height of a step, in order to determine the passability of a robot; designing a path planner and a swing arm planner to generate a reference trajectory and a swing arm angle sequence of the robot, performing smoothing processing, and inputting the smoothed reference trajectory and swing arm angle sequence into an MPC motion controller; using data from the depth camera, an IMU and a wheel speed sensor to estimate the position and state of the robot by means of an ESKF algorithm, and inputting estimation results and a collision warning signal from a TOF module into the MPC motion controller in real time; and finally, outputting control signals for a locomotion electric motor and a swing arm electric motor. Thus, the adaptive variable-structure and autonomous motion of a robot in different scenarios is realized.

The invention relates to the technical field of farm irrigation, in particular to a multi-source fusion and V2X networked vehicle high-precision positioning system and method, and the system comprises a vehicle-mounted terminal which integrates the following modules: a multi-source sensor group which comprises a laser radar (LiDAR), a binocular vision camera (BVC), a global positioning system (GPS), an inertial measurement unit (IMU) and a wheel speed sensor; the V2X communication module supports vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication and is used for receiving positioning data of an adjacent vehicle and roadside equipment; the system effectively solves the problems that in the prior art, a traditional RTK technology depends on a ground base station, a positioning blind area exists in a signal shielding area, data conflicts are easily caused by independent work of multiple sensors, RTK needs to be covered and supported by dense base stations, and the positioning accuracy is poor. And high-precision positioning cannot be realized in signal shielding scenes such as remote areas, tunnels and mountainous areas, so that an automatic driving function fails.

The invention provides a train attitude precision keeping method and system based on inertial quaternion modeling, and belongs to the technical field of train operation positioning. Through a quaternion modeling train attitude feedback compensation model, auxiliary calibration of a gyroscope is realized by using an accelerometer, and calculation of an inertial attitude is realized; converting the acquired wheel speed sensor information into three-dimensional speed under a navigation coordinate system through attitude information resolved by a quaternion modeling train attitude feedback compensation model, and further integrating to obtain a position; and fusing the speed and position information of the wheel speed sensor after attitude conversion with the speed and position information obtained by inertial navigation dead reckoning to realize error correction of the inertial navigation system. According to the method, the problem that the train state sensing precision is degraded due to the fact that a satellite navigation / inertial navigation system positioning model is difficult to overcome inertial device error accumulation when a satellite fails is solved, the train attitude precision is kept, and then error divergence of a combined positioning system during satellite signal denial is effectively restrained.

The invention relates to the technical field of tire pressure monitoring, in particular to an indirect tire pressure monitoring method and device, a vehicle and a storage medium. The method includes: judging whether a vehicle is in a no-load state based on current mass of the vehicle; if the vehicle is in a no-load state, entering a no-load supervision mode based on a preset no-load correction coefficient and a preset standard frequency, and calculating a standard pulse number of each tire in the mode according to the preset no-load correction coefficient, a gear ratio of the wheel speed sensors of the first front and rear wheel sets and an actual pulse number of each tire; calculating the relative rolling radius characteristic of each tire according to the standard pulse number of each tire; and the relative rolling radius characteristic of each tire is compared with a first preset threshold value, and under the condition that the relative rolling radius characteristic of any tire is larger than the first preset threshold value, it is judged that the corresponding tire of the vehicle is in an underpressure state. Therefore, the problems of missing report and false report in the existing monitoring technology are solved, and the tire pressure monitoring accuracy is improved.

The invention discloses a dynamic adhesion coefficient correction evaluation method and system based on multi-source data fusion, and belongs to the field of vehicle electronic control, and the method comprises the following steps: S1, carrying out the data collection of a multi-source sensor; s2, calculating a slip rate based on data collected by a wheel speed sensor, calculating a dynamic compensation factor based on data collected by a suspension load sensor, correcting a centroid offset error based on data collected by an inertial sensor, and triggering segmented compensation based on data collected by a brake disc temperature sensor; s3, calculating a basic adhesion coefficient based on the slip rate; s4, correcting the basic adhesion coefficient based on the dynamic compensation factor and the corrected centroid offset; and S5, the basic braking force and the basic torque distributed by the ESC system are corrected. By adopting the dynamic adhesion coefficient correction evaluation method and system based on multi-source data fusion, high-precision correction of the dynamic adhesion coefficient and intelligent adjustment of the braking force are realized through multi-source sensor data fusion and ESC system integrated design.

The utility model discloses a drawer-type core-pulling structure wheel speed sensor injection mold which comprises an upper mold base, a lower mold base, a lower mold base and a plurality of positioning guide columns, wherein the upper mold base is provided with a profiling mold cavity and a plurality of positioning guide columns; a fixed seat, a core-pulling seat and a plurality of positioning guide holes are arranged on the lower die seat, the plurality of positioning guide holes are matched with the plurality of positioning guide columns for positioning, a chip die cavity and a wire positioning groove are formed in the top of the fixed seat, a bushing die cavity is formed in the fixed seat, and an opening communicated with the bushing die cavity is formed in the side surface, facing the core-pulling seat, of the fixed seat. The core pulling seat is horizontally connected with the lower die seat in a sliding mode and can move towards the fixing seat, a lining positioning die core is arranged on the side face, facing the fixing seat, of the core pulling seat, and the lining positioning die core can penetrate through the opening and stretch into the lining die cavity; the injection mold is exquisite and flexible in structure and refined, meets the requirement for large-scale production of small-tonnage machines and has the advantage of reducing energy conservation and energy consumption of the machines, and the development cost can be reduced by about 30%.

The invention relates to a self-adaptive longitudinal vehicle speed estimation method, which comprises the following steps of: establishing detailed vehicle dynamic models, including a vehicle longitudinal dynamic model and a wheel speed dynamic model; a Sage-Husa self-adaptive unscented Kalman filtering algorithm is combined with a vehicle dynamics model, a state equation and an observation equation are designed, the longitudinal vehicle speed of a vehicle serves as a state variable, and observation vectors are constructed through data collected by a wheel speed sensor, an acceleration sensor and the like; divergence calculation is introduced for detecting and correcting divergence phenomena in the filtering process; and on the basis of a self-adaptive mechanism of a Sage-Husa algorithm, the filtering gain is adjusted in real time, and the vehicle speed estimation process is optimized. The improved Sage-Husa adaptive filter can dynamically adjust the filter parameters according to the change of the system state and the difference of noise, detects transient disturbance in combination with divergence calculation, reduces the influence of the transient disturbance on longitudinal vehicle speed estimation, and effectively improves the estimation precision.

The invention provides a wheel speed detection device and a chip system. The wheel speed detection device comprises a first comparator, a second comparator and a signal analyzer, the first comparator and the second comparator are respectively configured with different reference voltages, and the input end of the first comparator and the input end of the second comparator are used for receiving voltage signals generated by the same wheel speed sensor; and the signal analyzer is used for analyzing the wheel speed information according to the first comparison signal output by the first comparator and the second comparison signal output by the second comparator. Thus, the input signal is subjected to multi-threshold judgment by using a double-comparator structure, so that sensor signals of different current levels can be identified and analyzed uniformly, and compatible processing of sensor signals of multiple protocols is realized. Therefore, the problem that the overall system cost is increased due to hardware redundancy and system complexity increase in a traditional scheme is avoided, and the universality and the integration capacity of the interface module are effectively improved in a low-cost mode.

A vehicle motion management, VMM, system for a heavy-duty vehicle has at least one wheel speed sensor to output a wheel speed signal indicative of a rotation speed of a respective wheel on the vehicle, at least one inertial measurement unit, IMU, to output an IMU signal indicative of an acceleration of the vehicle, a motion estimation function to estimate a vehicle motion state comprising vehicle speed over ground, based at least in part on the wheel speed signal and at least in part on the IMU signal, and a motion support device, MSD, coordination function to coordinate actuation of a plurality of MSDs of the heavy-duty vehicle in dependence of a vehicle motion request and the vehicle motion state. The motion estimation function models an error in the estimated vehicle motion state, and to output a free-rolling request to the MSD coordination function in case the modelled error fails to meet an acceptance criterion. The MSD coordination function reduces a wheel slip set-point of one or more wheels of the heavy-duty vehicle in response to receiving the free-rolling request from the motion estimation function.

The invention provides a modular multi-shaft redundant braking system and a braking pressure distributed calculation and distribution method thereof. The system comprises an air storage tank, a battery and a plurality of redundant brake units arranged on all axles of the multi-axle vehicle respectively, and each axle of the multi-axle vehicle is independently provided with one redundant brake unit. The shaft redundant brake unit comprises a redundant brake module, and a shaft left wheel brake cylinder, a shaft right wheel brake cylinder, a shaft left wheel speed sensor and a shaft right wheel speed sensor which are respectively connected with the redundant brake module; the redundant braking module is connected with the air storage tank and the battery so as to obtain a braking air source and a working power source. The communication networks of all the redundant brake modules are mutually connected and are connected with a whole vehicle network; the problems that an existing redundant braking system is high in cost and low in redundancy are solved.

A bicycle with an electric pedal assist motor capable of driving a chainring independent of cranks includes wheel speed sensors and crank cadence sensors. The wheel speed sensors and the crank cadence sensors measure wheel speed and crank cadence, respectively, and provide the measured wheel speed and crank cadence to controller of the bicycle. The controller activates motor overdrive based on the measured wheel speed and / or the measured crank cadence.

An integrated electronic brake system includes a main control section configured in a first area to receive one or more of a value from a pedal sensor, a value from a cylinder pressure sensor, a value from a wheel speed sensor, or an EPB signal to perform EPB control and drive a main braking valve and a braking motor for the main braking of a vehicle, and to drive an additional braking valve for the additional braking, a sub-control section configured in a second area to receive one or more of the value from the pedal sensor, the value from the wheel speed sensor, or the EPB signal to perform the EPB control and drive the main braking valve and the braking motor through a bypass circuit, and a connection bus connecting the first and second areas mounted in one box to transfer signals between the main and sub-control sections.

The invention relates to a safety unit (14) for a two-wheeler (10). The safety unit (14) comprises an ABS unit (30) for controlling braking, and a communication unit (34) for communicating with other external devices. The ABS unit (30) comprises a power supply connection (46) for supplying the ABS unit (30) with power, a communication interface (50) via which the ABS unit (30) communicates with other units of the two-wheeler (10), a microprocessor (42a) for processing data and generating braking interventions, and a wheel speed sensor interface (54) for detecting at least one signal from a wheel speed sensor.The communication unit (34) comprises a power supply connection (46) for supplying the communication unit (34) with power, a communication interface (50) via which the communication unit (34) communicates with other units of the two-wheeler (10), a microprocessor (42b) for processing data, a mobile radio communication interface (74) for mobile communication with external units, and / or a satellite positioning unit (70) for determining the position of the two-wheeler (10). The ABS unit (30) and the communication unit (34) are housed in a common housing (38), and both units (30, 34) are connected via a common power supply connection (46) and a communication interface (50).

The utility model discloses a wheel speed signal processing system, which comprises a sensor driving circuit and a computing unit, the sensor driving circuit comprises at least two integrated circuits, and the integrated circuits are connected with the computing unit and a wheel speed sensor. According to the wheel speed signal processing system, the sensor circuit is combined with a certain controller module in a vehicle, redundancy detection of the wheel speed sensor is achieved through certain control logic, identification of wheel speed signals is not affected by single-point failure in any circuit, and reliability can be improved. The utility model further discloses a vehicle.

The present disclosure relates to a brake system and a method of controlling the same, the brake system including first and second wheel speed sensors respectively installed in wheels of a vehicle, electrohydraulic brakes respectively installed in front wheels of the vehicle, electromechanical brakes (EMBs) respectively installed in rear wheels of the vehicle, and a first controller configured to perform braking control on the electrohydraulic brakes and the electromechanical brakes based on a first front wheel speed signals outputted from the first wheel speed sensors installed in the front wheels, in which when a failure of the first wheel speed sensors installed in the front wheels are identified, the first controller performs the braking control on the electrohydraulic brakes and the electromechanical brakes based on the first rear wheel speed signals outputted from the first wheel speed sensors installed in the rear wheels.

The invention relates to an electric vehicle regenerative braking stability control method and system oriented to a non-standard road surface. The regenerative braking stability control method in the vehicle emergency braking scene comprises the steps that according to information obtained by a wheel speed sensor, in combination with vehicle parameters and the vehicle speed, processing is conducted through a dynamic model, and the relation between the current slip rate and the optimal slip rate is obtained. And inputting the identified slip rate at the peak attachment state moment as a control reference quantity into a model prediction controller, solving a torque required by motor braking in the controller, inputting the torque into a motor control unit, and performing regenerative braking through an electric driving system. On the basis of identifying the slip rate, the method gets rid of the problem of dependence on a tire model existing in most response-based methods, does not need to consider a tire ground model, damping rigidity and other difficult-to-obtain quantities, is not limited by various information acquired by multiple sensors, and is high in accuracy. And the applicability of the method under different working conditions is improved while the identification method is simplified.

A brake system may include a plurality of wheel speed sensors respectively installed in a plurality of wheels of a vehicle, a plurality of hydraulic brake modules related to braking of the plurality of wheels, and a first controller configured to perform braking control on the plurality of hydraulic brake modules in response to at least one of a pedal displacement signal, which corresponds to a movement of a brake pedal, and wheel speed signals outputted from the wheel speed sensors, in which when a failure of the first controller is identified, a second controller, which is provided in a steering system of the vehicle, performs braking control on an electronic parking brake, which is provided in at least one of the plurality of wheels, in response to at least one of an operating signal of an EPB switch, the pedal displacement signal, and the wheel speed signals outputted from the wheel speed sensors.

A vehicle motion management, VMM, system for a heavy-duty vehicle has at least one wheel speed sensor outputs a wheel speed signal indicative of a rotation speed of a respective wheel on the vehicle, at least one inertial measurement unit, IMU, outputs an IMU signal indicative of an acceleration of the vehicle, a motion estimation function estimates a vehicle motion state comprising vehicle speed over ground, SOG, based on the at least one wheel speed signal and on the at least one IMU signal. The motion estimation function estimates a respective SOG error associated with the wheel speed signal as an increasing function of an applied torque to the wheel, and a respective SOG error associated with the IMU signal as an increasing function of a time duration elapsed after calibration of an integrator of the IMU signal. The motion estimation function estimates the vehicle SOG, based on a weighted combination of the at least one wheel speed signal and the at least one IMU signal, where the weights of the weighted combination are determined based on the SOG error associated with the wheel speed signal and on the SOG error associated with the IMU signal.

The invention relates to the technical field of unmanned parking space attitude estimation, and provides a differential unmanned parking space attitude estimation method, system and device based on slip rate correction. Comprising the following steps: simplifying a differential unmanned vehicle kinematics model according to a vehicle motion principle; acquiring accelerations and speeds of left and right wheels; calculating a tire slip rate according to the acceleration and speed of the left and right wheels and a differential unmanned vehicle kinematics model; obtaining a pose angle of the vehicle by using a gyroscope; judging whether the acceleration difference of the left and right wheels is greater than a threshold value or not, and if so, updating according to a turning condition formula corrected based on the slip rate; otherwise, updating according to a linear driving working condition formula based on slip rate correction; and obtaining the current pose estimation of the unmanned vehicle according to the speedometer update value. According to the method, information transmitted back by the accelerometer, the wheel speed sensor and the gyroscope in real time on the vehicle is fused through an algorithm, the wheel speed information is corrected, and the precision of vehicle pose estimation under the satellite denial condition can be effectively improved.

The invention discloses a lane level positioning method based on multi-sensor fusion, and the method comprises the steps: obtaining the initial global position of a vehicle through a plurality of layers of redundant sensors, and carrying out the time synchronization of each sensor, the plurality of layers of redundant sensors comprising a GNSS-RTK positioning module, an IMU, a wheel speed sensor, a 4D millimeter wave radar, a camera, and a lightweight high-precision map; judging whether GNSS-RTK positioning is effective or not, selecting different fusion strategies, and dynamically adjusting the weight of each positioning source based on environmental perception; and converting the fused local coordinates into UTM coordinates, and outputting high-frequency pose information. According to the scheme of the invention, the positioning reliability and environmental adaptability are realized while the lane-level precision is ensured, and key technical support is provided for high-level intelligent driving. And due to the redundant design of multiple sensors, the problem that the performance of a traditional scheme is broken in a complex scene is effectively solved.

The utility model provides a pushing power assisting system and an electric scooter, the pushing power assisting system is arranged on the electric scooter, and the pushing power assisting system comprises a wheel speed sensor and a controller; the wheel speed sensor is connected with the controller, and the controller is connected with the power module; the wheel speed sensor is used for acquiring a pushing speed signal and sending the pushing speed signal to the controller; the controller is used for controlling output power applied to the power module according to the pushing speed signal when pushing assistance is carried out, so that the power module provides the output power, and the power module provides the output power for the electric scooter. The output power is adjusted according to the pushing speed signal detected by the wheel speed sensor, flexible control over the output power provided by the power module is achieved, it is avoided that the same output power is provided under different scenes, and the pushing experience of a user under different road conditions is improved.

A traction control method for a vehicle provided with a torque vectoring motor includes determining entry of traction control based on real-time vehicle driving information, estimating a wheel speed based on the rotation speed of a driving system of the vehicle or a vehicle acceleration detected by an acceleration sensor in the state in which traction control is entered and determining a slipping wheel target speed based on the estimated wheel speed, determining a wheel speed error based on the determined slipping wheel target speed and a slipping wheel actual speed detected by a wheel speed sensor and determining motor-based wheel speed errors based on the wheel speed error, and determining motor traction control torque to control each of a driving motor for driving the vehicle and the torque vectoring motor based on the determined motor-based wheel speed errors and requested torque of a driver.

A method for estimating a chassis pitch angle (θv) of a vehicle (2) and a road hill angle (θR) of a road travelled by the vehicle (2), wherein a longitudinal dynamic of the vehicle (2) is modelled as a continuous-time linear dynamic system comprising a scalar input (u) defined by a variation of longitudinal velocity (αx) of the vehicle (2), a state vector (x) defined by a plurality of variables including the chassis pitch angle (θv), a chassis pitch rate (θv) of the vehicle (2), the road hill angle (θR) and a road hill rate (θR), an output vector (y) defined by a plurality of variables selected within a group consisting of the longitudinal acceleration (αxm) of the vehicle (2) and a total pitch rate (θm) of the vehicle (2) represented by the sum of the chassis pitch rate (θv) and the road pitch rate (̇θR). The scalar input (u) is measured by means of a wheel speed sensor (13) of the vehicle (2), the output vector (y) is measured by means of an inertial measurement unit (3) of the vehicle (2), the continuous-time linear dynamic system is discretized, a Kalman Filter is real-time applied to the discrete-time linear dynamic system by using the measured scalar input (u) and the measured output vector (y) for estimating the state 15 vector (x), and values of the chassis pitch angle (θv) and the road hill angle (θR) are extracted from the estimated state vector (x).

The invention relates to the technical field of loaders, and discloses a loader control method and device, electronic equipment and a storage medium, and the method comprises the following steps: obtaining whole vehicle state parameters of the loader under the current working condition; the current working condition comprises a shoveling working condition or a driving working condition; determining whether the wheel of the loader slips or not according to the state parameters of the whole vehicle; when it is determined that whether the wheel of the loader slips or not is judged, slip judgment parameters are determined according to the state parameters of the whole loader; determining whether wheels of the loader slip or not according to the slip judgment parameters; and when the wheels of the loader slip, a driving motor of the loader is controlled to reduce the request torque, and the change rate of the request torque is reduced. The accuracy of loader slip identification is improved, the application range of an anti-slip strategy is expanded, meanwhile, a wheel speed sensor does not need to be additionally installed, and the hardware cost is controlled while the performance is optimized.

The invention provides a vehicle braking control method and system and electronic equipment, and relates to the field of vehicle braking control. According to the method, when a hydraulic braking system and a wheel speed sensor fail at the same time, vehicle state information can be obtained through an inertial sensor of a vehicle; and an accurate braking instruction is generated to control the parking brake to carry out emergency braking on the vehicle, so that the potential safety hazard that the parking brake cannot be controlled through an electronic hand brake to carry out emergency braking on the vehicle when a hydraulic braking system and a wheel speed sensor simultaneously fail in the prior art is solved.

The invention discloses a vibration suppression circuit applied to a wheel speed sensor and a suppression method of the vibration suppression circuit, the vibration suppression circuit comprises a Hall disc HallR, a Hall disc HallC, a Hall disc HallL, a first signal link, a second signal link, a digital processor DSP and a current signal output module IOUT, differential electric signals output by the Hall disc HallR and the Hall disc HallC are input to the input end of the first signal link, and differential electric signals output by the Hall disc HallL are input to the output end of the second signal link; differential electric signals output by the Hall disc Hall L and the Hall disc Hall C are input to the input end of the second signal link, the output end of the first signal link and the output end of the second signal link are connected with the first input end and the second input end of the digital processor DSP respectively, and the first output end of the digital processor DSP is connected with the current signal output module IOUT. According to the invention, the vibration suppression function of the wheel speed sensor is improved, and the vibration suppression difficulty of the DSP is reduced.

The utility model relates to the technical field of simulation, and discloses a wheel speed signal simulation device and a semi-physical simulation test system, the wheel speed signal simulation device comprises an FPGA processor and at least one signal channel connected to the FPGA processor, and each signal channel comprises a signal processing module, a signal output module and a signal conversion module. The signal processing module and the signal output module of each signal channel are respectively connected with the FPGA processor, and the signal output module selects an output mode according to a mode selection signal output by the FPGA processor. The wheel speed signal simulation device can simulate the signal output of a vehicle wheel speed sensor, supports the simultaneous output of a plurality of channels, can respectively simulate different types of sensors through the plurality of channels, supports the fault simulation of the wheel speed sensor, and cooperates with the fault diagnosis function of a verification controller.

A vehicle control system with which different vehicle functions, such as a driving dynamics function and / or a component protection function, can be controlled, in which vehicle control system, in the case of onroad driving, an rpm-based vehicle speed determined by a wheel speed sensor forms a reference variable, on the basis of which the vehicle control system determines driving parameters and / or controls the vehicle function. The vehicle control system is assigned an evaluation unit which, in the presence of both offroad driving operation and a tire change signal, determines a GPS-based vehicle speed as a reference variable, on the basis of which the vehicle control system determines the driving operation parameters, such as an offroad tire diameter, and / or controls the vehicle functions.