CN103884514A - Multifunctional motor vehicle detecting instrument and detecting method thereof - Google Patents
Multifunctional motor vehicle detecting instrument and detecting method thereof Download PDFInfo
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Abstract
The invention provides a multifunctional motor vehicle detecting instrument and a detecting method thereof, and belongs to vehicle-mounted fault diagnosis systems in the automobile electronic technology. The multifunctional motor vehicle detecting instrument is mainly composed of two parts. The first part is wheel posture collectors, each wheel posture collector is mainly composed of an MEMS micromechanics inertia navigation module, a microprocessor, a wireless Bluetooth sending module, a special clamp and a wheel in a fixing mode, and each wheel is provided with one wheel posture collector. The second part is a portable main machine instrument which is mainly composed of a wireless Bluetooth wheel signal receiving module, a vehicle-mounted posture sensor, a pedal force collecting module, a microprocessor, a GPS communication module, a 3G/GPRS communication module, a displayer, a printer, a vehicle-mounted power source and a vehicle-mounted power charger. The obvious advantages of safety, accuracy, convenience and high efficiency of the multifunctional motor vehicle detecting instrument are achieved in the using process, and important significance is achieved on the aspects of maintaining road traffic orders and preventing and reducing traffic accidents.
Description
Technical field:
The invention belongs to the vehicle-mounted fault diagnosis system in automotive electronic technology, specifically motor vehicle, in actual road test process, by inertial navigation, GPS, the 3G/GPRS communication technology, is measured the portable apparatus of the various technical features of motor vehicle.
Background technology:
The braking ability of motor vehicle is one of important performance of motor vehicle, and it is directly connected to the driving safety of motor vehicle.Meanwhile, good braking ability is also the prerequisite that improves motor vehicle speed, and good, not reliable braking ability is as guarantee, and running at high speed of motor vehicle just do not known where to begin.Along with developing rapidly of auto industry, increasing new technology especially electronic technology is applied in brake system of car.As ABS(anti-lock braking system), EBD(electronic braking force distributes) and ESP(Electronic Stability Program (ESP)) etc. brake system become the standard configuration of Hyundai Motor.And ABS can improve control stability in Motor Vehicle Braking Procedure and shorten braking distance, thereby effectively ensureing vehicle safety, is the primary approach that improves vehicle active safety, and it has become the mandatory item order of automobile.
In GB GB7258 " motor vehicle safe and technical specification ", GB18565 " commerial vehicle combination property requires and detection method " and GB21861 " motor vehicle safety inspection project and method " technical requirement, owing to there is no the checkout equipment of a kind of complete function, cheap domestic ABS anti-lock braking system, GB 7258 is just mentioned the requirement of this respect, not having each motor vehicle detecting mechanism of mandatory requirement to be equipped with, is the defect of current each safety check mechanism equipment configuration aspect.So, from auto producer to information of safety inspection for motor vehicles mechanism all in the urgent need to a kind of detecting instrument of simple, general ABS anti-lock braking system, easily automobile braking performance is detected, forbid that the vehicle of automobile braking performance inconsistency lattice travels on traffic route.
Due to the limitation of desk-top brake tester, especially in main car and trailer braking protection valve sequential, the measurement of main car and trailer abs braking coordinated time, does not have well surveying instrument at present yet.
Market has portable brake performance tester, can only meet the General Requirements to motor vehicle braking force, can not complete the measurement of the wheel slip of automotive anti-lock braking ABS performance, can not measure the coordinated time of each wheel, more can not be to the measurement of tractor and trailer braking protection valve coordinated time, braking sequential.
Due to portable brake performance tester employing on market is that acceleration transducer is measured, wheel is during because of braking problem generation sideslip, due to the effect of component, in the time there is load horizontal transfer because of brake failure in measuring vehicle, relative distance can not measure load horizontal transfer time, also can cause the erroneous judgement that whether qualified braking deceleration is.
The suspension performance detection method of domestic widespread use has drop type, press bodywork-type, resonant, four kinds of dull and stereotyped brake types, in GB18565 " commerial vehicle combination property requires and detection method ", regulation design speed is not less than 100km/h, axoplasm amount is not more than the visitor of 1500kg, goods vehicle, should measure suspension performance, but the vehicle that is greater than 1500kg is not proposed to the requirement that suspension is measured, in reality, the test and appraisal of automobile new product, vehicle suspension characteristic test and appraisal under different loads, the suspension performance test and appraisal of different roads, all need a kind of suspension test instrumentation to measure, the present invention proposes a kind of vehicle-mounted attitude sensor that adopts, to drop type, press bodywork-type measuring method to quantize, thereby draw the concrete evaluation index that suspension performance is measured, this method can not limited by or not place, can change according to carload, draw different suspension performances, the favourable holistic approach to vehicle suspension characteristic.
In control stability actual road test, Uneven road can make automobile produce certain vibration, under certain condition, when the total vibration frequency of the vibration that evoke on road surface and automobile evokes resonance, can affect the attachment coefficient on automobile and ground, vehicle safety is caused to certain potential safety hazard, and therefore, the three-dimensional vibration information tool in the time of this actual road test in measured automobiles driving process has very important significance.
Domestic front wheel angle measurement mechanism has vehicle front steering angle check-out console and four-wheel to locate two classes, measuring station uses vehicle front steering angle check-out console to carry out the measurement of front wheel steering angle conventionally, in operating process, monitor station needs tire location, the defects such as steering-wheel placing difficulty, troublesome poeration, time-consuming, the data defect such as easily make mistakes, the present invention proposes a kind of vehicle-mounted attitude sensor that adopts, be fixed in steering front wheel, by measuring the method for tire angle, measure front-wheel steering locking angle, turn to real time synchronization, this method can not limited by or not place, be adapted to especially the measurement of front double steering wheel.
Along with the very fast development of microelectric technique, on market, there is cheap attitude sensor, attitude sensor is the high performance three-dimensional motion attitude measuring system based on MEMS technology.The motion sensors such as it comprises three-axis gyroscope, three axis accelerometer, three axle electronic compasss, obtain the data such as 3 d pose and orientation through temperature compensation by embedded low-power consumption arm processor.Utilize three-dimensional algorithm and special data integration technology based on hypercomplex number, the zero shift 3 d pose bearing data that output represents with hypercomplex number, Eulerian angle in real time.Attitude sensor can extensively be embedded into model plane unmanned plane, robot, and mechanical underprop, shipping vehicle, ground and subsea equipment, virtual reality, human motion analysis etc. need in the autonomous product facility of measuring 3 d pose and orientation.
Summary of the invention:
Technical matters to be solved by this invention is to provide a kind of multifunction motor vehicle measuring instrument and detection method, adopt the navigation of MEMS micro-mechanical inertia, the technology such as Kalman filtering are by installing a wheel attitude collector to each wheel of motor vehicle, measure respectively average retardation rate (MFDD) the brake coordination time of each wheel, initial speed of braking, braking distance, slip rate, the brake coordination time, braking sequential, the gradient, steering locking angle, steering angle synchronism, brake pedal force, suspension performance judges braking performance of vehicle, a kind of less expensive multifunction motor vehicle measurement instrument is provided.
Technical matters to be solved by this invention realizes by the following technical solutions.
A kind of multifunction motor vehicle measuring instrument and detection method are made up of two parts, Part I is wheel attitude collector, as shown in Figure 1, mainly fixedly be made up of MEMS micro-mechanical inertia navigation module, microprocessor, wireless blue tooth sending module, employing unit clamp and wheel, each wheel is installed a wheel attitude collector.
Part II is portable main machine instrument, as shown in Figure 2, mainly formed by wireless blue tooth wheel signal receiver module, vehicle-mounted attitude sensor, pedal force acquisition module, microprocessor, GPS communication module, 3G/GPRS communication module, display, printer, vehicle power, vehicle power charger.
The wherein MEMS micro-mechanical inertia navigation module in wheel attitude collector, vehicle-mounted attitude sensor comprises three-axis gyroscope, three axis accelerometer (being IMU), three axle electronic compasss, the sensors such as temperature sensor, can be used for measured automobiles car body, angular velocity and the acceleration of wheel in three dimensions, export the angular velocity of calibrating by embedded low power processor, acceleration, magnetic data etc., can converse thus the speed of vehicle, distance, displacement etc., carry out data fusion by improved motion state of automobile Kalman filter algorithm, output is with hypercomplex number in real time, the zero shift three-dimensional motion attitude data that Eulerian angle etc. represent, meet the motor racing attitude measurement under high current intelligence.
Pedal force acquisition module is made up of pressure transducer, signal amplifier, microprocessor, wireless blue tooth module, as shown in Figure 3, its function is to be fixed on motor brake treadle, in the time that operating personnel touch on the brake, pedal force acquisition module is automatically by the pressure data of pedal force, pedal time, send portable main machine instrument to by wireless blue tooth, for follow-up measurement provides data.
A kind of multifunction motor vehicle measuring instrument and detection method, specifically comprise following methods step, first wheel attitude collector is fixed on the optional position of each wheel, by the vehicle-mounted attitude sensor of portable main machine instrument, GPS fixes with sucker, foot brake pedal pressure gauge is fixed on brake pedal, input radius of wheel data, initial velocity requirement according to GB to different vehicle test, start vehicle, in the time that vehicle initial velocity reaches GB requirement, suddenly touch on the brake, after stopping completely to vehicle, portable main machine instrument is in the whole process of brake, automatically gather the wheel attitude that each wheel attitude collector sends, it is the high performance three-dimensional athletic posture of wheel, calculate motor vehicle average retardation rate (MFDD), the brake coordination time, initial speed of braking, braking distance, braking sequential.
Except above-mentioned braking ability is measured, to the vehicle with ABS ABS (Anti-lock Braking System) performance, according to automobile, in braking procedure, can there is slippage with respect to road surface in wheel, slippage composition shared ratio in longitudinal direction of car motion is listed as and can be represented by slip rate, and slip rate λ is defined as:
V: car speed (m/s)
R: radius of wheel (m)
ω: vehicle wheel rotational speed (radian/s)
1
According to the high performance three-dimensional athletic posture of wheel, input radius of wheel data, just can calculate the slip rate of abs braking performance, and respectively take turns the data such as the ABS speed of a motor vehicle critical point in when work, each wheel acceleration-deceleration, wheel speed change frequency, thus the data of dynamic evaluation abs braking performance.
The invention has the beneficial effects as follows: utilize cheap attitude sensor, research and development are a kind of multi-functional containing motor vehicle average retardation rate (MFDD) the brake coordination time, initial speed of braking, braking distance, braking sequential, motor vehicle anti-lock abs braking performance, suspension performance, the portable apparatus of steering locking angle etc. becomes possibility, the research and development of this instrument can be carried out comprehensive measurement to automobile braking performance easily, in automobile safety Performance Detection, mechanism promotes the use of, improve the detectability of motor vehicle inspection station to automobile braking performance, strengthen the source of vehicle exercise supervision and manage.It has safely in the use, accurate, convenient, efficient distinguishing feature, and for safeguarding road traffic order, prevention and minimizing traffic hazard are significant.
Brief description of the drawings:
Fig. 1 wheel attitude collector schematic diagram;
Fig. 2 portable main machine instrument structure figure;
Fig. 3 foot brake pedal pressure gauge electricity structural drawing;
Fig. 4 wheel attitude collector and portable apparatus scheme of installation;
Fig. 5 measures steering locking angle and turns to synchronism wheel attitude collector scheme of installation;
Fig. 6 drop type is measured suspension performance wheel attitude collector scheme of installation.
Embodiment:
For technological means, creation characteristic that the present invention is realized, reach object and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
1, automobile braking performance test
As shown in Figure 4, first wheel attitude collector is fixed on the optional position of each wheel, by the vehicle-mounted attitude sensor of portable main machine instrument, GPS fixes with sucker, foot brake pedal pressure gauge is fixed on brake pedal, input radius of wheel data, initial velocity requirement according to GB to different vehicle test, start vehicle, in the time that vehicle initial velocity reaches GB requirement, suddenly touch on the brake, after stopping completely to vehicle, portable main machine instrument is in the whole process of brake, automatically gather the wheel attitude that each wheel attitude collector sends, it is the high performance three-dimensional athletic posture of wheel, calculate motor vehicle average retardation rate (MFDD), the brake coordination time, initial speed of braking, braking distance, braking sequential.
Except above-mentioned braking ability is measured, to the vehicle with ABS ABS (Anti-lock Braking System) performance, according to automobile, in braking procedure, can there is slippage with respect to road surface in wheel, slippage composition shared ratio in longitudinal direction of car motion is listed as and can be represented by slip rate, and slip rate λ is defined as:
V: car speed (m/s)
R: radius of wheel (m)
ω: vehicle wheel rotational speed (radian/s)
1
According to the high performance three-dimensional athletic posture of wheel, input radius of wheel data, just can calculate the slip rate of abs braking performance, and respectively take turns the data such as the ABS speed of a motor vehicle critical point in when work, each wheel acceleration-deceleration, wheel speed change frequency, thus the data of dynamic evaluation abs braking performance.
To vehicles more than two axles, as cargo vehicle, tractor, trailer can be according to the number of wheel, at each wheel fixing vehicle wheel attitude collector, in the time suddenly touching on the brake braking, record the brake pedal time, and each wheel attitude collector on-position time of Real-time Collection, can calculate the braking sequential between cargo vehicle, trailer, be specially adapted to the measurement of tractor and trailer braking protection valve performance.
In the time that brake failure appears in a certain side of vehicle, will there is brake deviation phenomenon in vehicle, and according to the high performance three-dimensional athletic posture of wheel, wheel attitude collector is measured deviation angle in real time, measures wheel relativity shift distance by computing machine Integral Processing.
2. Road examination
Owing to having adopted GPS navigation module, not limited by place, environment-adapting ability is strong, can be at wet-skid road surface in unobstructed situation, night and the complex condition such as overcast and rainy complete, can measure on actual road surface, in the time growing apart from actual road test, according to the wheel quantity of measuring vehicle, increase arbitrarily, subtract wheel attitude collector, in the overall process of travelling, portable main machine instrument Real-time Collection wheel attitude collector, vehicle-mounted attitude sensor, GPS navigation module by signal, complete the project testing of above-mentioned braking ability by microprocessor, and calculate motor vehicle speed according to the vehicle-mounted attitude sensor of GPS+, yaw velocity, side slip angle, the control stability data such as vehicle roll angle, and can count distance travelled, the driving trace of overall process, in driving process, step on the frequency of braking, gradient situation under braking situation, energy storage situation is measured, wheel sideslip data.
3. motor turning angular measurement examination
Vehicle is reached on the platform that steering wheel or opposite planar and friction factor are little, be fixed on one to three wheel attitude collector on any (or being relatively 120 °) position of vehicle front-wheel, as shown in Figure 5A, turn left by bearing circle, first forward front-wheel to maximum position left, portable main machine instrument first gathers the left steering locking angle of front-wheel, then, bearing circle is turned right, forward front-wheel to maximum position to the right, portable main machine instrument gathers the right steering locking angle of front-wheel again, as shown in Figure 5 B.
Portable main machine instrument, according to the high performance three-dimensional athletic posture of wheel, by wheel angle is adopted to Integral Processing, can be measured steering locking angle, turn to real time synchronization.
Use a wheel attitude sensor to be fixed on wheel, wheel attitude sensor should be tried one's best near fixing on ground, while avoiding vehicle wheel rotation, wheel self vertical direction angle changes the error causing, as needs high-acruracy survey, the wheel attitude sensor of three relative 120 ° should be installed on wheel, reach accurate measurement steering locking angle, turn to the object of real time synchronization by the correction of three wheel attitude sensors.
Corresponding wheel attitude collector is installed because each wheel is corresponding, and the measurement of front double steering wheel can increase wheel attitude sensor and realize measurement.
4. automotive suspension system testing
The suspension performance detection method of domestic widespread use has drop type, presses four kinds of bodywork-type, resonant, dull and stereotyped brake types, the main two kinds of methods of domestic resonant, dull and stereotyped brake type that adopt are measured, drop type, pressure bodywork-type are due to measurement data, entirely with artificial experience, serviceability that can not effectively evaluating automotive suspension apparatus.
Drop type, press bodywork-type wheel ground connection sex index can characterize the serviceability of draft hitch, wheel ground connection sex index has shown that draft hitch guarantees the minimum ability that wheel contacts with road surface in running car.In running car, the ground connection sex index of all wheels is different, and this differs, respectively takes turns bearing load and differ, respectively take turns the not first-class reason of air pressure and cause because of each draft hitch serviceability of taking turns.If on monitor station, people makes each load of bearing of taking turns consistent with tire pressure, and so, wheel ground connection sex index just depends mainly on the serviceability of draft hitch.Therefore, can evaluate by wheel ground connection sex index the serviceability of draft hitch completely.
Example 1:(fall-down test)
Vehicle-mounted attitude sensor is installed to the top, relevant position that need to measure suspension performance, the stand of a fall-down test is installed before vehicle, vehicle slowly reaches on falling test stand, relies on vehicle inertia, freely falls; Or first by lifting device, automobile is risen to certain altitude, and then unclamping suddenly supporting mechanism, vehicle falls generation free vibration.Gather body amplitude data with measuring vehicle-mounted attitude sensor, draw suspension performance curve, evaluate the serviceability of automotive suspension apparatus.
Example 2:(presses bodywork-type test)
The present invention proposes a kind of vehicle-mounted attitude sensor vehicle suspension characteristic method that adopts, be fixed on the optional position of car body with vehicle-mounted attitude collector, manually with portable tensimeter, vehicle corresponding site is exerted pressure, when pressure reaches after specified pressure, unclamp suddenly, the process progressively being decayed by vehicle-mounted attitude sensor measuring vehicle frequency, can measure the variation of body vibrations curve, calculate suspension performance by microprocessor, going out this method can not limited by place, can draw different suspension performances, the favourable holistic approach to vehicle suspension characteristic.
As need the suspension performance of each wheel of measuring vehicle, and attitude sensor can be fixed in the suspension point of each wheel, measure respectively each wheel attitude sensor vibration frequency, can calculate the suspension performance of each wheel.
5. the measurement of motor vehicle vibration acceleration
In control stability actual road test, Uneven road can make automobile produce certain vibration, under certain condition, when the total vibration frequency of the vibration that evoke on road surface and automobile evokes resonance, the attachment coefficient that can affect automobile and ground, causes certain potential safety hazard to vehicle safety, by GPS navigation module records vehicle driving trace, the speed of a motor vehicle, vehicle-mounted attitude sensor registration of vehicle acceleration, velocity vibration frequency, can analyze the resonant frequency of vehicle on different road surfaces.
More than show and described ultimate principle of the present invention, principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that in above-described embodiment and instructions, describes just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (4)
1. a multifunction motor vehicle measuring instrument, it is characterized in that: formed by two parts, Part I is wheel attitude collector, mainly fixedly be made up of MEMS micro-mechanical inertia navigation module, microprocessor, wireless blue tooth sending module, employing unit clamp and wheel, each wheel is installed a wheel attitude collector.
Part II is portable main machine instrument, is mainly made up of wireless blue tooth wheel signal receiver module, vehicle-mounted attitude sensor, pedal force acquisition module, microprocessor, GPS communication module, 3G/GPRS communication module, display, printer, vehicle power, vehicle power charger.
2. according to a kind of multifunction motor vehicle measuring instrument shown in claim 1, it is characterized in that: MEMS micro-mechanical inertia navigation module, the vehicle-mounted attitude sensor in described wheel attitude collector comprises three-axis gyroscope, three axis accelerometer (being IMU), three axle electronic compasss, the sensors such as temperature sensor.
3. according to a kind of multifunction motor vehicle measuring instrument shown in claim 1, it is characterized in that: described pedal force acquisition module is made up of pressure transducer, signal amplifier, microprocessor, wireless blue tooth module.
4. a multifunction motor vehicle measuring instrument detection method, specifically comprise following methods step, first wheel attitude collector is fixed on the optional position of each wheel, by the vehicle-mounted attitude sensor of portable main machine instrument, GPS fixes with sucker, foot brake pedal pressure gauge is fixed on brake pedal, input radius of wheel data, initial velocity requirement according to GB to different vehicle test, start vehicle, in the time that vehicle initial velocity reaches GB requirement, suddenly touch on the brake, after stopping completely to vehicle, portable main machine instrument is in the whole process of brake, automatically gather the wheel attitude that each wheel attitude collector sends, it is the high performance three-dimensional athletic posture of wheel, calculate motor vehicle average retardation rate (MFDD), the brake coordination time, initial speed of braking, braking distance, braking sequential.
Except above-mentioned braking ability is measured, to the vehicle with ABS ABS (Anti-lock Braking System) performance, according to automobile, in braking procedure, can there is slippage with respect to road surface in wheel, slippage composition shared ratio in longitudinal direction of car motion is listed as and can be represented by slip rate, and slip rate λ is defined as:
V: car speed (m/s)
R: radius of wheel (m)
ω: vehicle wheel rotational speed (radian/s)
1
According to the high performance three-dimensional athletic posture of wheel, input radius of wheel data, just can calculate the slip rate of abs braking performance, and respectively take turns the data such as the ABS speed of a motor vehicle critical point in when work, each wheel acceleration-deceleration, wheel speed change frequency, thus the data of dynamic evaluation abs braking performance.
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Cited By (9)
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| CN107685631A (en) * | 2017-09-18 | 2018-02-13 | 长安大学 | A kind of gas is stepped on by mistake prevents control system and its control method |
| CN107702684A (en) * | 2017-09-30 | 2018-02-16 | 广东工贸职业技术学院 | Based on nine axle sensor vehicle front steering angle monitoring methods |
| CN107796636A (en) * | 2017-10-26 | 2018-03-13 | 安徽农业大学 | A kind of vehicle braking comfortableness test system and method |
| CN108871810A (en) * | 2018-07-09 | 2018-11-23 | 广东工贸职业技术学院 | A kind of automotive wheel braking ability dynamic monitoring method and system |
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