CN102120446B - Vehicle ABS control method suitable for various road conditions - Google Patents
Vehicle ABS control method suitable for various road conditions Download PDFInfo
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Abstract
The invention discloses a vehicle anti-skid brake system (ABS) control method suitable for various road conditions, and relates to the technical field of automobile electronic control. In the method, the ABS control process is divided into a primary control cycle and a conventional control cycle; during the primary control cycle, road surfaces are identified through wheel speed difference; and during the conventional control cycle, the road surfaces are identified through a wheel speed peak slope, a wheel speed reduced value in a depressurization section, and pressurization frequency. For a bisectional road, two front wheels are under corrected low selector control and two back wheels are independently controlled by a control strategy for a corresponding road surface according to the identified road surface; and for a single high adhesion or low adhesion road surface, the front wheels are under pressurization synchronous control, and the back wheels are controlled by a method for a single road surface. The control strategy for the corresponding road surface is adopted according to vehicle adhesion road surfaces. The method can solve the problems of braking direction instability and brake distance when a vehicle brakes on various road surfaces.
Description
Technical field
The present invention relates to the control method in the anti-skid brake system in the automobile (ABS).
Background technology
ABS(Antilock Braking System) brake system, i.e. anti-skid brake system, can be in Motor Vehicle Braking Procedure the automatic size of regulating brake force, effectively prevent the phenomenons such as wheel lockup, sideslip, whipping, the safety that has improved automobile brake.When automobile carries out emergency braking in the process of running at high speed, if front-wheel by locking, automobile will lose steering capability, if trailing wheel by locking, automobile may occur to break away or the safety misadventure such as whipping.In order to address this problem, in recent years, company and scholar have carried out a large amount of research to the ABS control method both at home and abroad, existing maturation method is based on the control method of acceleration-deceleration auxiliary reference slip rate thresholding, this control method principle is simple, but logic is complicated, the gordian technique that relates to is more, offshore company is through long-term research, grasped and comprise road identification method, the many gordian techniquies of control policy, its product can adapt to the multiple road situation, and the directional balance during braking is better, stopping distance is shorter, occupies the more wide market share.And the product of domestic maturation also all is based on the control method of acceleration-deceleration auxiliary reference slip rate thresholding, but owing to understand thorough not to some gordian technique, the road surface bad adaptability of its product can not well solve the problem of stopping distance and directional balance, so share of market is low.In addition, both at home and abroad scientific research institutions and scholar have also carried out a large amount of theoretical investigationes, comprising: PID control method, fuzzy control method, neural network control method, sliding mode variable structure control method, self-adaptation control method and etc.Yet make a general survey of above method, the control method of PID and fuzzy control method are based on the control of empirical rule, and the debug setting parameter is difficulty relatively; Neural network control method depends on a large amount of learning samples and complicated mathematical operation; The shortcoming of sliding mode variable structure control method maximum is its " buffeting "; The shortcoming of self-adaptation control method be subject to external disturbance and not modeling affect dynamically, and adaptive instantaneous property can't guarantee.
Summary of the invention
The present invention is directed to existing control method based on acceleration-deceleration auxiliary reference slip rate thresholding can not fine solution stopping distance and directional balance problem.Propose a kind of based on take the wheel acceleration/accel as main, with reference to slip rate as auxiliary anti-skid brake system control method, adapt to the vehicle ABS control method of various road conditions.The wheel speed of wheel speed sensors in the line drawing braking procedure
V,When vehicle is in emergency braking, enable the ABS function, be that the ABS control unit is judged vehicle road surface of living in according to wheel acceleration/accel and the speed of two front vehicle wheels, utilize the front-wheel wheel speed difference when being decompressed to first the decompression end to change, wheel residing coefficient of road adhesion in identification both sides adopts different brake mode to vehicle front with trailing wheel according to different road surfaces.
Described judgement vehicle road surface of living in is specially: when automobile emergency brake, if the wheel acceleration/accel of a front-wheel reaches the first deceleration threshold af of decompression, the wheel speed of another front-wheel that the contrast of ABS control unit is coaxial, if the wheel speed of two wheels is poor greater than first threshold d1, then automobile is being split road traveling, if the poor d1 that is not more than of wheel speed, then at single adhesion value road traveling, when front-wheel generation acceleration/accel begins pressurize, the contrast front-wheel wheel speed when finishing that begins to reduce pressure and reduce pressure, if the wheel speed depreciation greater than Second Threshold d2, then automobile is at low adhesion value road traveling, if the wheel speed depreciation is not more than d2, then automobile is on high adhesion value road surface.Different brake mode specifically comprise, the ABS control unit is taked low selected control strategy processed and the front-wheel supercharging Strategy For Synchronization Control revised, the low selected control strategy processed of described correction comprises: the deceleration threshold that reaches decompression when low wheel acceleration of adhering to a side, when beginning to reduce pressure, be in the wheel that height adheres to a side and begin pressurize; When the positive acceleration/accel of low generation of adhering to single wheel, the low wheel that adheres to a side of control begins pressurize, and height adheres to single wheel and begins decompression, and then decompression time carries out pressurize for 50% of low attachment side wheel decompression time; When the reference slip rate of low attachment side wheel reaches the slip rate thresholding of supercharging, low attachment side wheel carries out the small step supercharging according to certain frequency, and high attachment side wheel carries out the small step supercharging by same frequency, described front-wheel supercharging Strategy For Synchronization Control is specially: this front-wheel begins decompression when 1 front-wheel acceleration/accel reaches the deceleration threshold of decompression, do not reach the deceleration threshold value of decompression such as another front-wheel acceleration/accel, and the wheel speed difference of two front-wheels is greater than wheel speed threshold value d
3Then front-wheel enters packing state, otherwise enters decompression state; As long as in pressure maintaining period, there is a wheel to reach the threshold value of supercharging, then controls two front-wheels and enter simultaneously the small step pressurized state.
In the braking procedure according to wheel speed peak value slope K
p, wheel speed depreciation and supercharging number of times identification road surface in the decompression section, when reference speed is in low speed, 4 wheels are taked the mode of long supercharging, until stop.
The vehicle ABS control method of above-mentioned adaptation various road conditions, comprise first controlled circulation and conventional controlled circulation, wheel is from emergency braking, controlled circulation is through pressurized state first, decompression state first first, and packing state is called conventional controlled circulation to decompression state control again to the small step pressurized state afterwards.
The vehicle ABS control method of above-mentioned adaptation various road conditions, control process comprise the steps: first in the controlled circulation, if slip rate S is greater than slip rate threshold value S
f, analyze wheel acceleration/accel a, if a is less than wheel acceleration threshold value a
f(a
fTherefore＜0), show that then wheel enters unstable trend, should reduce brake-pressure this moment, enters first decompression state by pressurized state first; Brake-pressure is in reducing process, and wheel transfers stable tendency to by unstable trend gradually, if wheel acceleration satisfies a〉a
b(a
b〉=0) then enters the packing state of conventional controlled circulation; In the pressure maintaining period, wheel velocity is bottom out gradually, if satisfy S＜S
zWith a〉a
zThen enter the small step pressurized state; Along with the gradually increase of brake-pressure, wheel enters unstable trend again, if satisfy S〉S
jWith a＜a
j(a
j＜0) then enters decompression state.
The vehicle ABS control method of above-mentioned adaptation various road conditions, the slip rate in the control process and wheel acceleration threshold value a
fStatistics draws by experiment.Controlled circulation is in order to allow the function of anti-lock give full play to first, should there be larger wheel speed poor, be conducive to again simultaneously under the different road surfaces the first required wheel speed difference of road identification comparability, but strong braking can not be arranged, it is unfavorable that too strong and too weak anti-lock circulation brings all for follow-up anti-lock circulation, so pressurized state will have larger slip rate threshold value and less deceleration threshold value first.The general slip rate thresholding S of decompression that enters first
fEnter the large 5%～10% of decompression than the back, wheel acceleration threshold value a
f(a
f＜0) little by 10%～15% than the back.
The vehicle ABS control method of above-mentioned adaptation various road conditions, the threshold parameter value in the control process adopt the combined value of slip rate and wheel acceleration/accel, can avoid single parameter value unusual, and the trigger gate limit value causes the misoperation of ABS.
The vehicle ABS control method of above-mentioned adaptation various road conditions, selected control system is hanged down in the front-wheel correction, the low side of adhering to enters when reducing pressure, height adheres to a side and enters pressurize, and the high side of adhering to reduces pressure as low 50% of the side of adhering to, and therefore can form a difference of pressure through after each ABS controlled circulation between two front-wheels, can avoid splitting the deviation phenomenon of vehicle when braking under the road surface, therefore the low selected control system of front-wheel correction can be used for the control on the different road surfaces of left and right sides adhesion value, namely splits the control under the road surface.
The vehicle ABS control method of above-mentioned adaptation various road conditions, front-wheel supercharging Strategy For Synchronization Control, when satisfying the decompression threshold value, a front-wheel enters decompression, wheel speed between judgement and another front-wheel is poor, size by difference determines that another front-wheel enters pressurize or decompression state, there is a front-wheel to satisfy the threshold value that enters the small step supercharging in two other front-wheel, just enter simultaneously the small step pressurized state, can avoid producing larger difference of pressure between two front-wheels under the single adhesion value road surface, therefore adopt front-wheel supercharging Strategy For Synchronization Control, can guarantee the brake direction steady on single adhesion value road surface.
Among the present invention in the method utilization of the road identification decompression section wheel speed drop-out value come road pavement to carry out identification, the proposition of the method is mainly different based on coefficient of road adhesion, it is low that to adhere to lower coefficient of road adhesion less, under the identical brake-pressure, wheel speed decline degree is at short notice adhered under the road surface large many than height, in addition because factors such as pressure hysteresises, after decompression state finishes to enter packing state, the deceleration/decel of wheel just begin by negative value become on the occasion of, this moment, wheel speed value was in trough, therefore utilize this wheel speed drop-out value constantly accurately road pavement information carry out identification.
Description of drawings
Fig. 1: ABS system architecture scheme drawing,
Fig. 2: road identification schematic flow sheet first in the circulation first,
Fig. 3: road identification schematic flow sheet in the braking procedure,
Fig. 4: conventional controlled circulation control flow chart.
The specific embodiment
In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below in conjunction with accompanying drawing.
ABS ECU main control chip can adopt 16 XC164CSs of Infineon that whole control process is processed among the present invention, the structural representation of system as shown in Figure 1, wheel speed sensors gathers the automotive wheel wheel speed, the input main control unit carries out reference speed and estimates, calculate the wheel acceleration/accel and with reference to slip rate, different wheel acceleration/accels is set and with reference to the slip rate thresholding according to different road surfaces, to ABS performance element control and regulation pressure of wheel cylinder, control automotive wheel by ABS control unit output solenoid valve control signal.
Main control unit mainly comprises wheel speed collection and processing module, reference speed estimation block, road identification module and control logic module.
(1) utilizes the wheel speed of wheel speed sensors in the line drawing Motor Vehicle Braking Procedure
v, and according to wheel speed calculating wheel acceleration/accel a and reference speed V, and then computing reference slip rate S.
Wheel speed collection and processing module gather by the speed of magneto-electric type wheel speed sensor to wheel, according to the wheel speed of current time
, and the wheel speed of previous moment
, call formula
Calculate wheel acceleration/accel a; Then according to formula
Computing reference slip rate S is by formula
The computing reference vehicle velocity V is by formula
Calculate wheel speed peak value slope K
p, wherein
Be the peak value wheel speed of current time,
Peak value wheel speed for previous moment; The wheel acceleration/accel a that draws according to above step and the braking mode of wheel is assessed with reference to slip rate S is if wheel subtracts acceleration/accel less than the a(negative value) time, think that then vehicle at emergency braking, enables the ABS function.
(2) enable the ABS function, enter first and want road pavement to carry out first identification after the controlled circulation, as shown in Figure 2, the step of first identification is as follows: (a) the wheel acceleration/accel of single front-wheel is less than setting threshold value a
fThe time, enter first decompression state, contrast simultaneously the speed of another coaxial wheel, if the speed difference of two wheels is greater than threshold value d
1, then vehicle is in and splits the road surface.If the poor d that is not more than of wheel speed
1, think that then automobile is on single adhesion value road surface; (b) on single adhesion value road surface, as front-wheel deceleration/decel a〉a
b(a
bWhen 〉=0) beginning pressurize, the wheel speed value when the contrast front-wheel begins to reduce pressure and reduce pressure end is if wheel speed is poor greater than d
2, then think low adhesion value road surface, if the poor d that is not more than of wheel speed
2, then think on high adhesion value road surface.
If reaching, the wheel acceleration/accel of any one wheel in two front-wheels sets threshold value a
f(wheel acceleration threshold value) then controlled this wheel and reduced pressure, and contrasts simultaneously the speed of another coaxial wheel, if the speed difference of two wheels is greater than d
1, think then that vehicle is in to split the adhesion value road surface.
(3) through after the above-mentioned steps, the result of road identification can draw first, and controlled circulation finishes first, enters conventional controlled circulation.Control afterwards is to some extent difference according to road identification result's first difference; Split the low selected control system of front-wheel employing correction under the adhesion value road surface, trailing wheel is according to the separately control of different coefficient of road adhesions; Under the single adhesion value road surface, front-wheel adopts the supercharging Strategy For Synchronization Control, and trailing wheel is controlled according to single adhesion value road surface.
(4) after road identification finishes first, enter conventional controlled circulation, and according to the result of road identification first, split under the road surface front-wheel and adopt and revise low selected control strategy processed, trailing wheel is independently controlled according to the road surface of identification; Front-wheel adopts synchronous boost control strategy under the single road surface, and trailing wheel adopts the independent control under the single road surface.The control flow chart of conventional controlled circulation as shown in Figure 4.
The low selected control strategy processed of revising is specially:
(a) reach the deceleration threshold of decompression when low wheel acceleration of adhering to a side, when beginning to reduce pressure, the control of ABS control unit is in the wheel that height adheres to a side and begins pressurize;
(b) when the low speed of a motor vehicle of adhering to single wheel produces positive acceleration, the low wheel that adheres to a side of ABS control unit control begins pressurize, and height adheres to single wheel and begins decompression; Then decompression time carries out pressurize for 50% of low attachment side wheel decompression time;
(c) when the reference slip rate of low attachment side wheel reaches the slip rate thresholding of supercharging, the low attachment side wheel of ABS control unit control this moment carries out the small step supercharging according to certain frequency, and high attachment side wheel carries out the small step supercharging according to same frequency.
Front-wheel supercharging Strategy For Synchronization Control comprises:
(a) reach the deceleration threshold of decompression when a front-wheel (being labeled as 1 takes turns) acceleration/accel, control it and begin decompression, and judge whether another front-wheel (being labeled as 2 takes turns) satisfies the deceleration threshold value that enters decompression, if satisfy then control it and begin decompression, if do not satisfy the wheel speed difference of further judging two front-wheels, if difference is greater than setting value then enter pressurize, otherwise enter decompression;
(b) reach gradually the deceleration threshold that enters decompression in two front-wheel pressure maintaining periods, begin decompression, 1 takes turns with 2 and takes turns the threshold value that reaches respectively setting in the decompression process and enter pressurize, as long as there is a wheel to reach the threshold value of supercharging in pressure maintaining period, two front-wheels enter the small step supercharging simultaneously.
Independent control policy specifically comprises:
(a) first in the decompression process, if the wheel decelerates degree satisfies a〉a
b(a
b〉=0), illustrate that this moment, the decline of wheel wheel speed slowed down gradually, the state of wheel also transfers stable tendency to gradually by unstable trend, therefore withdraws from first decompression state, enters the packing state of conventional brake.
(b) owing to factors such as gas hysteresis qualitys, the bottom out in pressure maintaining period of wheel wheel speed, slip rate diminishes, and it is large that the wheel acceleration/accel also becomes gradually, if satisfy S＜S
zWith a〉a
zThen enter the small step pressurized state;
(c) in the small step pressurized state, along with the gradually increase of brake-pressure, the wheel wheel speed begins rapid decline, and slip rate also increases gradually, and wheel enters unstable trend again, if satisfy S〉S
jWith a＜a
j(a
j＜0) then enters decompression state.
In the conventional controlled circulation, if when reference speed is in low speed, then withdraw from conventional controlled circulation, enter long pressurized state, the supercharging frequency is greater than the frequency in the small step supercharging in the long pressurized state, until reference speed is the zero ABS control of withdrawing from.
(5) when the road surface variation occurs in the conventional controlled circulation, just relate to the identification on the road surface in the braking procedure, as shown in Figure 3, the identification on the road surface in the braking procedure comprises following three kinds of situations:
(a) low adhering under the road surface is when decompression finishes, if two front-wheel wheel speed differences are greater than setting value d
1, showing has single wheel to enter height and adheres to the road surface, that is, entered and split the road surface this moment; In addition, the low brake-pressure that adheres under the road surface is less, so the number of times of small step supercharging is also less, therefore, when the supercharging number of times greater than m time, and the slope K of wheel speed peak value
pDuring greater than p, think that then having entered height adheres to the road surface.
(b) height adheres under the road surface, when decompression finishes, if two front-wheel wheel speed differences are greater than setting value d
1, show that having this moment single wheel to enter to hang down adheres to the road surface, namely enters and splits the road surface; In addition, height adheres under the road surface, and coefficient of road adhesion is larger, and the fluctuation of wheel wheel speed is less, and therefore, the wheel prompt drop aviation value when the decompression of two front-wheels finishes is greater than setting value d
2The time, then think to have entered the low road surface of adhering to.
(c) split under the road surface, when height adheres to a side wheel prompt drop value greater than setting value d
2The time, think that this moment, wheel entered the low road surface of adhering to; When the low number of times that adheres to a side small step supercharging during greater than n time, thinking that wheel has entered height at this moment adheres to the road surface.
For the control on single road surface, front-wheel adopts the supercharging synchro control, and trailing wheel adopts the control method on single road surface.Utilize wheel speed depreciation and supercharging number of times identification road surface in wheel speed peak value slope K p, the decompression section, when reference speed is in low speed, 4 wheels are taked the mode of long supercharging, until stop.
Supercharging number of times m, n in the above-mentioned control step and wheel speed difference threshold d
1, d
2Be the empirical value that draws by stand and road operation test, its value is determined by the speed of a motor vehicle, is directly proportional with the speed of a motor vehicle.
Above-mentioned wheel acceleration and slip rate threshold value are by a large amount of stands and the different empirical values that draw of road operation test according to the road surface situation.Enter the wheel accekeration a of packing state
bPreferable range be 0 ~ 1.5m/s
2Between; Enter the slip rate threshold value S of pressurized state
zPreferable range be between 10% ~ 15%, wheel acceleration threshold value a
zPreferable range be 4m/s
2~ 6 m/s
2Between; Enter the slip rate threshold value S of decompression state
jPreferable range be between 25% ~ 35%, wheel acceleration threshold value a
jPreferable range be-18 m/s
2~-25 m/s
2Between.
In the control method that adopts among the present invention, the threshold parameter value adopts the combined value of slip rate and wheel acceleration/accel, avoids so single parameter value unusual, and the trigger gate limit value causes the misoperation of ABS.Road identification adopts wheel speed depreciation and the supercharging number of times in wheel speed peak value slope, the decompression section to consider, improved greatly the accuracy of road identification, front-wheel adopts and revises low selected control system and Strategy For Synchronization Control in control policy in addition, has well solved the long problem of brake direction steady and stopping distance.
Claims (6)
1. a vehicle ABS control method that adapts to various road conditions is characterized in that, may further comprise the steps: the wheel speed of wheel speed sensors in the line drawing braking procedure
V,When vehicle is in emergency braking, enable the ABS function, be that the ABS control unit is judged vehicle road surface of living in according to wheel acceleration/accel and the speed of front vehicle wheel, utilize the front vehicle wheel wheel speed difference when being decompressed to first the decompression end to change, the residing coefficient of road adhesion of identification both sides wheel, the ABS control unit is taked low selected control strategy processed and the front-wheel supercharging Strategy For Synchronization Control revised, the low selected control strategy processed of described correction comprises: the deceleration threshold that reaches decompression when low adhesion value road surface single wheel acceleration/accel, begin decompression, be in high adhesion value road surface single wheel and begin pressurize; When low adhesion value road surface single wheel produced positive acceleration/accel, the wheel of the low adhesion value road surface of control one side began pressurize, and high adhesion value road surface single wheel begins decompression, then carries out pressurize; When the reference slip rate of low adhesion value road surface side wheel reaches the slip rate thresholding of supercharging, low adhesion value road surface side wheel carries out the small step supercharging, and high adhesion value road surface side wheel carries out the small step supercharging by same frequency, described front-wheel supercharging Strategy For Synchronization Control is specially: this front-wheel begins decompression when 1 front-wheel acceleration/accel reaches the deceleration threshold of decompression, do not reach the deceleration threshold value of decompression such as another front-wheel acceleration/accel, and the wheel speed difference of two front-wheels during greater than the wheel speed threshold value front-wheel enter packing state, otherwise enter decompression state; In pressure maintaining period, reach the supercharging threshold value if any a wheel, then control two front-wheels and enter simultaneously the small step pressurized state.
2. vehicle ABS control method according to claim 1, it is characterized in that, described judgement vehicle road surface of living in is specially: when automobile emergency brake, if the wheel acceleration/accel of a front-wheel reaches the first deceleration threshold af of decompression, the wheel speed of another front-wheel that the contrast of ABS control unit is coaxial, if the wheel speed of two front-wheels is poor greater than first threshold d1, then automobile is being split road traveling, if the poor d1 that is not more than of wheel speed, then automobile is at single adhesion value road traveling, when front-wheel generation acceleration/accel begins pressurize, the contrast front-wheel wheel speed when finishing that begins to reduce pressure and reduce pressure, if the wheel speed depreciation greater than Second Threshold d2, then automobile is at low adhesion value road traveling, if the wheel speed depreciation is not more than d2, then automobile is at high adhesion value road traveling.
3. vehicle ABS control method according to claim 1, it is characterized in that the ABS control unit utilizes wheel speed depreciation and the supercharging number of times identification road surface in wheel speed peak value slope K p, the decompression section, when reference speed is in low speed, 4 wheels are taked the mode of long supercharging, until stop.
4. vehicle ABS control method according to claim 2 is characterized in that, described wheel speed difference threshold d
1, d
2Value be directly proportional with the speed of a motor vehicle.
5. one of them described vehicle ABS control method is characterized in that according to claim 2-3, and the deceleration threshold af of decompression satisfies the first principle of large rate of braking first, is set to negative value.
6. vehicle ABS control method according to claim 3 is characterized in that, according to
Calculate described wheel speed peak value slope, wherein
Be the wheel speed peak value of current time,
Be the wheel speed peak value of previous moment,
Be the time difference.
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| CN103287411B (en) * | 2013-06-09 | 2015-02-25 | 重庆邮电大学 | Method for controlling anti-lock system of four-hub-motor drive electric car free of hydraulic braking |
| CN106004836A (en) * | 2016-05-30 | 2016-10-12 | 北京小米移动软件有限公司 | Anti-lock method and device of automobile |
| CN109591819A (en) * | 2017-09-28 | 2019-04-09 | 郑州宇通客车股份有限公司 | A kind of pure electric vehicle torque control method and system |
| CN108956153A (en) * | 2018-04-27 | 2018-12-07 | 东华大学 | A kind of automobile anti-lock braking detection method based on RBF radial base neural net |
| TWI663093B (en) * | 2018-09-28 | 2019-06-21 | Tektro Technology Corporation | Control mehotd for anti-lock braking and anti-lock braking control system |
| CN109733410A (en) * | 2018-12-21 | 2019-05-10 | 浙江万安科技股份有限公司 | A kind of real-time pavement identification method of ABS and system |
| CN112622851B (en) * | 2019-10-08 | 2021-12-10 | 财团法人车辆研究测试中心 | Brake control method according to road surface friction characteristics |
| CN112046456A (en) * | 2020-08-19 | 2020-12-08 | 宝能(广州)汽车研究院有限公司 | Anti-lock control method and control device for electro-hydraulic composite braking |
| CN111959469B (en) * | 2020-08-21 | 2022-08-09 | 上海拿森汽车电子有限公司 | Wheel anti-lock control method and device and vehicle |
| CN113879269A (en) * | 2021-11-10 | 2022-01-04 | 安徽江淮汽车集团股份有限公司 | ABS control strategy for bumpy road surface |
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