CN102092352B - 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 control method that is applied to the ineitial measurement unit of 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 detect size and the self-propelled vehicle angle of inclination of self-propelled vehicle transverse and longitudinal acceleration/accel, yaw-rate sensor detects automobile along the deflection of vertical axis, the size of this deflection represents the degree of stability of automobile, if yaw rate reaches a threshold value, illustrate that the dangerous working condition of sliding or whipping will occur to survey automobile.

At present, be applied to the ineitial measurement unit that ineitial measurement unit on the self-propelled vehicle mostly is greatly conventional confguration, price is high, volume is large, and when carrying out the inertia measurement, the value of output is analog signal, rather than digital signal, need to carry out signal to this analog signal by other electronic control units and be processed into 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 requirement of the processing technology of the ineitial measurement unit of conventional confguration is high, caused cost high, volume is large, 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, because precision is inadequate, may causes automobile electron stabilization control system to be judged and make mistakes, affect automobile electron stabilization control system control effect, have certain potential safety hazard.

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 transmission of signal.

Described main power source module is comprised of main supply electricity circuit and mains power failure detection module two parts, described main supply electricity circuit is 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 supply electricity 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 converted to 5V with storage battery 12V power supply; 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 comprised of host scm and crystal oscillator, and described crystal oscillator provides sine-shaped frequency signal to host scm, host scm be connected with modules and realize between the modules 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 the 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 impact that flies;

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

F) if detecting sensor signal mal, then main controller module and sensor controller module communication, the sensor controller module feeds back to main controller module with sensor fault information, main controller module is confirmed fault, the record trouble code is to memory module, simultaneously by main controller module 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.

The invention has the advantages that:

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

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

3. circuit of the present invention adopts 4 laminate PCB design, uses sticking-element, more compact structure, and integrated level is high, and 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 affected by other electronic control units of vehicle yet on the not impact of other electronic control units of vehicle, guaranteed the reliability that uses at self-propelled vehicle.

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

6. the present invention is with 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

The below is briefly described the content of each width of cloth accompanying drawing expression of specification sheets of the present invention and the mark among the figure:

Fig. 1 is system architecture schematic diagram of the present invention;

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

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

Fig. 4 is probe power modular construction schematic diagram of the present invention;

Fig. 5 is 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 supply electricity 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;

------→ expression main power source is supplied with route;

----------→ expression probe power supply route;

→ expression control signal transfer route.

The specific embodiment

Be the system construction drawing that is applied to the ineitial measurement unit of self-propelled vehicle referring to Fig. 1, 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.

Main power source module 2 is connected with the sensor electrical source module and is connected withstorage battery 1 respectively, main power source module 2 is processed the backward CAN communication module 7 ofstorage battery 1 power supply, memory module 6 andmain controller module 3 power supplies, sensor electrical source module 4 is processed backward sensor controller module 5 power supplies ofstorage battery 1 power supply, describedmain controller module 3 respectively with main power source module 2, sensor electrical source module 4, sensor controller module 5, memory module 6 is connected with the CAN communication module and is connected and control and communicate by letter, and described MEMS sensor 8 is connected with sensor controller module 5 also that transmission of signal gives sensor 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 whole system core control parts, be connected with modules and realize between the modules control with communicate by letter, mainly formed 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 modules and realize with between control with communicate by letter.

Referring to Fig. 1; 2 as can be known; main power source module 2 is comprised of main supply electricity circuit 2-1 and mains power failure detection module 2-2 two parts; to be power supply unit be converted to 5V with the 12V power supply ofstorage battery 1 to described main supply electricity circuit 2-1 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 andhouse dog 11 are connected with reseting generator and are connected and are provided with5V power supply 12;reseting generator 10 is tomain controller module 3 incoming signals; feed back tohouse dog 11 byhouse dog 11 execution through processing; 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 supply electricity circuit 2-1 outputvoltage.House dog 11 can prevent that the race ofmain controller module 3 Programs from flying, 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 converted to 5V with the 12V power supply ofstorage battery 1; described 5V voltage is passed to sensor 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 for sensor controller module 5; sensor electrical power sense circuit 4-2 detects output voltage values and accurately controls output voltage thus; when outgoing current or temperature surpass certain value; close output transistor; prevent from damaging 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 sensing system core control parts, is connected with sensor and realizes that sensor 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 of longitudinal acceleration arranged along the deflection of vertical axis when self-propelled vehicle, can export data and in time pass to sensor controller module 5 according to state of motor vehicle.

Memory module 6 has adopted the electrically erasable programmable internal memory, can be repeatedly erasable 1,000,000 times, and data can be stored 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, the poor synthetic waveform of CANL, dominant 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 Mechanical System 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 main power source module 2 provide the 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 with sensor 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 impact that flies;

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

F) if detecting sensor signal mal, thenmain controller module 3 is communicated by letter with sensor controller module 5, sensor controller module 5 feeds back tomain controller module 3 with sensor fault information,main controller module 3 is confirmed fault, the record trouble code is to memory module 6, simultaneously bymain controller module 3 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.

Claims (1)

1. 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 the 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 impact that flies;

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

F) if detecting sensor signal mal, then main controller module (3) is communicated by letter with sensor controller module (5), sensor controller module (5) feeds back to main controller module (3) with sensor fault information, main controller module (3) is confirmed fault, the record trouble code is to memory module (6), simultaneously by main controller module (3) 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.

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