CN101073987A - Method for controlling emergent brake fault - Google Patents

Abstract

The invention is concerned with an auto-control method for preventing from urgent braking and pressing accelerator pedal mistakenly belonging to auto-control technology field. The testable electromagnetism valve sets on the upriver side of throttle for step and sends the pressure different of fuel to the upper and lower steam of the valve to the pressure intake port of pressure different sensor. The pressure different of flow changes into electric signal of flow pressure different by the sense organ in the sensor and sends to the intake end of signal processor. Set criterion of urgent braking and pressing accelerator pedal mistakenly as the determinant threshold value according to vehicle's type in the signal processor, and the signal processor will judge and estimate according to the instantaneous flow to fuel. When it judges the mistake of braking, it will send braking order to controller to close the testable electromagnetism valve and cut off the fuel through electronic switch, at the same time, the electric pushing pole drives the car to stop to avoid traffic accident.

Description

Method for controlling emergent brake fault

Technical field

The present invention relates to the method in a kind of automatic control technology field, prevent the method for controlling emergent brake fault of driver's mis-accelerator pressing when being specifically related to a kind of automobile urgent brake car.

Background technology

Along with world economy and science and technology development, when automobile was popularized day by day, frequent accidents took place.Lead to grave accident person because of the maloperation of automobile driver not within minority, and this just needs to rely on the raising of relevant art level to be avoided.Wherein, automobile is at driving process, when extraordinary circumstances appear suddenly in the place ahead, as: personnel cross road, front vehicles sudden stop etc. suddenly, because driver nervous at heart or react too late, therefore should carry out emergency brake, but step on throttle by mistake, cause vehicle to thrust into or the grave accident of car crash such as vehicle rear-end collision.

Although the science and technology that grows up around auto-industry so far is quite flourishing in the world, and, people are constantly pursuing technique device and the method that attempt realizes that automobile fully can automatic steering, but, up to the present, still the autonomous driving vehicle that does not have advanced technology and technical maturity, existing vehicle still need rely on pilot steering, especially automobile runs into the emergency state, when needing emergency brake, need to rely on the performance when participating in the cintest of chaufeur fully, could guarantee the safety of driving, therefore, it is necessary fully that automobile possesses the emergency braking device anti-misstep automatic control technology, even in the age that following full-automatic unmanned driving's automobile occurs, can predict: core technology of the present invention has become one of composition technology of new automobile.

Find through literature search prior art, super hawk, in the paper of being entitled as of delivering " commercial car " (2004 the 3rd phases) " today of safe driving technology and tomorrow---introduce the safe driving technology of Daimler-Kreisler Corp ", the technical measures how current advanced automobile vendor considers to improve vehicle drive safety have been introduced in crystalline substance, point out: " as long as suitable safety (driver assistance) system of equipment; at least the 2 class traffic accident can prevent fully in the over-the-road transportation ", " actual conditions be chaufeur recognize be in a dangerous situation in; often be not had time enough to make correct reaction ", " introducing of intellectual technology is not only for transporting the optimistic prospect of bringing safely; and make the transportation more efficient ", imagination to following automotive safety technology mainly concentrates on unpiloted overall situation consideration herein, outstanding " Car distance instrument ", " the braking assistive device " that adopts in order to overcome " if glancing impact is added in the strength deficiency on the brake pedal ", " deviation caution instrument ", " turn to stability program " and " night vision technology " etc., but, the automatic control technology when mis-accelerator pressing or amount of fuel are uprushed unusually when but having ignored the current and following all in demand driver's of preventing sudden stop.

Summary of the invention

The present invention is directed to the problems of the prior art, propose a kind of method for controlling emergent brake fault, make it when sudden stop, can prevent mis-accelerator pressing, therefore can avoid the generation of major traffic accidents.

The present invention is achieved through the following technical solutions, specifically comprises the steps:

(1) but the observing and controlling electromagnetic valve of the upstream side by being installed on automobile oil feed line pin step on the accelerator conducts to valve upstream and downstream fuel oil fluid differential pressure the pressure input port of differential pressure pick-up, after fluid differential pressure end instr in differential pressure pick-up is converted to the fluid differential pressure electric signal, export the input end of signal processor to;

(2) in signal processor, preset sudden stop mis-accelerator pressing criterion according to vehicle model---sudden stop mis-accelerator pressing decision threshold δ;

(3) after (1), (2) step, signal processor can be according to rate of volume flow q _VRelation with valve upstream and downstream fluid differential pressure Δ p: $q_V=k_1\sqrt{\mathrm{\Δp}}$ And the relation between differential pressure pick-up output fluid differential pressure electric signal u and the fluid differential pressure Δ p: u=k ₂Δ p obtains the fuel oil rate of volume flow: $q_V=k_1\sqrt{\frac{u}{k_1}}=k\sqrt{u},$ In the formula, k ₁Be rate of volume flow q _VWith the fluid differential pressure square root

Proportionality coefficient, k ₂Be the proportionality coefficient of electric signal u and fluid differential pressure Δ p, $k=\frac{k_1\sqrt{k_2}}{k_2};$

(4) the signal processor tested fuel oil rate of volume flow transient state q that will obtain _VThe q that value and previous moment are obtained _VValue compares decision-making, calculates the rate of change of fuel oil rate of volume flow this moment, promptly $\frac{{\mathrm{dq}}_V}{\mathrm{dt}}\≈\frac{{\mathrm{\Δq}}_V}{\mathrm{\Δt}}$ Value, wherein, Δ q _V=q _V(t _k)-q _V(t _K-1), q _V(t _i) (i=0,1,2K k-1, k, K) expression t _iFuel oil rate of volume flow instantaneous value constantly, Δ t=t _k-t _K-1

(5) when $\frac{{\mathrm{\Δq}}_V}{\mathrm{\Δt}}>\mathrm{\δ}$ The time, signal processor will be asserted immediately: the driver is at sudden stop mis-accelerator pressing constantly, so, send braking instruction to controller;

(6) controller is after receiving braking instruction, but is subjected to the control utmost point of two electronic switchs of electric coil to send trigging pulse to connecting observing and controlling electromagnetic valve and electric pushrod respectively in real time;

The control utmost point of (7) two electronic switchs causes the conducting of Yang Yin the two poles of the earth under the control of trigging pulse, but causes observing and controlling electromagnetic valve valve closing and turnoff the fuel, drives the electric pushrod action simultaneously and makes automobile automatic brake.

Conducting under of the control of first electronic switch at trigging pulse, but the electric coil that is subjected to of observing and controlling electromagnetic valve is subjected to electricity, but the valve that makes the observing and controlling electromagnetic valve originally be in normally open in time close, the transient flow of fuel oil in the extremely short time from q _V(t _k) dropping to 0, fuel path is cut off, so automotive engine in time closed, and the propulsive effort that automobile is lost move ahead provides first technical guarantee that avoids traffic accident and take place.

Conducting under of the control of second electronic switch at trigging pulse, the Direct Current Motor power supply of electric pushrod is switched on, the push rod action, the moment of thrust of push rod by drg lever and the hydraulic pressure enlarger with transmission of torque to brake, in time make automobile automatic brake, finally overcome the contingent collision of gasoline through freewheeling of automobile, therefore second technical guarantee that avoids traffic accident and take place is provided.

Described sudden stop mis-accelerator pressing decision threshold δ, it determines that method is as follows:

1. will select the model vehicle sails to the vehicle dynamic test experimental bed;

2. set automobile and under multiple driving speed, travel,, sharply trample throttle suddenly, write down transient flow q under the above-mentioned multiple driving cycle by fuel flow and vehicle speed detector device as speed per hour 20km, 40km, 60km, 80km etc. _VCurve, and calculate rate of change

Wherein, u represents the preceding Vehicle Speed constantly of mis-accelerator pressing;

3. get one group

Minimum value in the data is defined as sudden stop mis-accelerator pressing criterion---sudden stop mis-accelerator pressing decision threshold δ.

The present invention has following beneficial effect: the Detection ﹠ Controling of (1) fuel flow realize integrated, make the control system mechanism simplifying; (2) but realize that by the electronic power switch device observing and controlling electromagnetic valve and electric pushrod are subjected to the contact pointless ON/OFF of being subjected to of electric coil/dead electricity, and response is fast; (3) reach machine and judge and the automation and the intellectuality of decision-making, only need by fuel oil rate of volume flow rate of change $\frac{{\mathrm{dq}}_V}{\mathrm{dt}}=\frac{{\mathrm{\Δq}}_V}{\mathrm{\Δt}}$ Calculating, can make accurate judgement, and decision threshold δ wherein can revise by the actual measurement of vehicle and operating condition thereof, therefore, the present invention goes for multi-form vehicle; (4) can obviously promote the automatic technology level of automobile and the safety factor of driving, therefore the economic value added of its product increases.

Confirm according to measured result: its sudden stop prevents the rate of accuracy reached to 100% that mistake is stepped on, response time is less than 10ms, speed per hour 80km when sudden stop occurring calculates, and whole process finishes from the SELF CL oil circuit to the automobile autobrake, automobile because of sluggish and inertia generation coasting distance less than 30cm.

The specific embodiment

Below embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.

Present embodiment is based on a kind of emergency braking device anti-misstep device realization, this device comprises: signal processor, controller, but observing and controlling electromagnetic valve, first electronic switch, second electronic switch, electric pushrod, drg, but the observing and controlling electromagnetic valve is installed in the upstream side of automobile oil feed line pin step on the accelerator, electric pushrod is installed in the elongated end of footbrake plate weighing arm, but signal processor receives transient flow and the rate of change thereof of oil circuit fluid differential pressure electric signal in order to calculate oil circuit that is sent by the observing and controlling electromagnetic valve in real time, the braking instruction of controller received signal treater output, be responsible for control utmost point output control signal to electronic switch, but to reach the action of observing and controlling electromagnetic valve valve switch and electric pushrod.Wherein, but the observing and controlling electromagnetic valve comprises solenoid valve body, valve, compression spring, electromagnet, the pressure guide hole pipe, differential pressure pick-up, the leakproof rubber cradle, soft pressing plate of plasticity and cable interface, valve, compression spring, the leakproof rubber cradle, electromagnet, differential pressure pick-up, soft pressing plate of plasticity and cable interface by serial arrangement from bottom to up in the inside of solenoid valve body, valve is positioned at solenoid valve body in-to-in center, compression spring is placed on the cylinder on valve top, electromagnet is positioned at directly over this cylinder, the pressure input termination of pressure guide hole pipe lays respectively on the passage, the downstream is gone near valve, on the tube wall of outlet, the pressure output end head is connected with the pressure input end of differential pressure pick-up, the fluid differential pressure electric signal output lead that is subjected to electric coil input lead and differential pressure pick-up of electromagnet and the input end that exports signal processor after cable interface is connected again to, the mouth of signal processor is connected with the input end of controller, and two mouths of controller are connected to the control utmost point of first and second electronic switchs respectively; The anode of first electronic switch is connected to the positive pole of 24V direct supply, but negative electrode is connected to the positive electrode that the observing and controlling electromagnetic valve is subjected to electric coil, but the observing and controlling electromagnetic valve directly is connected with the negative pole of direct supply by the negative potential of electric coil; The anode of second electronic switch is connected to the positive pole of 24V direct supply equally, and negative electrode is connected to the positive electrode that electric pushrod is subjected to electric coil, and electric pushrod also directly is connected with the negative pole of direct supply by the negative potential of electric coil.

The method for controlling emergent brake fault of present embodiment specifically comprises the steps:

(1) but the observing and controlling electromagnetic valve conducts to the pressure input port of differential pressure pick-up with the fuel oil differential pressure by upstream and downstream pressure guide hole pipe, through the input end of differential pressure end instr conversion output fluid differential pressure electric signal u to signal processor;

(2) in signal processor, preset sudden stop mis-accelerator pressing criterion according to vehicle model---sudden stop mis-accelerator pressing decision threshold δ;

(3) according to fuel oil rate of volume flow q _VRelation with valve upstream and downstream fluid differential pressure Δ p:

$q_V=k_1\sqrt{\mathrm{\Δp}}$

And the relation between differential pressure pick-up output fluid differential pressure electric signal u and the fluid differential pressure Δ p:

u＝k ₂Δp

Obtain $q_V=k_1\sqrt{\frac{u}{k_2}}=k\sqrt{u}$

$k=\frac{k_1\sqrt{k_2}}{k_2}$

It is fuel oil rate of volume flow instantaneous value;

(4) signal processor is according to tested fuel oil rate of volume flow transient state q _VThe q of value and previous moment _VValue, online in real time calculates the rate of change of fuel oil rate of volume flow this moment

Promptly $\frac{{\mathrm{\Δq}}_V}{\mathrm{\Δt}}=\frac{q_V\left(t_k\right)-q_V\left(t_{k-1}\right)}{t_k-t_{k-1}}$ Value;

(5) when $\frac{\mathrm{\Δ}{q}_V}{\mathrm{\Δt}}>\mathrm{\δ}$ The time, signal processor will be asserted immediately: the driver is at sudden stop mis-accelerator pressing constantly, so, send braking instruction to controller;

(6) controller is after receiving braking instruction, sends trigging pulse to the control utmost point of two electronic switchs;

(7) two electronic switch conductings simultaneously, but the electric coil that is subjected to of observing and controlling electromagnetic valve is subjected to, the valve that causes being in normally open is in time closed, fuel path is turned off, and simultaneously, the electric pushrod power supply is switched on, under the effect of motor, push rod action, push rod moment of thrust are carried out self-actuating brake by the transmission of torque of drg to automobile.

Test of many times confirms: the determination rate of accuracy that sudden stop is taken place to step on by mistake reaches 100%, response time is less than 10ms, when the speed per hour before the brake was 80km, whole process finished from the SELF CL oil circuit to the automobile autobrake, and automobile slide does not surpass 30cm apart from the wheel vestige.

Claims (4)

1, a kind of method for controlling emergent brake fault is characterized in that, comprises the steps:

(1) but the observing and controlling electromagnetic valve of the upstream side by being installed on automobile oil feed line pin step on the accelerator conducts to valve upstream and downstream fuel oil fluid differential pressure the pressure input port of differential pressure pick-up, after fluid differential pressure end instr in differential pressure pick-up is converted to the fluid differential pressure electric signal, export the input end of signal processor to;

(2) presetting sudden stop mis-accelerator pressing criterion according to vehicle model in signal processor is sudden stop mis-accelerator pressing decision threshold δ;

(3) after (1), (2) step, according to rate of volume flow q _VRelation with valve upstream and downstream fluid differential pressure Δ p: $q_V=k_1\sqrt{\mathrm{\Δp}}$ And the relation between differential pressure pick-up output fluid differential pressure electric signal u and the fluid differential pressure Δ p: u=k ₂Δ p obtains the fuel oil rate of volume flow: $q_V=k_1\sqrt{\frac{u}{k_2}}=k\sqrt{u},$ In the formula, k ₁Be rate of volume flow q _VWith the fluid differential pressure square root Proportionality coefficient, k ₂Be the proportionality coefficient of electric signal u and fluid differential pressure Δ p, $k=\frac{k_1\sqrt{k_2}}{k_2};$

(4) the signal processor tested fuel oil rate of volume flow transient state q that will obtain _VThe q that value and previous moment are obtained _VValue compares decision-making, calculates the rate of change of fuel oil rate of volume flow this moment, promptly $\frac{d{q}_V}{\mathrm{dt}}\≈\frac{{\mathrm{\Δq}}_V}{\mathrm{\Δt}}$ Value, wherein, Δ q _V=q _V(t _k)-q _V(t _K-1), q _V(t _i) (i=0,1,2K k-1, k, K) expression t _iFuel oil rate of volume flow instantaneous value constantly, Δ t=t _k-t _K-1

(5) when $\frac{{\mathrm{\Δq}}_V}{\mathrm{\Δt}}>\mathrm{\δ}$ The time, signal processor will be asserted immediately: the driver is at sudden stop mis-accelerator pressing constantly, so, send braking instruction to controller;

(6) controller is after receiving braking instruction, but is subjected to the control utmost point of two electronic switchs of electric coil to send trigging pulse to connecting observing and controlling electromagnetic valve and electric pushrod respectively in real time;

The control utmost point of (7) two electronic switchs causes the conducting of Yang Yin the two poles of the earth under the control of trigging pulse, but causes observing and controlling electromagnetic valve valve closing and turnoff the fuel, drives the electric pushrod action simultaneously and makes automobile automatic brake.

2, method for controlling emergent brake fault according to claim 1 is characterized in that, in the step (2), and described sudden stop mis-accelerator pressing decision threshold δ, it determines that method is as follows:

1. will select the model vehicle sails to the vehicle dynamic test experimental bed;

2. set automobile and under multiple driving speed, travel, sharply trample throttle suddenly, write down transient flow q under the multiple driving cycle by fuel flow and vehicle speed detector device _VAnd rate of change

Wherein, u represents the preceding Vehicle Speed constantly of mis-accelerator pressing;

3. get one group

It is sudden stop mis-accelerator pressing decision threshold δ that minimum value in the data is defined as sudden stop mis-accelerator pressing criterion.

3, method for controlling emergent brake fault according to claim 1, it is characterized in that, in the step (7), under the control of the control utmost point at trigging pulse of first electronic switch, cause the conducting of Yang Yin the two poles of the earth, but the electric coil that is subjected to of observing and controlling this moment electromagnetic valve is subjected to, under the effect of electromagnet suction, but make the valve that originally was in normally open in the observing and controlling electromagnetic valve in time close, the transient flow of fuel oil in the extremely short time from q _V(t _k) dropping to 0, fuel path is cut off, so automotive engine is in time closed.

4, method for controlling emergent brake fault according to claim 1, it is characterized in that, in the step (7), under the control of the control utmost point at trigging pulse of second electronic switch, also cause the conducting of Yang Yin the two poles of the earth, the Direct Current Motor power supply of electric pushrod is switched on, push rod action, the moment of thrust of push rod immediately the lever by drg and hydraulic pressure enlarger with transmission of torque to brake, in time make automobile automatic brake.