阅读说明：本技术 防滑链检测方法、装置、电子设备及存储介质 (Anti-skid chain detection method and device, electronic equipment and storage medium ) 是由 宗培亮 于 2021-08-31 设计创作，主要内容包括：本申请提供一种防滑链检测方法、装置、电子设备及存储介质,涉及电数字数据处理技术领域。该方法包括：基于获取的当前时段的各轮胎的原始轮速信号,生成各轮胎的轮速信号序列,轮速信号序列用于表征轮胎的角速度；根据各轮胎的轮速信号序列、以及预设的频带区间,分别获取各轮胎在多个频带中各频带的能量；根据各轮胎在多个频带中各频带的能量,确定驱动轮和从动轮的特征差值,驱动轮用于表征左前轮和右前轮,从动轮用于表征左后轮和右后轮；根据特征差值,采用累积和算法,确定当前时段是否安装防滑链。本方法基于获取的各轮胎的原始轮速信号,进行轮速信号谱分析,可精确的获取到各轮胎在各预设频带的能量,从而准确的识别防滑链的安装与否。(The application provides an anti-skid chain detection method and device, electronic equipment and a storage medium, and relates to the technical field of electric digital data processing. The method comprises the following steps: generating a wheel speed signal sequence of each tire based on the acquired original wheel speed signal of each tire in the current time period, wherein the wheel speed signal sequence is used for representing the angular speed of each tire; respectively acquiring the energy of each tire in each frequency band in a plurality of frequency bands according to the wheel speed signal sequence of each tire and a preset frequency band interval; determining a characteristic difference value of a driving wheel and a driven wheel according to the energy of each tire in each frequency band of a plurality of frequency bands, wherein the driving wheel is used for representing a left front wheel and a right front wheel, and the driven wheel is used for representing a left rear wheel and a right rear wheel; and determining whether the anti-skid chain is installed at the current time period by adopting a cumulative sum algorithm according to the characteristic difference. The method carries out wheel speed signal spectrum analysis based on the obtained original wheel speed signals of the tires, and can accurately obtain the energy of the tires in each preset frequency band, thereby accurately identifying whether the antiskid chain is installed or not.)

1. A method for detecting a tire chain, comprising:

generating a wheel speed signal sequence of each tire based on the acquired original wheel speed signal of each tire in the current time period, wherein the wheel speed signal sequence is used for representing the angular speed of each tire;

respectively acquiring the energy of each tire in each frequency band in a plurality of frequency bands according to the wheel speed signal sequence of each tire and a preset frequency band interval;

determining a characteristic difference value of a driving wheel and a driven wheel according to the energy of each tire in each frequency band in a plurality of frequency bands, wherein the driving wheel is used for representing a left front wheel and a right front wheel, and the driven wheel is used for representing a left rear wheel and a right rear wheel;

and determining whether the anti-skid chain is installed at the current time period by adopting an accumulation sum algorithm according to the characteristic difference value.

2. The method of claim 1, wherein the plurality of frequency bands comprise: the frequency of the first frequency band is smaller than that of the second frequency band, and the frequency of the second frequency band is smaller than that of the third frequency band;

the acquiring the energy of each tire in each frequency band of a plurality of frequency bands respectively according to the wheel speed signal sequence of each tire and a preset frequency band interval comprises:

and respectively acquiring the energy of each tire in the first frequency band, the energy of each tire in the second frequency band and the energy of each tire in the third frequency band according to the wheel speed signal sequence of each tire and a preset frequency band interval.

3. The method of claim 2, wherein the obtaining the energy of each tire in the first frequency band, the energy of the second frequency band and the energy of the third frequency band according to the wheel speed signal sequence of each tire and a preset frequency band interval comprises:

respectively acquiring a first frequency band wheel speed signal sequence, a second frequency band wheel speed signal sequence and a third frequency band wheel speed signal sequence of each tire according to the wheel speed signal sequence of each tire and a preset frequency band interval;

and performing square sum calculation according to the first frequency band wheel speed signal sequence, the second frequency band wheel speed signal sequence and the third frequency band wheel speed signal sequence of each tire to obtain the energy of each tire in the first frequency band, the energy of the second frequency band and the energy of the third frequency band.

4. A method as claimed in claim 3, wherein said determining a difference between the characteristics of the drive wheel and the driven wheel based on the energy of each tyre in each of a plurality of frequency bands comprises:

determining a characteristic value of each tire according to the energy of each tire in the first frequency band, the energy of the second frequency band and the energy of the third frequency band;

and determining the characteristic difference value of the driving wheel and the driven wheel according to the characteristic value of each tire.

5. The method according to any one of claims 1 to 4, wherein determining whether a snow chain is installed in the current time period by using a cumulative sum algorithm according to the characteristic difference value comprises:

calculating the accumulated value of the current time period by adopting an accumulated sum calculation formula according to the characteristic difference value;

and determining whether the anti-skid chain is installed in the current time period according to the accumulated value of the current time period and a preset threshold value.

6. The method of claim 5, wherein the tire pressure monitoring system is disabled if it is determined that a snow chain is installed for the current time period.

7. The method of any of claims 1-4, wherein generating a sequence of wheel speed signals for each tire based on the obtained raw wheel speed signal for each tire for the current time period comprises:

capturing a rising edge signal based on the acquired original wheel speed signal of each tire in the current time period, and generating an original wheel speed signal timestamp of each tire;

and performing linear interpolation on the original wheel speed signal time stamps of the tires according to a preset interpolation frequency to generate a wheel speed signal sequence of each tire.

8. A snow chain detection device, comprising: the device comprises a generating module, an obtaining module and a determining module;

the generation module is used for generating a wheel speed signal sequence of each tire based on the acquired original wheel speed signal of each tire in the current time period, and the wheel speed signal sequence is used for representing the angular speed of each tire;

the acquiring module is used for respectively acquiring the energy of each tire in each frequency band in a plurality of frequency bands according to the wheel speed signal sequence of each tire and a preset frequency band interval;

the determining module is used for determining a characteristic difference value of a driving wheel and a driven wheel according to the energy of each tire in each frequency band in a plurality of frequency bands, wherein the driving wheel is used for representing a left front wheel and a right front wheel, and the driven wheel is used for representing a left rear wheel and a right rear wheel;

and the determining module is used for determining whether the anti-skid chain is installed in the current time period by adopting an accumulation sum algorithm according to the characteristic difference value.

9. An electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing program instructions executable by the processor, the processor and the storage medium communicating via the bus when the electronic device is running, the processor executing the program instructions to perform the steps of the method according to any one of claims 1 to 7 when executed.

10. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.

Technical Field

The application relates to the technical field of electric digital data processing, in particular to an anti-skid chain detection method and device, electronic equipment and a storage medium.

Background

In general, when an automobile is driven on an icy or snowy road surface, the phenomenon of slip runaway due to insufficient adhesion is likely to occur. Typically, a snow chain is attached to the drive shaft to cope with this scenario. The anti-skid chains can effectively enhance the adhesive force of the vehicle on the low-adhesion road surface, and well ensure the driving stability. However, after the anti-skid chain is additionally arranged on the automobile, the radius of the tire with the anti-skid chain is obviously increased, and the change of the rolling radius caused by the anti-skid chain can cause the indirect tire pressure monitoring system to work abnormally, and even can cause the false triggering of the tire pressure alarm in serious cases. Therefore, it becomes important to detect whether the snow chain is mounted or not.

How to accurately detect the installation of the antiskid chain is a problem to be solved for the tire pressure monitoring system.

Disclosure of Invention

An object of the present application is to provide a method and an apparatus for detecting a tire chain, an electronic device and a storage medium, so as to achieve accurate detection of the installation of the tire chain.

In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:

in a first aspect, an embodiment of the present application provides a tire chain detection method, including:

generating a wheel speed signal sequence of each tire based on the acquired original wheel speed signal of each tire in the current time period, wherein the wheel speed signal sequence is used for representing the angular speed of each tire;

respectively acquiring the energy of each tire in each frequency band in a plurality of frequency bands according to the wheel speed signal sequence of each tire and a preset frequency band interval;

determining a characteristic difference value of a driving wheel and a driven wheel according to the energy of each tire in each frequency band in a plurality of frequency bands, wherein the driving wheel is used for representing a left front wheel and a right front wheel, and the driven wheel is used for representing a left rear wheel and a right rear wheel;

and determining whether the anti-skid chain is installed at the current time period by adopting an accumulation sum algorithm according to the characteristic difference value.

Optionally, the plurality of frequency bands comprise: the frequency of the first frequency band is smaller than that of the second frequency band, and the frequency of the second frequency band is smaller than that of the third frequency band;

the acquiring the energy of each tire in each frequency band of a plurality of frequency bands respectively according to the wheel speed signal sequence of each tire and a preset frequency band interval comprises:

and respectively acquiring the energy of each tire in the first frequency band, the energy of each tire in the second frequency band and the energy of each tire in the third frequency band according to the wheel speed signal sequence of each tire and a preset frequency band interval.

Optionally, the obtaining the energy of each tire in the first frequency band, the energy of the second frequency band, and the energy of the third frequency band according to the wheel speed signal sequence of each tire and a preset frequency band interval includes:

respectively acquiring a first frequency band wheel speed signal sequence, a second frequency band wheel speed signal sequence and a third frequency band wheel speed signal sequence of each tire according to the wheel speed signal sequence of each tire and a preset frequency band interval;

and performing square sum calculation according to the first frequency band wheel speed signal sequence, the second frequency band wheel speed signal sequence and the third frequency band wheel speed signal sequence of each tire to obtain the energy of each tire in the first frequency band, the energy of the second frequency band and the energy of the third frequency band.

Optionally, the determining a difference between the characteristics of the driving wheel and the driven wheel according to the energy of each tire in each of a plurality of frequency bands comprises:

determining a characteristic value of each tire according to the energy of each tire in the first frequency band, the energy of the second frequency band and the energy of the third frequency band;

and determining the characteristic difference value of the driving wheel and the driven wheel according to the characteristic value of each tire.

Optionally, the determining whether the snow chain is installed in the current time period by using an accumulation sum algorithm according to the characteristic difference value includes:

calculating the accumulated value of the current time period by adopting an accumulated sum calculation formula according to the characteristic difference value;

and determining whether the anti-skid chain is installed in the current time period according to the accumulated value of the current time period and a preset threshold value.

Optionally, if it is determined that a tire chain is installed in the current time period, the tire pressure monitoring system is disabled.

Optionally, the generating a wheel speed signal sequence of each tire based on the obtained raw wheel speed signal of each tire in the current time period includes:

capturing a rising edge signal based on the acquired original wheel speed signal of each tire in the current time period, and generating an original wheel speed signal timestamp of each tire;

and performing linear interpolation on the original wheel speed signal time stamps of the tires according to a preset interpolation frequency to generate a wheel speed signal sequence of each tire.

In a second aspect, an embodiment of the present application further provides a tire chain detection device, including: the device comprises a generating module, an obtaining module and a determining module;

the generation module is used for generating a wheel speed signal sequence of each tire based on the acquired original wheel speed signal of each tire in the current time period, and the wheel speed signal sequence is used for representing the angular speed of each tire;

the acquiring module is used for respectively acquiring the energy of each tire in each frequency band in a plurality of frequency bands according to the wheel speed signal sequence of each tire and a preset frequency band interval;

the determining module is used for determining a characteristic difference value of a driving wheel and a driven wheel according to the energy of each tire in each frequency band in a plurality of frequency bands, wherein the driving wheel is used for representing a left front wheel and a right front wheel, and the driven wheel is used for representing a left rear wheel and a right rear wheel;

and the determining module is used for determining whether the anti-skid chain is installed in the current time period by adopting an accumulation sum algorithm according to the characteristic difference value.

Optionally, the plurality of frequency bands comprise: the frequency of the first frequency band is smaller than that of the second frequency band, and the frequency of the second frequency band is smaller than that of the third frequency band;

the acquiring module is specifically configured to acquire energy of each tire in the first frequency band, energy of the second frequency band, and energy of the third frequency band according to the wheel speed signal sequence of each tire and a preset frequency band interval.

Optionally, the obtaining module is specifically configured to obtain a first frequency band wheel speed signal sequence, a second frequency band wheel speed signal sequence, and a third frequency band wheel speed signal sequence of each tire according to the wheel speed signal sequence of each tire and a preset frequency band interval; and performing square sum calculation according to the first frequency band wheel speed signal sequence, the second frequency band wheel speed signal sequence and the third frequency band wheel speed signal sequence of each tire to obtain the energy of each tire in the first frequency band, the energy of the second frequency band and the energy of the third frequency band.

Optionally, the determining module is specifically configured to determine the characteristic value of each tire according to the energy of each tire in the first frequency band, the energy of the second frequency band, and the energy of the third frequency band; and determining the characteristic difference value of the driving wheel and the driven wheel according to the characteristic value of each tire.

Optionally, the determining module is specifically configured to calculate, according to the feature difference, an accumulated value of the current time period by using an accumulated sum calculation formula; and determining whether the anti-skid chain is installed in the current time period according to the accumulated value of the current time period and a preset threshold value.

Optionally, if it is determined that a tire chain is installed in the current time period, the tire pressure monitoring system is disabled.

Optionally, the generating module is specifically configured to perform rising edge signal capture based on the acquired raw wheel speed signal of each tire at the current time period, and generate a raw wheel speed signal timestamp of each tire; and performing linear interpolation on the original wheel speed signal time stamps of the tires according to a preset interpolation frequency to generate a wheel speed signal sequence of each tire.

In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the steps of the anti-skid chain detection method as provided in the first aspect.

In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the anti-skid chain detection method as provided in the first aspect.

The beneficial effect of this application is:

the application provides an anti-skid chain detection method, an anti-skid chain detection device, electronic equipment and a storage medium, wherein the method comprises the following steps: generating a wheel speed signal sequence of each tire based on the acquired original wheel speed signal of each tire in the current time period, wherein the wheel speed signal sequence is used for representing the angular speed of each tire; respectively acquiring the energy of each tire in each frequency band in a plurality of frequency bands according to the wheel speed signal sequence of each tire and a preset frequency band interval; determining a characteristic difference value of a driving wheel and a driven wheel according to the energy of each tire in each frequency band of a plurality of frequency bands, wherein the driving wheel is used for representing a left front wheel and a right front wheel, and the driven wheel is used for representing a left rear wheel and a right rear wheel; and determining whether the anti-skid chain is installed at the current time period by adopting a cumulative sum algorithm according to the characteristic difference. According to the method, the wheel speed signal spectrum analysis is carried out based on the obtained original wheel speed signals of the tires, the energy of the tires in a plurality of preset frequency bands can be respectively obtained, the obtained energy of the tires in the frequency bands is more accurate due to the accurate division of the frequency bands, accumulation and jump detection can be realized based on the energy of the tires in the frequency bands and a single-side accumulation sum algorithm, and whether the antiskid chain is installed or not can be accurately identified.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a first schematic flow chart of a tire chain detection method according to an embodiment of the present disclosure;

FIG. 2 is a second schematic flow chart of the anti-skid chain detection method according to the embodiment of the present application;

FIG. 3 is a third schematic flow chart of a snow chain detection method according to an embodiment of the present disclosure;

FIG. 4 is a fourth schematic flowchart of a snow chain detection method according to an embodiment of the present disclosure;

FIG. 5 is a fifth flowchart illustrating a snow chain detection method according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of accumulated and calculated results provided by an embodiment of the present application;

FIG. 7 is a schematic view of a snow chain detection device according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for illustrative and descriptive purposes only and are not used to limit the scope of protection of the present application. Additionally, it should be understood that the schematic drawings are not necessarily drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be performed out of order, and steps without logical context may be performed in reverse order or simultaneously. One skilled in the art, under the guidance of this application, may add one or more other operations to, or remove one or more operations from, the flowchart.

In addition, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that in the embodiments of the present application, the term "comprising" is used to indicate the presence of the features stated hereinafter, but does not exclude the addition of further features.

First, it should be noted that, after a vehicle is equipped with a tire chain, the radius of the tire equipped with the tire chain becomes significantly large, which may cause a great interference to a wheel speed signal processing module of an ESC (Electronic Stability Controller)/ABS (antilock brake system) system. In addition, an important additional functional module of the ESC/ABS, namely an indirect tire pressure monitoring system, includes a tire under-inflation identification algorithm based on relative rolling radius, so that the change of the rolling radius caused by the anti-skid chain can cause the indirect tire pressure monitoring system to work abnormally, and even can cause the false triggering of tire pressure alarm in severe cases.

Therefore, the installation of the tire chain is detected to prevent false alarms of the tire pressure monitoring system.

A method of snow chain detection is provided by various embodiments as follows to enable accurate detection of snow chains based on wheel speed signal spectral analysis.

Fig. 1 is a first schematic flow chart of a tire chain detection method according to an embodiment of the present disclosure; the method can be applied to a tire pressure monitoring system of a vehicle, and the execution subject can be a controller or a processor and other devices in the tire pressure monitoring system. As shown in fig. 1, the method may include:

s101, generating a wheel speed signal sequence of each tire based on the acquired original wheel speed signal of each tire in the current time period, wherein the wheel speed signal sequence is used for representing the angular speed of each tire.

Alternatively, the raw wheel speed signal of each tire may be acquired at a preset interval period, wherein the preset interval period may be 1 second, and then the corresponding current period may be a period from the current time to the next 1 second. For example, the current time is 1 minute and 30 seconds, then the current time period may be a period of 30-31 seconds.

In some embodiments, the tire pressure monitoring system may obtain a raw wheel speed signal of each tire from a vehicle body wheel speed sensor, wherein the raw wheel speed signal may be a square wave signal, and perform signal processing based on the obtained square wave signal to generate a wheel speed signal sequence of each tire, where the wheel speed signal sequence may refer to an angular velocity sequence of each tire.

S102, respectively acquiring the energy of each tire in each frequency band in a plurality of frequency bands according to the wheel speed signal sequence of each tire and a preset frequency band interval.

Alternatively, the preset frequency band interval may be set after a plurality of experiments, and each wheel speed signal in the wheel speed signal sequence of each tire may be extracted and divided according to the preset frequency band interval to obtain the energy of each tire in different frequency bands respectively.

Based on the division of the preset frequency band interval, the energy of each tire in each frequency band can be accurately acquired so as to be used for accurately detecting the installation of the antiskid chain.

And S103, determining a characteristic difference value of a driving wheel and a driven wheel according to the energy of each tire in each frequency band of a plurality of frequency bands, wherein the driving wheel is used for representing a left front wheel and a right front wheel, and the driven wheel is used for representing a left rear wheel and a right rear wheel.

Generally, the front left wheel FL and the front right wheel FR of the vehicle may be referred to as driving wheels, and the rear left wheel RL and the rear right wheel RR may be referred to as driven wheels, and based on the energy of the tires in each frequency band, the chain characteristic value of each tire may be determined, respectively, first, and the characteristic difference value between the driving wheels and the driven wheels may be calculated based on the chain characteristic value of each tire.

And S104, determining whether the anti-skid chain is installed in the current time period by adopting a cumulative sum algorithm according to the characteristic difference value.

In an implementation manner, accumulation and jump detection may be performed based on the calculated feature difference value by using a single-sided CUSUM (cumulative sum) algorithm to quickly identify whether the anti-skid chain is installed in the current time period.

For the calculation of the cumulative sum of any current time period, the cumulative sum of the current time period can be calculated based on all the cumulative sums before the current time period and the characteristic difference value of the current time period, so that whether the antiskid chain is installed or not in the current time period is detected.

In summary, the present embodiment provides a method for detecting an anti-skid chain, including: generating a wheel speed signal sequence of each tire based on the acquired original wheel speed signal of each tire in the current time period, wherein the wheel speed signal sequence is used for representing the angular speed of each tire; respectively acquiring the energy of each tire in each frequency band in a plurality of frequency bands according to the wheel speed signal sequence of each tire and a preset frequency band interval; determining a characteristic difference value of a driving wheel and a driven wheel according to the energy of each tire in each frequency band of a plurality of frequency bands, wherein the driving wheel is used for representing a left front wheel and a right front wheel, and the driven wheel is used for representing a left rear wheel and a right rear wheel; and determining whether the anti-skid chain is installed at the current time period by adopting a cumulative sum algorithm according to the characteristic difference. According to the method, the wheel speed signal spectrum analysis is carried out based on the obtained original wheel speed signals of the tires, the energy of the tires in a plurality of preset frequency bands can be respectively obtained, the obtained energy of the tires in the frequency bands is more accurate due to the accurate division of the frequency bands, accumulation and jump detection can be realized based on the energy of the tires in the frequency bands and a single-side accumulation sum algorithm, and whether the antiskid chain is installed or not can be accurately identified.

Optionally, the plurality of frequency bands may include: the frequency of the first frequency band is smaller than that of the second frequency band, and the frequency of the second frequency band is smaller than that of the third frequency band.

In this embodiment, three frequency band intervals may be preset, where the first frequency band may be a low frequency band, the second frequency band may be an intermediate frequency band, and the third frequency band may be a high frequency band, and correspondingly, the frequency corresponding to the first frequency band is smaller than the frequency corresponding to the second frequency band, and the frequency corresponding to the second frequency band is smaller than the frequency corresponding to the third frequency band, that is, the frequencies of the first frequency band, the second frequency band, and the third frequency band sequentially increase.

Of course, in practical applications, the preset frequency band intervals may not be limited to three, two, or four, and may be specifically divided according to actual situations.

In one implementation, the frequency of the first frequency band may be selected to be 25Hz-35Hz, the frequency of the second frequency band may be selected to be 55Hz-75Hz, and the frequency of the third frequency band may be selected to be 85Hz-105Hz, wherein the 25Hz-35Hz frequency band contains the suspension vibration information caused by the road noise excitation; a frequency band of 55Hz-75Hz containing torsional vibration information related to the lateral stiffness of the tire; the 85Hz-105Hz frequency band contains torsional vibration information related to the positive pressure of tire and ground contact.

Based on the division of the frequency bands, the wheel speed signals can be effectively processed, so that the obtained energy of each tire in each frequency band has more representative significance and has calculation value.

In step S102, obtaining energy of each tire in each frequency band of a plurality of frequency bands according to the wheel speed signal sequence of each tire and a preset frequency band interval may include: and respectively acquiring the energy of each tire in the first frequency band, the energy of each tire in the second frequency band and the energy of each tire in the third frequency band according to the wheel speed signal sequence of each tire and a preset frequency band interval.

Alternatively, the wheel speed signals belonging to the first frequency band, the second frequency band and the third frequency band may be extracted from the wheel speed signal sequence according to the divided first frequency band, second frequency band and third frequency band, and signal processing may be performed to obtain the energy of each tire in the first frequency band, the energy of the second frequency band and the energy of the third frequency band, respectively, according to the frequency of each wheel speed signal in the wheel speed signal sequence of each tire.

Wherein, after the antiskid chain is installed, the suspension can be severely shaken, and the energy P of the first frequency band_lowIs significantly increased. Correspondingly, the torsional vibration mode of the tire itself, which is associated with the lateral stiffness of the tire and the positive pressure of the tire, does not change significantly, and therefore, P_mediumAnd P_highIs less than P_lowAmplification of (3). Synthesize the above information, i.e.Whether the vehicle is provided with the antiskid chain or not can be accurately identified.

FIG. 2 is a second schematic flow chart of the anti-skid chain detection method according to the embodiment of the present application; optionally, the step of obtaining the energy of each tire in the first frequency band, the energy of the second frequency band, and the energy of the third frequency band according to the wheel speed signal sequence of each tire and a preset frequency band interval may include:

s201, respectively obtaining a first frequency band wheel speed signal sequence, a second frequency band wheel speed signal sequence and a third frequency band wheel speed signal sequence of each tire according to the wheel speed signal sequence of each tire and a preset frequency band interval.

Alternatively, band-pass filtering processing may be performed on the first frequency band, the second frequency band and the third frequency band respectively by using a band-pass filtering algorithm according to the wheel speed signal sequence of each tire to obtain the first frequency band wheel speed signal sequence WSS of each tire respectively_lowSecond frequency band wheel speed signal sequence WSS_mediumAnd a third frequency band speed signal sequence WSS_high。

S202, according to the first frequency band wheel speed signal sequence, the second frequency band wheel speed signal sequence and the third frequency band wheel speed signal sequence of each tire, square sum calculation is carried out, and energy of each tire in the first frequency band, energy of the second frequency band and energy of the third frequency band are obtained.

Alternatively, for any tire, the square sum of the wheel speed angular velocity in the first frequency band of the wheel speed signal sequence of the tire can be calculated to obtain the energy P of the tire in the first frequency band_lowSimilarly, the energy P of the tire in the second frequency band can be obtained by performing a square sum calculation according to the wheel speed angular velocity in the second frequency band wheel speed signal sequence of the tire_mediumAccording to the third frequency band wheel speed signal sequence of the tyre, the square sum calculation is carried out on each wheel speed angular speed to obtain the energy P of the tyre in the third frequency band_high。

For example, assume a first frequency band wheel speed signal sequence WSS for the tire_lowIs (a, b, c, d), then the energy P of the tire in the first frequency band_low＝a²+b²+c²+d²。

FIG. 3 is a third schematic flow chart of a snow chain detection method according to an embodiment of the present disclosure; alternatively, in step S103, determining the characteristic difference value between the driving wheel and the driven wheel according to the energy of each tire in each of the plurality of frequency bands may include:

s301, determining a characteristic value of each tire according to the energy of each tire in the first frequency band, the energy of the second frequency band and the energy of the third frequency band.

Alternatively, the calculation formula for the individual tire characteristic value Q may be defined as follows:

wherein, K_mWeight coefficient, K, referring to the energy of the second frequency band_hThe weighting coefficient i is a tire number, and is classified into FL (front left wheel), FR (front right wheel), RL (rear left wheel), and RR (rear right wheel).

According to the above analysis, when the antiskid chain is added to the driving wheel of the automobile, P_mediumAnd P_highIs less than P_lowThe Q value at which the drive wheel is located is significantly increased. Correspondingly, the driven wheel is not provided with the anti-skid chain, so that the change range of the Q value of the driven wheel is smaller.

And S302, determining a characteristic difference value of the driving wheel and the driven wheel according to the characteristic value of each tire.

The calculation formula defining the characteristic difference value Δ Q of the drive wheels and the driven wheels is as follows:

ΔQ＝K_front(Q_FL+Q_FR)-K_rear(Q_RL+Q_RR)

wherein, K_frontWeighting factor, K, representing characteristic value of front axle_rearRepresenting the weighting factor, K, of the rear axle_frontAnd K_rearThe vibration energy of front and rear axle suspensions of the vehicle is respectively determined, and specific values can be determined according to collected signal performance during project development.

Optionally after obtaining the tyreLeft front wheel Q_FLEigenvalue, right front wheel Q_FREigenvalue, left rear wheel Q_RLEigenvalue and right rear wheel Q_RRAfter the characteristic value is obtained, the characteristic value can be substituted into the above calculation formula to calculate the characteristic difference value of the driving wheel and the driven wheel.

FIG. 4 is a fourth schematic flowchart of a snow chain detection method according to an embodiment of the present disclosure; optionally, in step S104, determining whether the snow chain is installed in the current time period by using a cumulative sum algorithm according to the characteristic difference value may include:

s401, calculating an accumulated value of the current time period by adopting an accumulated sum calculation formula according to the characteristic difference value.

Optionally, the accumulation sum algorithm adopted in this embodiment may be a single-sided CUSUM algorithm, and in practical application, the accumulation sum algorithm may not be limited to the accumulation sum algorithm.

Wherein the accumulation and calculation formula can be as follows:

S₀＝0；

S_n＝max{0，S_n-1+ΔQ_n-μ-k}；for n＝1，2，…N

wherein mu represents the average value of the process when the antiskid chain is not installed, and the weight K is adjusted_frontAnd K_rearWhere μ can be adjusted to 0 and k is the offset value to be detected after the snow chain is installed, and where it is set to 80% of the Δ Q mean value after the snow chain is installed, thereby ensuring stable detection of the snow chain. Wherein, the antiskid chain can be installed through a preliminary test to obtain the k value.

Optionally, assuming that the current time interval is the first time interval, the corresponding accumulated value is S₀Assuming that the current time period is the second time period, the accumulated value S is obtained₁＝max{0，S₀+ΔQ₁-mu-k }, and so on, the accumulated value S of any current time interval can be obtained_n。

S402, determining whether the anti-skid chain is installed in the current time period according to the accumulated value of the current time period and a preset threshold value.

Optionally, based on the calculated accumulated value of the current time period, the accumulated value of the current time period may be compared with a preset threshold value to determine whether the anti-skid chain is installed currently, where the preset threshold value may be set to 5000, and when the accumulated value of the current time period is greater than 5000, it may be determined that the anti-skid chain is installed in the current time period.

Optionally, if it is determined that a tire chain is installed in the current time period, the tire pressure monitoring system is disabled.

In some embodiments, when the tire pressure monitoring system detects that a tire chain is installed in the current time period, the tire pressure monitoring system is automatically disabled to prevent false alarm caused by installation of the tire chain.

In addition, based on the detection result, the method can also assist the ESC/ABS to judge the error source of the tire slip rate.

FIG. 5 is a fifth flowchart illustrating a snow chain detection method according to an embodiment of the present disclosure; alternatively, in step S101, generating a wheel speed signal sequence of each tire based on the acquired raw wheel speed signal of each tire of the current time period may include:

s501, capturing a rising edge signal based on the acquired original wheel speed signal of each tire in the current time period, and generating an original wheel speed signal time stamp of each tire.

Optionally, the tire pressure monitoring system may obtain a raw wheel speed signal, that is, a raw wheel speed square wave signal, of each tire in the current period from the vehicle body wheel speed sensor, and the square wave signal may be processed by the rising edge capture circuit and the timing module of the ESC/ABS system, and may be converted into a raw wheel speed signal timestamp for subsequent ESC/ABS signal processing.

The wheel speed signal timestamp can correspond to the time corresponding to the rising edge in the original wheel speed square wave signal, is the most accurate speed signal source of the whole vehicle, carries out spectrum analysis on the wheel speed signal, and can obtain abundant information.

S502, carrying out linear interpolation on the original wheel speed signal time stamps of the tires according to a preset interpolation frequency to generate wheel speed signal sequences of the tires.

Alternatively, the wheel speed signal time stamp is linearly interpolated at 280Hz to generate a wheel speed signal sequence for each tire, and the linear interpolation is a conventional linear interpolation method, which is not described much.

The technical effect of the method is explained by the following specific examples:

fig. 6 is a schematic diagram of an accumulated and calculated result according to an embodiment of the present application.

Take a front-wheel drive model as an example. Taking a typical value K_m＝K_hWhen no tyre chain is installed, 0.5:

Q_FLand Q_FRAverage value on smooth asphalt pavement of about 4.5, Q_RLAnd Q_RRThe average value on smooth asphalt pavement was about 7.5. Get K_front＝7.5，K_rearWhen Δ Q is equal to 0, 4.5.

After the anti-skid chain is installed on the front shaft (driving shaft):

Q_FLand Q_FRAverage value on smooth asphalt pavement is about 44.3, Q_RLAnd Q_RRThe average value on a smooth asphalt pavement is about 14.7. Here K_front＝7.5，K_rearWhen the value is 4.5, the new average value of Δ Q is 266.1.

Let k be 212.9, the result of calculation of the cumum accumulated value Sn after the front axle is not provided with a tire chain, is provided with a tire chain, and is removed is shown in fig. 6, and the test result shows that after the tire chain is provided for about one and a half minutes, the tire pressure monitoring system can smoothly identify the tire chain and give an alarm flag bit; and after the antiskid chain is removed for about 30s, the alarm is released.

In summary, the present embodiment provides a method for detecting an anti-skid chain, including: generating a wheel speed signal sequence of each tire based on the acquired original wheel speed signal of each tire in the current time period, wherein the wheel speed signal sequence is used for representing the angular speed of each tire; respectively acquiring the energy of each tire in each frequency band in a plurality of frequency bands according to the wheel speed signal sequence of each tire and a preset frequency band interval; determining a characteristic difference value of a driving wheel and a driven wheel according to the energy of each tire in each frequency band of a plurality of frequency bands, wherein the driving wheel is used for representing a left front wheel and a right front wheel, and the driven wheel is used for representing a left rear wheel and a right rear wheel; and determining whether the anti-skid chain is installed at the current time period by adopting a cumulative sum algorithm according to the characteristic difference. According to the method, the wheel speed signal spectrum analysis is carried out based on the obtained original wheel speed signals of the tires, the energy of the tires in a plurality of preset frequency bands can be respectively obtained, the obtained energy of the tires in the frequency bands is more accurate due to the accurate division of the frequency bands, accumulation and jump detection can be realized based on the energy of the tires in the frequency bands and a single-side accumulation sum algorithm, and whether the antiskid chain is installed or not can be accurately identified.

The following describes a device, an electronic device, a storage medium, and the like for executing the anti-skid chain detection method provided by the present application, and specific implementation processes and technical effects thereof are referred to above, and are not described again below.

Fig. 7 is a schematic view of a snow chain detection device according to an embodiment of the present disclosure, where the functions implemented by the snow chain detection device correspond to the steps executed by the method. The device may be understood as a controller or a processor in the tire pressure monitoring system described above, and as shown in fig. 7, the device may include: a generating module 710, an obtaining module 720 and a determining module 730;

a generating module 710, configured to generate a wheel speed signal sequence of each tire based on the obtained original wheel speed signal of each tire at the current time period, where the wheel speed signal sequence is used to characterize an angular velocity of each tire;

an obtaining module 720, configured to obtain energy of each tire in each frequency band of a plurality of frequency bands according to a wheel speed signal sequence of each tire and a preset frequency band interval;

a determining module 730, configured to determine a characteristic difference between a driving wheel and a driven wheel according to energy of each tire in each frequency band of a plurality of frequency bands, where the driving wheel is used for representing a front left wheel and a front right wheel, and the driven wheel is used for representing a rear left wheel and a rear right wheel;

the determining module 730 is configured to determine whether the anti-skid chain is installed in the current time period by using a cumulative sum algorithm according to the characteristic difference.

Optionally, the plurality of frequency bands comprises: the frequency corresponding to the first frequency band is less than that corresponding to the second frequency band, and the frequency corresponding to the second frequency band is less than that corresponding to the third frequency band;

the obtaining module 720 is specifically configured to obtain energy of each tire in a first frequency band, energy of a second frequency band, and energy of a third frequency band according to a wheel speed signal sequence of each tire and a preset frequency band interval.

Optionally, the obtaining module 720 is specifically configured to obtain a first frequency band wheel speed signal sequence, a second frequency band wheel speed signal sequence, and a third frequency band wheel speed signal sequence of each tire according to the wheel speed signal sequence of each tire and a preset frequency band interval; and performing square sum calculation according to the first frequency band wheel speed signal sequence, the second frequency band wheel speed signal sequence and the third frequency band wheel speed signal sequence of each tire to obtain the energy of each tire in the first frequency band, the energy of the second frequency band and the energy of the third frequency band.

Optionally, the determining module 730 is specifically configured to determine the characteristic value of each tire according to the energy of each tire in the first frequency band, the energy of the second frequency band, and the energy of the third frequency band; and determining the characteristic difference value of the driving wheel and the driven wheel according to the characteristic value of each tire.

Optionally, the determining module 730 is specifically configured to calculate, according to the feature difference, an accumulated value of the current time period by using an accumulated sum calculation formula; and determining whether the anti-skid chain is installed in the current time period according to the accumulated value of the current time period and a preset threshold value.

Optionally, if it is determined that a tire chain is installed in the current time period, the tire pressure monitoring system is disabled.

Optionally, the generating module 710 is specifically configured to perform rising edge signal capture based on the acquired raw wheel speed signal of each tire in the current time period, and generate a raw wheel speed signal timestamp of each tire; and carrying out linear interpolation on the original wheel speed signal time stamps of the tires according to a preset interpolation frequency to generate a wheel speed signal sequence of each tire.

The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.

These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

The modules may be connected or in communication with each other via a wired or wireless connection. The wired connection may include a metal cable, an optical cable, a hybrid cable, etc., or any combination thereof. The wireless connection may comprise a connection over a LAN, WAN, bluetooth, ZigBee, NFC, or the like, or any combination thereof. Two or more modules may be combined into a single module, and any one module may be divided into two or more units. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to corresponding processes in the method embodiments, and are not described in detail in this application.

It should be noted that the above modules may be one or more integrated circuits configured to implement the above methods, for example: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, the modules may be integrated together and implemented in the form of a System-on-a-chip (SOC).

Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the electronic device may be a computing device with a data processing function.

The device includes: a processor 801 and a memory 802.

The memory 802 is used for storing programs, and the processor 801 calls the programs stored in the memory 802 to execute the above-mentioned method embodiments. The specific implementation and technical effects are similar, and are not described herein again.

Wherein the memory 802 stores program code that, when executed by the processor 801, causes the processor 801 to perform various steps in methods according to various exemplary embodiments of the present application described in the "exemplary methods" section above in this description.

The Processor 801 may be a general-purpose Processor, such as a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware components, and may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present Application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in a processor.

Memory 802, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The Memory may include at least one type of storage medium, and may include, for example, a flash Memory, a hard disk, a multimedia card, a card-type Memory, a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Programmable Read Only Memory (PROM), a Read Only Memory (ROM), a charged Erasable Programmable Read Only Memory (EEPROM), a magnetic Memory, a magnetic disk, an optical disk, and so on. The memory is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 802 in the embodiments of the present application may also be circuitry or any other device capable of performing a storage function for storing program instructions and/or data.

Optionally, the present application also provides a program product, such as a computer readable storage medium, comprising a program which, when being executed by a processor, is adapted to carry out the above-mentioned method embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to perform some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.