CN103600635A - Automobile balance device capable of preventing side tilt and forward tilt of automobile, and control method thereof - Google Patents
Automobile balance device capable of preventing side tilt and forward tilt of automobile, and control method thereof Download PDFInfo
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- CN103600635A CN103600635A CN201310571330.1A CN201310571330A CN103600635A CN 103600635 A CN103600635 A CN 103600635A CN 201310571330 A CN201310571330 A CN 201310571330A CN 103600635 A CN103600635 A CN 103600635A
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Abstract
The invention discloses an automobile balance device capable of preventing side tilt and forward tilt of an automobile, and a control method thereof. The automobile balance device comprises a sensor module, an ECU (electronic control unit), and an airbag. The sensor module comprises a wheel speed sensor, a steering wheel sensor, and a brake sensor. The wheel speed sensor, the steering wheel sensor and the brake sensor are connected to the input end of the ECU respectively. The airbag is disposed between a wheel arm shaft and an automobile body. The airbag comprises a flexible main gas chamber connected with the automobile body and a rigid auxiliary gas chamber connected with the wheel arm shaft. The flexible main gas chamber and the rigid auxiliary gas chamber are connected or disconnected through an airbag electromagnetic valve. The automobile balance device and the control method thereof have the advantages that the automobile balance device is more accurate and faster, forward tilt and side tilt caused by sudden braking and cornering of the automobile can be eliminated better, and the automobile is more comfortable; the automobile balance device is compact in structure and never produces evident interfering motion; the airbag is adopted, and the automobile balance device is reasonable in price and easy to manufacture.
Description
Technical field
The present invention relates to automobile technical field, particularly a kind of automobile balancing unit and control method thereof that prevents that automobile side from tilting, leaning forward.
Background technology
Along with people's growth in the living standard, people are also more and more higher for the comfort level requirement of life, the main flow of the vehicle that automobile slowly becomes people's working, the tourism of going on a journey is chosen now.Yet automobile is when slowing down, and automobile is because the effect generation of inertia is leaned forward, and passenger easily leans forward with vehicle body, can make passenger feel under the weather; When turning, vehicle body, also easily makes passenger uncomfortable left easily or right bank.And in existing automobile balancing unit, have balance apparatus for vehicle turning, but can not accomplish that automobile also can guarantee the balance of automobile when slowing-down brake simultaneously.Also utilize automobile absorber to guarantee automobile balance, and this device can not be accomplished automobile balance by failure-free, the structure that other device has is very complicated, somely by single pendulum principle, is subject to External force interference, and unreliable.
Summary of the invention
Technical matters to be solved by this invention is, for the deficiencies in the prior art, a kind of automobile balancing unit and control method thereof that prevents that automobile side from tilting, leaning forward is provided, reaching at car deceleration, while turning, reduces the object that automobile leaned forward, rolled problem.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind ofly prevent that automobile side from tilting, the automobile balancing unit leaning forward, comprise sensor assembly, electronic control unit ECU, air bag, described sensor assembly comprises the wheel speed sensors that is arranged on wheel side, be arranged on the steering wheel sensor on bearing circle, be arranged on the brake sensor on brake pedal, described wheel speed sensors, steering wheel sensor and brake sensor are connected with the input end of electronic control unit ECU respectively, described air bag is arranged between wheel arm axle and vehicle body, described air bag comprises the Flexible Main air chamber being connected with vehicle body, the rigidity accessory air-space being connected with wheel arm axle, between described Flexible Main air chamber and rigidity accessory air-space, by air bag solenoid control, be communicated with/isolate, described air bag electromagnetic valve is connected with electronic control unit ECU.
Described electronic control unit ECU, for trampling rate signal according to the road speed signal of wheel speed sensors collection, the wheel steering signal of steering wheel sensor collection, brake pedal, brake, the turning purpose of judgement chaufeur, control the switch motion of air bag electromagnetic valve then.
Between described wheel arm axle and vehicle body, be connected with axle spring.
Described wheel arm axle is provided with suspension bumper.
Under described air bag electromagnetic valve open mode, the Flexible Main air chamber of described air bag is connected with rigidity accessory air-space, and under described air bag closed electromagnetic valve state, Flexible Main air chamber and the rigidity accessory air-space of described air bag are isolated.
Described air bag electromagnetic valve adopts port switch air valve.
Described air bag comprises the left front air bag that is connected between front left wheel arm axle and vehicle body, be connected to left back air bag between left back wheel arm axle and vehicle body, be connected to right front air bag between right front wheel arm axle and vehicle body, be connected to the right back air bag between right rear wheel arm axle and vehicle body.
A balance control method that prevents the automobile balancing unit that automobile side tilts, leans forward, described method comprises the following steps:
A) when brake deceleration, described electronic control unit ECU tramples situation signal data according to the vehicle speed signal of described wheel speed sensors and brake sensor transmission and brake pedal, by the contrast speed of a motor vehicle (V with original start
0), brake pedal tramples speed (λ
0) high speed that relatively judges chaufeur is stopped slowly, high speed emergency brake, low speed emergency brake and low speed are stopped four kinds of brake purposes slowly, when low speed slowly in a flash, described electronic control unit ECU ignores signal, all air bag electromagnetic valves are all failure to actuate, during other three kinds of states, described all air bag closed electromagnetic valve signals are controlled in described electronic control unit ECU output, make all air bag main gas tank and accessory air-space blocking-up, improve air bag rigidity, slow down the inclination degree of vehicle;
B), when automobile turning, described electronic control unit ECU is according to vehicle speed signal and the bearing circle tach signal data of described wheel speed sensors and steering wheel sensor transmission, by the original contrast speed of a motor vehicle (V with setting
0), bearing circle rotating speed (ω
0) relatively judge that chaufeur high speed is curved greatly, little curved, the large curved and little curved four kinds of turning purposes of low speed of low speed of high speed, when low speed large when curved described electronic control unit ECU ignore signal, all air bag electromagnetic valves are all failure to actuate, while turning under other three kinds of states, described all air bag closed electromagnetic valve signals are controlled in described electronic control unit ECU output, make corresponding air bag main gas tank and accessory air-space blocking-up, improve air bag rigidity, slow down the inclination degree of vehicle.
When the not super default original value of signal value that described electronic control unit ECU judgement wheel speed sensors, brake sensor and steering wheel sensor transmit, after the 1 second time of time delay, system is controlled all air bag electromagnetic valves and is continued to stay open state.
The present invention adopts said structure and method, has the following advantages: 1, adopt control unit ECU automatically to control, and more accurate, fast, can better eliminate leaning forward that automobile emergency brake is slowed down, turning produces, and roll, increase the traveling comfort of automobile; 2, the present invention is arranged on wheel arm axle, does not take other spaces of automobile, and structure is compact, does not produce any interfering movement; 3, use air bag, reasonable price, easy to manufacture; Air bag controlled is that simple switch is controlled, and cost is low.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation;
Fig. 1 is that in the present invention, air bag is connected to the structural representation between wheel arm axle and vehicle body;
Fig. 2 is that in the present invention, balancing device is arranged on the structural representation on vehicle;
Fig. 3 is control logic structured flowchart of the present invention;
In Fig. 1～Fig. 3,1, wheel speed sensors; 2, bearing circle; 3, steering wheel sensor; 4, brake pedal; 5, brake sensor; 6, wheel arm axle; 7, vehicle body; 8, Flexible Main air chamber; 9, rigidity accessory air-space; 10, air bag electromagnetic valve; 11, axle spring; 12, suspension bumper.
The specific embodiment
A kind ofly as shown in FIG. 1 to 3 prevent that automobile side from tilting, the automobile balancing unit leaning forward, comprise sensor assembly, electronic control unit ECU, air bag, described sensor assembly comprises the wheel speed sensors 1 that is arranged on wheel side, be arranged on the steering wheel sensor 3 on bearing circle 2, be arranged on the brake sensor 5 on brake pedal 4, wheel speed sensors 1, steering wheel sensor 3 and brake sensor 5 are connected with the input end of electronic control unit ECU respectively, air bag is arranged between wheel arm axle 6 and vehicle body 7, described air bag comprises the Flexible Main air chamber 8 being connected with vehicle body, the rigidity accessory air-space 9 being connected with wheel arm axle 6, between Flexible Main air chamber 8 and rigidity accessory air-space 9, by air bag electromagnetic valve 10, control and be communicated with/isolate, air bag electromagnetic valve 10 is connected with electronic control unit ECU.Described wheel speed sensors is responsible for the speed of operation signal of measured automobiles and is passed to electronic control unit ECU; Described steering wheel sensor is arranged on bearing circle, and by the tach signal of monitoring direction dish, the turning purpose of reflection chaufeur also passes to described ECU (Electrical Control Unit); Described brake behavior sensor is trampled speed by monitoring brake pedal, and the turning purpose of reflection chaufeur also passes to described ECU (Electrical Control Unit); Whether electronic control unit ECU controls described major and minor air chamber UNICOM by the switch of controlling it, indirectly controls the rigidity size variation of described right back air bag.
Electronic control unit ECU is core controller of the present invention, its role is to receive the each several part signal that described Sensor section transmits and makes analyzing and processing, spreads out of the switch motion that control signal is controlled corresponding air bag electromagnetic valve.Electronic control unit ECU is by wheel sensor, and steering wheel sensor, and brake and the turning purpose of brake behavior Sensor monitoring chaufeur, control with control unit EUC failure-free the inclination that four air bags slow down vehicle body.
Electronic control unit ECU, for the road speed signal gathering according to wheel speed sensors 1, wheel steering signal, the brake pedal 4 that steering wheel sensor 3 gathers, trample rate signal, brake, the turning purpose of judgement chaufeur, control the switch motion of air bag electromagnetic valve 10 then.Between wheel arm axle 6 and vehicle body 7, be connected with axle spring 11.Wheel arm axle 6 is provided with suspension bumper 12.Under air bag electromagnetic valve 10 open modes, the Flexible Main air chamber 8 of air bag is connected with rigidity accessory air-space 9, and under air bag electromagnetic valve 10 closed conditions, the Flexible Main air chamber 8 of air bag is isolated with rigidity accessory air-space 9.Air bag electromagnetic valve 10 adopts port switch air valve.
Air bag comprises the left front air bag that is connected between front left wheel arm axle and vehicle body, be connected to left back air bag between left back wheel arm axle and vehicle body, be connected to right front air bag between right front wheel arm axle and vehicle body, be connected to the right back air bag between right rear wheel arm axle and vehicle body.
A balance control method that prevents the automobile balancing unit that automobile side tilts, leans forward, method comprises the following steps:
During automobile normal running, all air bag electromagnetic valves are in normally open, corresponding air bag main gas tank and accessory air-space UNICOM, and the rigidity of each air bag is now in lower state, between vehicle bridge and vehicle body, suspension system is mainly leaned in the transmission of power, and the power that air bag transmits is less;
When brake deceleration, described electronic control unit ECU tramples situation signal data according to the vehicle speed signal of described wheel speed sensors and brake sensor transmission and brake pedal, by the contrast vehicle velocity V with original start
0, brake pedal tramples speed λ
0the high speed that relatively judges chaufeur is stopped slowly, high speed emergency brake, low speed emergency brake and the low speed four kinds of brake purposes of stopping slowly, when low speed slowly in a flash, described electronic control unit ECU ignores signal, all air bag electromagnetic valves are all failure to actuate, during other three kinds of states, each described air bag closed electromagnetic valve signal is controlled in described electronic control unit ECU output, make each air bag main gas tank and accessory air-space blocking-up, improve the rigidity of all air bags, between vehicle bridge and vehicle body, the transmission of power is by suspension system and air bag combined action, its action effect is just equivalent to improve the suspension rate of vehicle front, can slow down the effect leaning forward that automobile is caused by brake deceleration, by the contrast vehicle velocity V with original start
0, brake pedal tramples speed λ
0the situation that the high speed that relatively judges chaufeur is stopped slowly, high speed emergency brake, low speed emergency brake and low speed are stopped four kinds of purposes of braking is slowly as shown in Table 1:
Table 1
When automobile turning, described electronic control unit ECU is according to vehicle speed signal and the bearing circle tach signal data of described wheel speed sensors and steering wheel sensor transmission, by the original contrast vehicle velocity V with setting
0, bearing circle rotational speed omega
0relatively judge chaufeur little curved, the large curved and little curved four kinds of turning purposes of low speed of low speed of curved greatly, high speed at a high speed, when low speed large when curved described electronic control unit ECU ignore signal, all air bag electromagnetic valves are all failure to actuate, while turning under other three kinds of states, each described air bag closed electromagnetic valve signal is controlled in described electronic control unit ECU output, make corresponding air bag main gas tank and accessory air-space blocking-up, improve air bag rigidity, can slow down the caused inclination phenomenon of automobile turning, increase the traveling comfort of automobile.By the original contrast vehicle velocity V with setting
0, bearing circle rotational speed omega
0relatively judge chaufeur at a high speed large curved the and little curved four kinds of turning purposes of low speed of little curved, the low speed of curved greatly, high speed situation as shown in Table 2:
| ? | V 0（Km/h） | ω 0（rad/s） |
| Curved greatly at a high speed | ≥60 | ＜π/2 |
| High speed is little curved | ≥60 | ≥π/2 |
| Low speed is curved greatly | ＜60 | ＜π/2 |
| Low speed is little curved | ＜60 | ≥π/2 |
Table 2
When the not super default original value of signal value that described electronic control unit ECU judgement wheel speed sensors, brake sensor and steering wheel sensor transmit, after the 1 second time of time delay, system is controlled all air bag electromagnetic valves and is continued to stay open state.
During original design of the present invention, can be by changing the ratio of each air bag main gas tank and accessory air-space volume, to mate different automobile types.The contrast speed of a motor vehicle (V
0), bearing circle rotating speed (ω
0), brake pedal tramples speed (λ
0) size by car production producer, according to different automobile types or environment for use, set, also can set according to the specific (special) requirements of chaufeur, the foundation as the brake of ECU (Electrical Control Unit) judgement chaufeur with turning purpose, thereby meet different driver requested.
The present invention is the ratio with accessory air-space volume by each air bag main gas tank of adjustment, coordinates inside air bag air pressure of the present invention to the not conspiracy relation between the interference of suspension system and its functional reliability.The input end of electronic control unit ECU is connected with load module, the speed of a motor vehicle, bearing circle rotating speed and the brake pedal that can manually input contrast are trampled the size of speed, the foundation of the purpose that changes electronic control unit ECU judgement chaufeur brake and turn, thus meet different driver requested.
By reference to the accompanying drawings the present invention is exemplarily described above; obviously specific implementation of the present invention is not subject to the restrictions described above; as long as the various improvement that adopted method design of the present invention and technical scheme to carry out; or directly apply to other occasion without improvement, all within protection scope of the present invention.
Claims (9)
1. one kind prevents that automobile side from tilting, the automobile balancing unit leaning forward, it is characterized in that: comprise sensor assembly, electronic control unit ECU, air bag, described sensor assembly comprises the wheel speed sensors (1) that is arranged on wheel side, be arranged on the steering wheel sensor (3) on bearing circle (2), be arranged on the brake sensor (5) on brake pedal (4), described wheel speed sensors (1), steering wheel sensor (3) and brake sensor (5) are connected with the input end of electronic control unit ECU respectively, described air bag is arranged between wheel arm axle (6) and vehicle body (7), described air bag comprises the Flexible Main air chamber (8) being connected with vehicle body, the rigidity accessory air-space (9) being connected with wheel arm axle (6), between described Flexible Main air chamber (8) and rigidity accessory air-space (9), by air bag electromagnetic valve (10), control and be communicated with/isolate, described air bag electromagnetic valve (10) is connected with electronic control unit ECU.
2. a kind of automobile balancing unit that prevents that automobile side from tilting, leaning forward according to claim 1, it is characterized in that: described electronic control unit ECU, for the road speed signal gathering according to wheel speed sensors (1), wheel steering signal, the brake pedal (4) that steering wheel sensor (3) gathers, trample rate signal, brake, the turning purpose of judgement chaufeur, control the switch motion of air bag electromagnetic valve (10) then.
3. a kind of automobile balancing unit that prevents that automobile side from tilting, leaning forward according to claim 1, is characterized in that: between described wheel arm axle (6) and vehicle body (7), be connected with axle spring (11).
4. according to a kind of automobile balancing unit that prevents that automobile side from tilting, leaning forward described in claim 1 or 3, it is characterized in that: described wheel arm axle (6) is provided with suspension bumper (12).
5. a kind of automobile balancing unit that prevents that automobile side from tilting, leaning forward according to claim 1, it is characterized in that: under described air bag electromagnetic valve (10) open mode, the Flexible Main air chamber (8) of described air bag is connected with rigidity accessory air-space (9), under described air bag electromagnetic valve (10) closed condition, the Flexible Main air chamber (8) of described air bag is isolated with rigidity accessory air-space (9).
6. a kind of automobile balancing unit that prevents that automobile side from tilting, leaning forward according to claim 1 or 5, is characterized in that: described air bag electromagnetic valve (10) adopts port switch air valve.
7. a kind of automobile balancing unit that prevents that automobile side from tilting, leaning forward according to claim 1, is characterized in that: described air bag comprises the left front air bag that is connected between front left wheel arm axle and vehicle body, be connected to left back air bag between left back wheel arm axle and vehicle body, be connected to right front air bag between right front wheel arm axle and vehicle body, be connected to the right back air bag between right rear wheel arm axle and vehicle body.
8. according to the balance control method that prevents the automobile balancing unit that automobile side tilts, leans forward described in claim 1-7 any one, it is characterized in that: described method comprises the following steps:
A) when brake deceleration, described electronic control unit ECU tramples situation signal data according to the vehicle speed signal of described wheel speed sensors and brake sensor transmission and brake pedal, by the contrast speed of a motor vehicle (V with original start
0), brake pedal tramples speed (λ
0) high speed that relatively judges chaufeur is stopped slowly, high speed emergency brake, low speed emergency brake and low speed are stopped four kinds of brake purposes slowly, when low speed slowly in a flash, described electronic control unit ECU ignores signal, all air bag electromagnetic valves are all failure to actuate, during other three kinds of states, described all air bag closed electromagnetic valve signals are controlled in described electronic control unit ECU output, make all air bag main gas tank and accessory air-space blocking-up, improve air bag rigidity, slow down the inclination degree of vehicle;
B), when automobile turning, described electronic control unit ECU is according to vehicle speed signal and the bearing circle tach signal data of described wheel speed sensors and steering wheel sensor transmission, by the original contrast speed of a motor vehicle (V with setting
0), bearing circle rotating speed (ω
0) relatively judge that chaufeur high speed is curved greatly, little curved, the large curved and little curved four kinds of turning purposes of low speed of low speed of high speed, when low speed large when curved described electronic control unit ECU ignore signal, all air bag electromagnetic valves are all failure to actuate, while turning under other three kinds of states, described all air bag closed electromagnetic valve signals are controlled in described electronic control unit ECU output, make corresponding air bag main gas tank and accessory air-space blocking-up, improve air bag rigidity, slow down the inclination degree of vehicle.
9. the balance control method that prevents the automobile balancing unit that automobile side tilts, leans forward according to claim 8, it is characterized in that: when the not super default original value of signal value that described electronic control unit ECU judgement wheel speed sensors, brake sensor and steering wheel sensor transmit, after the 1 second time of time delay, system is controlled all air bag electromagnetic valves and is continued to stay open state.
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| CN201310571330.1A CN103600635B (en) | 2013-11-15 | 2013-11-15 | Automobile balance device capable of preventing side tilt and forward tilt of automobile, and control method thereof |
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Cited By (7)
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|---|---|---|---|---|
| CN103863308A (en) * | 2014-03-28 | 2014-06-18 | 石春 | Electronic active control system for preventing skewing of electric vehicle |
| CN107031330A (en) * | 2016-12-05 | 2017-08-11 | 安徽江淮汽车集团股份有限公司 | Automobile anti-nod control system and control method, damper |
| CN107303791A (en) * | 2016-04-21 | 2017-10-31 | 山东科技大学 | A kind of vehicle active suspension vehicle body attitude control system |
| CN108394404A (en) * | 2017-02-06 | 2018-08-14 | 北京凌云智能科技有限公司 | Control method, system and the device of Vehicular turn |
| CN109205404A (en) * | 2018-10-31 | 2019-01-15 | 国网河南省电力公司平顶山供电公司 | A kind of open air construction of line retractable cable equipment |
| CN110873143A (en) * | 2018-08-29 | 2020-03-10 | 郑州宇通客车股份有限公司 | Variable-stiffness air spring system, vehicle and vehicle stability control method |
| CN114030331A (en) * | 2021-10-14 | 2022-02-11 | 山东交通学院 | Rollover prevention system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103863308A (en) * | 2014-03-28 | 2014-06-18 | 石春 | Electronic active control system for preventing skewing of electric vehicle |
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| CN110873143A (en) * | 2018-08-29 | 2020-03-10 | 郑州宇通客车股份有限公司 | Variable-stiffness air spring system, vehicle and vehicle stability control method |
| CN109205404A (en) * | 2018-10-31 | 2019-01-15 | 国网河南省电力公司平顶山供电公司 | A kind of open air construction of line retractable cable equipment |
| CN114030331A (en) * | 2021-10-14 | 2022-02-11 | 山东交通学院 | Rollover prevention system |
| CN114030331B (en) * | 2021-10-14 | 2023-09-12 | 山东交通学院 | Rollover prevention system |
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