CN102092352A - Inertia measuring unit for motor vehicles as well as control method thereof - Google Patents

Abstract

The invention discloses an inertia measuring unit for motor vehicles, which comprises a storage battery, a main power module, a main controller module, a CAN (controller area network) communication module, a storage module, a sensor power module, a sensor controller module and an MEMS (micro electro mechanical system) sensor, wherein the main power module is connected with the storage battery so as to supply power for the CAN communication module, the storage module and the main controller module, the sensor power module is connected with the storage battery so as to supply power for the sensor controller module, the main controller module is connected with the main power module, the sensor power module, the sensor controller module, the storage module and the CAN communication module and carries out control and communication, and the MEMS sensor is connected with the sensor controller module and transmits signals. Because the modules of the inertia measuring unit disclosed by the invention are relatively independent, the integral performance of the inertia measuring unit is more reliable, and the upgrading of an independent module does not affect the operation of other modules, thereby ensuring the application reliability of motor vehicles.

Description

A kind of ineitial measurement unit and control method thereof that is applied to self-propelled vehicle

Technical field

The invention belongs to the self-propelled vehicle technical field of sensor manufacture, specifically, relate to a kind of ineitial measurement unit and control method thereof that is applied to self-propelled vehicle.

Background technology

In the self-propelled vehicle technical field of sensor manufacture, ineitial measurement unit is widely used in the various vehicles, as an important ancillary system on the self-propelled vehicle, the longitudinal acceleration of providing is provided for it, the effect of transverse acceleration and yaw angle acceleration/accel, longitudinal acceleration and transverse acceleration can the horizontal vertical acceleration/accel of machines motor-car size and self-propelled vehicle angle of inclination, yaw-rate sensor detects the deflection of automobile along vertical axis, the size of this deflection is represented the degree of stability of automobile, if yaw rate reaches a threshold value, illustrate that the dangerous operating mode of sliding or whipping will take place to survey automobile.

At present, be applied to the ineitial measurement unit that ineitial measurement unit on the self-propelled vehicle mostly is conventional confguration greatly, the price height, volume is big, and when carrying out the inertia measurement, the value of output is an analog signal, rather than digital signal, need carry out signal conditioning to this analog signal by other electronic control units and become digital signal, and all there is certain hidden danger in the ineitial measurement unit of conventional confguration at aspects such as precision and processing technologys, be in particular in:

1, because the processing technology of the ineitial measurement unit of conventional confguration requires height, caused the cost height, volume is big, adopts the ineitial measurement unit of the not high conventional confguration of reliability, has certain potential safety hazard.

2, adopt the ineitial measurement unit of conventional confguration, in the process of self-propelled vehicle motion,, may cause automobile electron stabilization control system to be judged and make mistakes, influence automobile electron stabilization control system control effect, have certain potential safety hazard because precision is not enough.

Summary of the invention

The technical problem to be solved in the present invention be realize that a kind of volume is little, integrated level is high, accurately reliable and have a self-propelled vehicle ineitial measurement unit of self-checking function.

To achieve these goals, the technical solution used in the present invention is: a kind of ineitial measurement unit that is applied to self-propelled vehicle, this ineitial measurement unit comprises: storage battery, main power source module, main controller module, the CAN communication module, memory module, the sensor electrical source module, sensor controller module and MEMS sensor, described main power source module is connected to CAN communication module with storage battery, memory module and main controller module power supply, described sensor electrical source module is connected with storage battery to the sensor controller module for power supply, described main controller module and main power source module, the sensor electrical source module, the sensor controller module, memory module is connected with the CAN communication module and controls and communicate by letter, and described MEMS sensor is connected with the sensor controller module and transmits signal.

Described main power source module is made up of main feed circuit and mains power failure detection module two parts, described main feed circuit are that power supply unit is converted to 5V with storage battery 12V, and described mains power failure detection module detects output voltage values and controls main feed circuit output voltage.

Described mains power failure detection module comprised feedback and protection module, house dog and reseting generator, and it provides current protection, overheat protector and output voltage feedback, and provided house dog and reseting generator function for the main controller module outside.

Described sensor supply module comprises sensor feed circuit and sensor electrical power sense circuit; wherein sensor feed circuit is 5V with storage battery 12V power source conversion; described 5V voltage is passed to sensor controller module and sensor electrical power sense circuit; wherein whether the sensor electrical power sense circuit to detect described 5V voltage normal; also detect and comprise overcurrent protection, overheat protector and output voltage feedback, and provide the reseting generator function for the sensor controller module.

Described MEMS sensor is made of longitudinal acceleration micro-electro-mechanical sensors, transverse acceleration MEMS sensor and yaw velocity micro-electro-mechanical sensors, transmits vehicle lateral acceleration, longitudinal acceleration and yaw velocity signal to the sensor controller module.

Described main controller module mainly is made up of host scm and crystal oscillator, and described crystal oscillator provides sine-shaped frequency signal to host scm, host scm be connected with each module and realize between each module control with communicate by letter.

Described CAN communication module is connected to the automobile electron stabilization control system on the CAN bus, communicates by letter with automobile electron stabilization control system and information of vehicles is provided.

A kind of control method that is applied to the ineitial measurement unit of self-propelled vehicle:

A) probe power supply module and main power source module provide 5V power supply for system;

B) sensor controller module work and whether detect longitudinal acceleration micro-electro-mechanical sensors, transverse acceleration MEMS sensor and yaw velocity micro-electro-mechanical sensors signal normal;

C) if the detecting sensor signal is normal, then main controller module and sensor controller module communication, sensor controller resume module sensing data also sends to main controller module with the data of handling well, by main controller module with sensing data encapsulation and send to automobile electron stabilization control system on the CAN bus, by the state of automobile electron stabilization control system according to vehicle, output parameter to each electronic control unit of automobile is adjusted, thereby realizes the control to vehicle steadily;

D) if the mains power failure detection module detects abnormity of power supply or the software race flies the immediate replacement main controller module, allow main controller module re-power work, be not subjected to abnormity of power supply or software to run the influence that flies;

E), whether determine the reseting sensor controller module by main controller module if the sensor electrical power sense circuit transmits a signal to main controller module after detecting abnormity of power supply at once;

F) if detecting sensor signal mal, then main controller module and sensor controller module communication, the sensor controller module is given main controller module with the sensor fault message feedback, main controller module is confirmed fault, the record trouble sign indicating number is to memory module, simultaneously diagnostic code is sent to automobile electron stabilization control system on the CAN bus, send diagnostic code by automobile electron stabilization control system to vehicle bus, and provide light warning to chaufeur by main controller module.

The invention has the advantages that:

1. circuit of the present invention adopts modular design, and each intermodule is relatively independent, and overall performance is more reliable, and the upgrading of separate modular can not influence the work of other modules.

2. circuit of the present invention adopts two microcontroller designs, guarantees the circuit accuracy of pick-up transducers data each time, thereby guarantees security of system.

3. circuit of the present invention adopts 4 laminate PCB design, uses sticking-element, more compact structure, and the integrated level height, system's miniaturization is easier.

4. considered the requirement of EMI, EMS during circuit layout of the present invention, the EMI of self is not influenced by other electronic control units of vehicle yet to the not influence of other electronic control units of vehicle, guaranteed the reliability that uses on self-propelled vehicle.

5. the present invention has self-diagnostic function and driving engine, the shared failure diagnostic apparatus of change-speed box, by failure diagnostic apparatus automobile electron stabilization control system is read diagnostic code of the present invention, diagnoses.

6. the present invention has CAN bus data transport module, and communicating by letter with automobile electron stabilization control system is difficult for being interfered, and not only data rate is faster, and has the data self-checking function.

Description of drawings

Below the content of each width of cloth accompanying drawing expression of specification sheets of the present invention and the mark among the figure are made brief description:

Fig. 1 is a system architecture scheme drawing of the present invention;

Fig. 2 is a main power source module structural representation of the present invention;

Fig. 3 is a main controller module structural representation of the present invention;

Fig. 4 is a probe power modular construction scheme drawing of the present invention;

Fig. 5 is a CAN communication module structural representation of the present invention;

Wherein: 1, storage battery; 2, main power source module; 3, main controller module; 4, sensor electrical source module; 5, sensor controller module; 6, memory module; 7, CAN communication module; 8, MEMS sensor; 9, feedback and protection module; 10, reseting generator; 11, house dog; 12,5V power supply; 13, driving and protection module; 14, receive conversion; 15, crystal oscillator; 16, host scm; 2-1, main feed circuit; 2-2, mains power failure detection module; 4-1, sensor feed circuit; 4-2, sensor electrical power sense circuit; 8-1, longitudinal acceleration micro-electro-mechanical sensors; 8-2, transverse acceleration MEMS sensor; 8-3 and yaw velocity micro-electro-mechanical sensors.

In the accompanying drawing:

Expression storage battery power supply transfer route;

The expression main power source is supplied with route;

The expression probe power is supplied with route;

→ expression control signal transfer route.

The specific embodiment

Referring to Fig. 1 is the system construction drawing that is applied to the ineitial measurement unit of self-propelled vehicle, and this ineitial measurement unit comprises:storage battery 1, mainpower source module 2,main controller module 3,CAN communication module 7,memory module 6, sensor electrical source module 4,sensor controller module 5 and MEMS sensor 8.

Mainpower source module 2 is connected withstorage battery 1 respectively with sensor electrical source module 4, mainpower source module 2 is handled behindstorage batterys 1 power supply toCAN communication module 7,memory module 6 andmain controller module 3 power supplies, sensor electrical source module 4 is powered tosensor controller module 5 after handlingstorage battery 1 power supply, describedmain controller module 3 respectively with mainpower source module 2, sensor electrical source module 4,sensor controller module 5,memory module 6 is connected withCAN communication module 7 and controls and communicate by letter, and described MEMS sensor 8 is connected withsensor controller module 5 and transmits signal and givesensor controller module 5.

Whereinstorage battery 1 provides working power for whole ineitial measurement unit system, and the output voltage ofstorage battery 1 is 12V, and when automobile current generator was worked, output voltage was 13.5V.

Referring to Fig. 1,3 as can be known,main controller module 3 is total system core control parts, be connected with each module and realize between each module control with communicate by letter, mainly form by host scm 16 and crystal oscillator 15, described crystal oscillator 15 provides sine-shaped frequency signal to host scm 16, host scm 16 be connected with each module and realize with between control with communicate by letter.

Referring to Fig. 1; 2 as can be known; mainpower source module 2 is made up of main feed circuit 2-1 and mains power failure detection module 2-2 two parts; described main feed circuit 2-1 is a power supply unit with the 12V power source conversion ofstorage battery 1 is that 5V is mains power failure detection module 2-2;CAN communication module 7;memory module 6 andmain controller module 3 power supplies; described mains power failure detection module 2-2 comprised feedback andprotection module 9;house dog 11 andreseting generator 10;storage battery 1 is connected with feedback andprotection module 9 by the base stage of positive-negative-positive aerotron; its collecting electrode is connected withreseting generator 10 withhouse dog 11 and is provided with5V powers 12;reseting generator 10 is tomain controller module 3 incoming signals; feed back tohouse dog 11 byhouse dog 11 execution through handling; mains power failure detection module 2-2 provides current protection specifically; overheat protector and output voltage feedback; and formain controller module 3 outsides provide house dog and reseting generator function, and survey output voltage values and control main feed circuit 2-1 outputvoltage.House dog 11 can prevent program fleet in themain controller module 3, behind program fleet,house dog 11 resets by 10 pairs of host scms 16 of reseting generator, power supply does not have that reseting generator resets to host scm 16 in the stable process in power up, to guarantee that host scm 16 can normally work on power.

Referring to Fig. 1; 4 as can be known; described sensor supply module 4 comprises sensor feed circuit 4-1 and sensor electrical power sense circuit 4-2; wherein sensor feed circuit 4-1 is 5V with the 12V power source conversion ofstorage battery 1; described 5V voltage is passed tosensor controller module 5 and sensor electrical power sense circuit 4-2; wherein sensor electrical power sense circuit 4-2 has feedback andprotection module 9 andreseting generator 10; whether the 5V voltage of its detecting sensor feed circuit 4-1 output is normal; also detect and comprise overcurrent protection; overheat protector and output voltage feedback; and provide the reseting generator function forsensor controller module 5; sensor electrical power sense circuit 4-2 detects accurately control output voltage of output voltage values thus; when outgoing current or temperature surpass certain value; close output transistor; prevent to damage device; and has areseting generator 10; when the power supply detection goes wrong, can send signal to host scm 16, the probe power fault appears in notice host scm 16.

Sensor controller module 5 is whole sensor system core function uniies, is connected with sensor and realizes thatsensor controller module 5 andmain controller module 3 carry out the accuracy that crucial control information is verified in communication to the reading of sensing data.

MEMS sensor 8 is made of longitudinal acceleration MEMS sensor 8-1, transverse acceleration MEMS sensor 8-2, yaw velocity MEMS sensor 8-3, variation, angle change and the self-propelled vehicle of variation, transverse acceleration that longitudinal acceleration is arranged when self-propelled vehicle can and in time pass tosensor controller module 5 according to self-propelled vehicle state output data along the deflection of vertical axis.

Memory module 6 has adopted the electrically erasable programmable internal memory, can be erasable repeatedly 1,000,000 times, and can be with data storage 40 years,memory module 6 is mainly used to store the coded number of ineitial measurement unit self and the diagnostic code ofmain controller module 3 records.

Referring to Fig. 1,5 as can be known,CAN communication module 7 is connected to the automobile electron stabilization control system on the CAN bus, communicates by letter with automobile electron stabilization control system and information of vehicles is provided.The CAN bus adopts differential signal transmission, generally only need two signal wire (SW) CAN-H just can carry out communicating by letter normally at a distance with CAN-L, the Transmission bit rate of CAN bus is 1Mbps to the maximum, under recessive state, recessive waveform CAN-H magnitude of voltage is 2.64V, the CAN-L magnitude of voltage is 2.62V, the input difference voltage of CAN-H and CAN-L is 0.02V, and input common mode voltage is 2.5V, under dominance condition, the CAN-H magnitude of voltage is 3.50V, the CAN-L magnitude of voltage is 1.61V, and the input difference voltage of CAN-H and CAN-L is 1.89V, CANH, CANL difference synthetic waveform, dominance magnitude of voltage 1.90V, recessive magnitude of voltage 0V.

Technical scheme provided by the present invention is a kind of ineitial measurement unit that is applied to self-propelled vehicle, this ineitial measurement unit is MEMS ineitial measurement unit (the English Micro Electronic MechanicalSystem Inertial Measurement Unit of being, be called for short MEMS IMU), ineitial measurement unit is installed on the self-propelled vehicle, open after the ignition key, according to following control method work:

A) probe power supply module 4 and mainpower source module 2 provide 5V power supply for system;

B) whether 5 work of sensor controller module and detection longitudinal acceleration micro-electro-mechanical sensors 8-1, transverse acceleration MEMS sensor 8-2 and yaw velocity micro-electro-mechanical sensors 8-3 signal be normal;

C) if the detecting sensor signal is normal, thenmain controller module 3 is communicated by letter withsensor controller module 5,sensor controller module 5 process sensor data also send tomain controller module 3 with the data of handling well, bymain controller module 3 with sensing data encapsulation and send to automobile electron stabilization control system on the CAN bus, by the state of automobile electron stabilization control system according to vehicle, output parameter to each electronic control unit of automobile is adjusted, thereby realizes the control to vehicle steadily;

D) if mains power failure detection module 2-2 detects abnormity of power supply or the software race flies immediate replacementmain controller module 3, allowmain controller module 3 re-power work, be not subjected to abnormity of power supply or software to run the influence that flies;

E), whether determine resetingsensor controller module 3 bymain controller module 3 if sensor electrical power sense circuit 4-2 transmits a signal tomain controller module 3 after detecting abnormity of power supply at once;

F) if detecting sensor signal mal, thenmain controller module 3 is communicated by letter withsensor controller module 5,sensor controller module 5 is givenmain controller module 3 with the sensor fault message feedback,main controller module 3 is confirmed fault, the record trouble sign indicating number is tomemory module 6, simultaneously diagnostic code is sent to automobile electron stabilization control system on the CAN bus, send diagnostic code by automobile electron stabilization control system to vehicle bus, and provide light warning to chaufeur bymain controller module 3.

Claims (8)

1. ineitial measurement unit that is applied to self-propelled vehicle, it is characterized in that: this ineitial measurement unit comprises: storage battery (1), main power source module (2), main controller module (3), CAN communication module (7), memory module (6), sensor electrical source module (4), sensor controller module (5) and MEMS sensor (8), described main power source module (2) is connected to CAN communication module (7) with storage battery (1), memory module (6) and main controller module (3) power supply, described sensor electrical source module (4) is connected to sensor controller module (5) with storage battery (1) powers, described main controller module (3) and main power source module (2), sensor electrical source module (4), sensor controller module (5), memory module (6) is connected with CAN communication module (7) and controls and communicate by letter, and described MEMS sensor (8) is connected with sensor controller module (5) and transmits the sensor received signal.

2. a kind of ineitial measurement unit that is applied to self-propelled vehicle according to claim 1, it is characterized in that: described main power source module (2) is made up of main feed circuit (2-1) and mains power failure detection module (2-2) two parts, described main feed circuit (2-1) are converted to 5V for power supply unit with storage battery (1) 12V, and described mains power failure detection module (2-2) detects output voltage values and controls main feed circuit (2-1) output voltage.

3. a kind of ineitial measurement unit that is applied to self-propelled vehicle according to claim 2; it is characterized in that: described mains power failure detection module (2-2) comprised feedback and protection module (9), house dog (11) and reseting generator (10); it provides current protection, overheat protector and output voltage feedback, and provides house dog and reseting generator function for main controller module (3) outside.

4. a kind of ineitial measurement unit that is applied to self-propelled vehicle according to claim 1; it is characterized in that: described sensor supply module (4) comprises sensor feed circuit (4-1) and sensor electrical power sense circuit (4-2); wherein sensor feed circuit (4-1) is 5V with storage battery (1) 12V power source conversion; described 5V voltage is passed to sensor controller module (5) and sensor electrical power sense circuit (4-2); wherein whether the described 5V voltage of sensor electrical power sense circuit (4-2) detection is normal; also detect and comprise overcurrent protection; overheat protector and output voltage feed back, and provide the reseting generator function for sensor controller module (5).

5. a kind of ineitial measurement unit that is applied to self-propelled vehicle according to claim 1, it is characterized in that: described MEMS sensor (8) is made of longitudinal acceleration micro-electro-mechanical sensors (8-1), transverse acceleration MEMS sensor (8-2) and yaw velocity micro-electro-mechanical sensors (8-3), transmits vehicle lateral acceleration, longitudinal acceleration and yaw velocity signal to sensor controller module (5).

6. a kind of ineitial measurement unit that is applied to self-propelled vehicle according to claim 1, it is characterized in that: described main controller module (3) mainly is made up of host scm (16) and crystal oscillator (15), described crystal oscillator (15) provides sine-shaped frequency signal to host scm (16), host scm (16) be connected with each module and realize between each module control with communicate by letter.

7. a kind of ineitial measurement unit that is applied to self-propelled vehicle according to claim 1, it is characterized in that: described CAN communication module (6) is connected to the automobile electron stabilization control system on the CAN bus, communicates by letter with automobile electron stabilization control system and information of vehicles is provided.

8. control method that is applied to the ineitial measurement unit of self-propelled vehicle is characterized in that:

A) probe power supply module (4) and main power source module (2) provide 5V power supply for system;

B) whether sensor controller module (5) work and detection longitudinal acceleration micro-electro-mechanical sensors (8-1), transverse acceleration MEMS sensor (8-2) and yaw velocity micro-electro-mechanical sensors (8-3) signal be normal;

C) if the detecting sensor signal is normal, then main controller module (3) is communicated by letter with sensor controller module (5), sensor controller module (5) process sensor data also sends to main controller module (3) with the data of handling well, by main controller module (3) with sensing data encapsulation and send to automobile electron stabilization control system on the CAN bus, by the state of automobile electron stabilization control system according to vehicle, output parameter to each electronic control unit of automobile is adjusted, thereby realizes the control to vehicle steadily;

D) if mains power failure detection module (2-2) detects abnormity of power supply or the software race flies immediate replacement main controller module (3), allow main controller module (3) re-power work, be not subjected to abnormity of power supply or software to run the influence that flies;

E), whether determine reseting sensor controller module (3) by main controller module (3) if sensor electrical power sense circuit (4-2) transmits a signal to main controller module (3) after detecting abnormity of power supply at once;

F) if detecting sensor signal mal, then main controller module (3) is communicated by letter with sensor controller module (5), sensor controller module (5) is given main controller module (3) with the sensor fault message feedback, main controller module (3) is confirmed fault, the record trouble sign indicating number is to memory module (6), simultaneously diagnostic code is sent to automobile electron stabilization control system on the CAN bus by main controller module (3), send diagnostic code by automobile electron stabilization control system to vehicle bus, and provide light warning to chaufeur.

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