CN103625459A - Automobile service braking efficiency dynamic monitoring and alarming system - Google Patents
Automobile service braking efficiency dynamic monitoring and alarming system Download PDFInfo
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- CN103625459A CN103625459A CN201210311112.XA CN201210311112A CN103625459A CN 103625459 A CN103625459 A CN 103625459A CN 201210311112 A CN201210311112 A CN 201210311112A CN 103625459 A CN103625459 A CN 103625459A
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Abstract
The invention provides an automobile service braking efficiency dynamic monitoring and alarming system, and belongs to the fields of automobile electronics and safety technologies. The system is characterized in that an output end of an original automobile card reader, an output end of an original automobile CAN bus, an output end of a gyroscope and an output end of a brake pedal sensor are connected with an input end of an information collection and control unit respectively; firstly, the information collection and control unit collects automobile pitch angles through the gyroscope, and the gradient of a monitored road is not more than 1%; secondly, the information collection and control unit detects the maximum deceleration of an automobile in the ABS working process, and the adhesion coefficient of the monitored road is not less than 0.7; thirdly, the information collection and control unit eliminates working conditions like pits, deceleration strips and road steps according to the maximum braking deceleration of the automobile; fourthly, the information collection and control unit monitors brake pedal strokes through the brake pedal displacement sensor so as to distinguish emergent brake working conditions. The CAN bus is used for collecting ABS wheel speed signals, the initial speed of braking is estimated in a maximum wheel speed method, MFDD is computed in real time combined with braking deceleration signals and is compared with a pre-stored standard value, and the compared result is sent to the alarming device to give an alarm to a driver. The automobile service braking efficiency dynamic monitoring and alarming system can carry out on-line monitoring and estimation on service braking efficiency and can be a great help for preventing traffic accidents caused by service braking efficiency abnormity, and is simple in structure, easy to realize and low in cost.
Description
Technical field
The dynamic monitoring of running brake efficiency and warning belong to vehicle electronics and safety method field.
Background technology
Automobile brake perfrmance is one of key factor of safe driving, is also one of important indicator of automobile safety testing.Deceleration and stopping performance regularly detects according to national relevant regulations, and guarantee driving safety has been played to vital function.Analyze national road traffic accident situation in 2009, in all traffic accidents, because the ratio of self-propelled vehicle mechanical breakdown accounts for 5% left and right, and because braking traffic accident former thereby that directly cause accounts for 60% left and right of total mechanical failure accident number, because the traffic accident that braking reason causes is still of common occurrence, shorten sense cycle and can increase cost again.Along with the development of electronics integrated chip technology and sensor detecting, in certain error allowed band, deceleration and stopping performance checks required various parameters can measure online; The correlative study of monitoring and evaluating about deceleration and stopping performance at present, mostly for stand test and road operation test.Correlative study about vehicle braking performances on-line monitoring and assessment technique is less.Therefore, be necessary to develop the dynamic monitoring of a kind of running brake efficiency and warning, realize and in vehicle operating process, deceleration and stopping performance being monitored and abnormal alarm, further support vehicles safe in operation.
Summary of the invention
The object of the invention is developed the dynamic monitoring of a kind of running brake efficiency and warning exactly, and this system at line computation MFDD, and guarantees the precondition that MFDD calculates in car brakeing process, comprises that 1. road surface is smooth, detects road gradient and should not be greater than 1%; 2. driving engine is thrown off, and detects clutch pedal switch signal during braking; 3. the adhesion value between tire and road surface should not be less than 0.7.By Real-Time Monitoring MFDD situation of change, to judge whether running brake efficiency meets laws and regulations requirement, and remind in time chaufeur to take safety measures, driving ensures safety.This monitoring and warning are monitored running brake efficiency on the whole, when declining, its service brake usefulness to chaufeur, provides early warning information in time, what is more important can be carried out on-line evaluation to the service brake usefulness of vehicle, chaufeur should initiatively go detecting test station to detect according to alarm message, confirm and eliminate safe hidden trouble, guarantee driving safety.Alarm message can also transfer to monitoring and control centre by telecommunication module, when finding that vehicle occurs that deceleration and stopping performance is not up to standard continuously or repeatedly, can notify it to detect and keep in repair.
The present invention is the important content of vehicle operational safety performance monitoring, and by the Real-Time Monitoring to running brake efficiency, the state of judgement running brake efficiency, provides alarm message to chaufeur in non-compliant situation in time, prevention traffic accident.This running brake efficacy monitoring and the warning structure on hardware forms as shown in Figure 1.
This system is utilized gyroscope collection vehicle pitch angle, and monitoring road gradient is not more than 1%; Detect ABS on period vehicle maximum deceleration, monitoring coefficient of road adhesion is not less than 0.7; Utilize gyroscope to gather braking deceleration, according to vehicle maximum braking deceleration, got rid of the operating modes such as pit, deceleration strip, rank, road even collide; Use brake pedal displacement pickup, brake-pedal travel is monitored, distinguish emergency braking operating mode.By CAN bus, gather ABS wheel speed signal, by maximum wheel speed method, initial speed of braking is estimated, in conjunction with braking deceleration speed signal, calculate in real time MFDD.Pre-stored this vehicle driving brake efficiency of information acquisition and control unit is good and meet the MFDD value in the situation of national Hong Kong standard basic demand, in vehicle operating process, the situation of change of Real-Time Monitoring MFDD, if exist the reasons such as braking dielectric leakage, brake component wearing and tearing, overload to cause the reduction of service brake usefulness, corresponding MFDD value reduces.As shown in Figure 2, curve 1 is the curve under vehicle driving brake efficiency good situations, if service brake usefulness reduces, may become the curve shown in curve 2.Information acquisition and control unit are according to certain decision criteria, and judging whether to provide the braking alarm message that effect reduces to chaufeur, to remind chaufeur.The situation of change of all right periodic logging automobile MFDD value of information acquisition and control unit, the trend that prediction service brake usefulness changes, for chaufeur provides early warning information, help chaufeur to pinpoint the problems early, guarantee that vehicle can move under driving brake efficiency good situations.
The present invention by calculating in real time MFDD value situation of change in braking procedure, the variation of monitoring service brake usefulness, its outstanding feature is embodied in: first, broken through the restriction of road examination check vehicle service brake usefulness, realized vehicle driving brake efficiency on-line monitoring and evaluation.The second, the situation of brake monitoring system, carries out respectively the device of monitoring alarm and compares with single parts on the whole, has both increased the reliability of system, has reduced again cost; The 3rd, can record the whole process that service brake usefulness changes, can predict the trend that service brake usefulness changes, the traffic accident that prevention is caused extremely because of service brake usefulness has great help; The 4th, warning both can adopt the mode of voice reading, also can adopt the mode of buzzing to carry out, and the degree that can change according to service brake usefulness adopts the mode of classification that the warning of different stage is provided to chaufeur; The 5th, system architecture is simple, is easy to realize, with low cost, both can in vehicle newly developed, apply, and also can use with repacking on car.
Accompanying drawing explanation
Fig. 1 running brake efficiency on-line monitoring and warning structural representation
Fig. 2 running brake efficiency (MFDD) curve
Each module relation diagram in Fig. 3 information acquisition of the present invention and control unit
The specific embodiment
Figure 1 shows that the hardware block diagram of apparatus of the present invention, it mainly comprises three parts: signal perception part, acquisition of signal and control unit, alarm unit.Below in conjunction with figure and example, each several part of the present invention is described further respectively.
1, signal perception part
Signal perception part is comprised of former car CAN bus, former car card reader, gyroscope, brake pedal sensor, former car CAN bus will send wheel speed, ABS switching value to information acquisition and control unit, former car card reader gathers carrying number and exports information acquisition to and control unit, and gyroscope collection vehicle braking deceleration, pitch angle also export information acquisition to and control unit.Brake pedal sensor perception brake-pedal travel also exports information acquisition to and control unit.
For guaranteeing the validity of early warning and the convenience of driver's operation, main frame is arranged on the top, right side of chaufeur gauge panel.
2, information acquisition and control unit
The pre-stored vehicle of information acquisition and control unit is being driven a vehicle brake efficiency well and is being met the MFDD value in relevant national standard basic demand situation.In vehicle use procedure, utilize above-mentioned signal perception part Real-time Collection MFDD to calculate and the required various parameters of condition monitoring, calculate in real time MFDD and monitor its situation of change, if if exist the vehicle side service brake usefulness because existing the reasons such as braking dielectric leakage, brake component wearing and tearing, overload to cause to reduce, MFDD value diminishes, as shown in Figure 2.Curve 1 is the curve under running brake efficiency good situations.Curve 2 is for only meeting the service brake efficacy curve of the basic demand of national standard.For example, vehicle is different from vehicle-state, and curve 2, by different, needs in advance it to be demarcated.The motorcoach that is greater than 3500kg of take is example, predetermined brake initial velocity 30km/h in < < GB 7258 self-propelled vehicle safe and technical specification > >, the mean deceleration that its fully loaded check is fully sent answers >=5.0, unloaded >=5.4, thus draw out curve 2.
The initial speed of braking of stipulating in rules is 30km/h, and when initial speed of braking increases, MFDD increases or keeps stable, so during on-line monitoring, for 30km/h and above initial speed of braking thereof, adopt the MFDD threshold value of stipulating in rules, when initial speed of braking is less than 30km/h, do not monitor.In car brakeing process, the MFDD calculating is in real time expressed as to M
f, the MFDD of curve 1 correspondence is M
1, the MFDD of curve 2 correspondences is M
2, M
2>=M
1, set alert levels G as follows:
Table 1 alert levels
| M f | G | Explanation |
| M f≥M 1 | 0 | Performance is normal |
| M f＜M 1 | 1 | Service brake usefulness declines |
Each module of information acquisition and control unit as shown in Figure 3, specifically describes as follows.
(1) passenger capacity monitoring and threshold value adjusting module
Information acquisition and control unit gather door contact interrupter signal based on former car CAN bus, when car door, open and turn while closing, and obtain former car card reader passenger capacity signal passenger capacity N, according to curve 2, adjust MFDD
min;
(2) brake monitoring module out of supply
Information acquisition and control unit are based on CAN bus collection vehicle clutch pedal switch amount signal, brake pedal switching value signal, and when the two is 1 simultaneously, vehicle starts braking out of supply.
(3) MFDD on-line monitoring
T
0for the time that brake pedal is stepped on, by CAN bus, gather the state of brake pedal.
S
b---the test speed of a motor vehicle is from V
oto V
bbetween the distance of Vehicle Driving Cycle, unit is rice (m);
S
e---the test speed of a motor vehicle is from V
oto V
ebetween the distance of Vehicle Driving Cycle, unit is rice (m).
V(t)＝V
0-a
xt (3)
Adopt maximum wheel speed method to determine initial speed of braking V
0, by acceleration pick-up, directly measure deceleration/decel a
x, simultaneous formula 1,2,3,4, calculates MFDD.
(4) road surface top rake monitoring modular
The pitch angle α that adopts gyroscope Real-time Collection vehicle, α should meet:
α＜0.6° (5)
The frequency of vehicle response is generally more than 0.5HZ, and road gradient belongs to low frequency signal, carries out LPF, by frequency, is 0.5HZ,
(5) coefficient of road adhesion monitoring modular
By CAN bus, can gather ABS mode of operation switching value, when ABS starts working, gather vehicle body longitudinal acceleration, when ABS quits work, collection stops, and selects maxim a
xmax, coefficient of road adhesion can be expressed as:
μ＝a
xmax/g (6)
(6) get rid of interference module
In braking procedure, occur that pit, deceleration strip, rank, road the operating mode such as even collide, cause the variation of braking deceleration, should give eliminating.
In normal brake application process, the equation of motion of x direction is:
ma
x＝F
Xb+F
w+F
f (7)
F
xbfor ground braking force, F
wfor air resistance, F
ffor rolling resistance.
General F
wcan provide the deceleration/decel of about 0.03g, F
fthe deceleration/decel of about 0.01g can be provided.
ma
x≤F
Xbmax+F
w+F
f (8)
a
x≤(μ+0.04)g (9)
(7) brake-pedal travel
During emergency braking, brake-pedal travel d first increases, and remains unchanged after reaching maxim, until stop.Gather brake pedal displacement transducer signal, if at 0.8V
0-0.1V
0during this time, brake-pedal travel d constantly increases and reaches maxim d
max, meet formula 7, think emergency braking.
Process description is as follows:
(1) monitoring passenger capacity N, adjusts MFDD according to curve 2
min;
(2) brake monitoring pedal switch and monitoring clutch switch, be all 1 o'clock, carries out next step, otherwise return to (2);
(3) picking rate V
0;
(4) V
0>=30km/h, is to carry out next step, otherwise returns to (2);
(5) gather braking deceleration a
x;
(6) simultaneous formula 1,8,9,10, calculate MFDD;
(7) 0.6 ° of the road gradient α < while braking, is to carry out next step, otherwise returns to (2);
(8) the coefficient of road adhesion μ=a while braking
xmax/ g > 0.7, is to carry out next step, otherwise returns to (2);
(9) the longitudinal maximum deceleration a while braking
xmax< (μ+0.04) g, is to carry out next step, otherwise returns to (2);
(10) brake-pedal travel d '>=0, and d '=0 o'clock, d=d
max, be to carry out next step, otherwise return to (2);
(11) MFDD < MFDD
min, be to report to the police, otherwise return to (2).
3, alarm unit
Alarm unit mainly comprises voice reading module and buzzer phone.The type of alarm of alarm unit is as shown in table 2
Table 2 type of alarm
| Alert levels | Describe | Buzzing | Voice |
| 1 | Warning | Buzzing frequency 1HZ | Service brake usefulness declines |
| 0 | Safety | Alarm free | Alarm free |
In sum, apparatus of the present invention comprise three parts such as signal perception, information acquisition and control unit, alarm unit.Information Perception partly utilizes former car card reader, former car CAN bus, gyroscope and brake pedal sensor to gather MFDD and calculates and the required various parameters of condition monitoring, and is entered into information acquisition and monitoring unit.Information acquisition and control unit and alarm unit are all based on same microcomputer development, its radical function is the various signals of partly exporting receiving signal perception, operation alarm algorithm, and utilize the modes such as voice reading, buzzing to provide service brake usefulness whether to reduce to chaufeur, help chaufeur to pinpoint the problems early, guarantee that vehicle can be in the lower operation in good condition of driving brake efficiency, guarantee driving safety.
Claims (2)
1. the dynamic monitoring of running brake efficiency and warning, this system comprises CAN module, former car card reader, gyroscope, brake pedal sensor, information acquisition and control unit and warning device;
CAN module receives former car CAN bus and sends wheel speed, ABS switching value, brake pedal switching value, clutch pedal switch amount and output to information acquisition and control unit, former car card reader gathers carrying number and exports information acquisition to and control unit, and gyroscope collection vehicle braking deceleration, pitch angle also export information acquisition to and control unit.Brake pedal sensor perception brake-pedal travel also exports information acquisition to and control unit.Information acquisition and control unit receive above-mentioned information and process, and according to result, signal are passed to warning device;
CAN module, former car card reader, gyroscope, brake pedal sensor output are connected with information acquisition and control unit input respectively; Information acquisition and control unit output are connected with warning device input.
Described information acquisition and control unit demarcate according to standard GB/T 7258 < < self-propelled vehicle safe and technical specification > > brake efficiency curve and the good curve of brake efficiency that meets its requirement, and the benchmark M using it as judgement vehicle brake efficacy height
1.
In car brakeing process, the MFDD calculating is in real time expressed as to M
f, the MFDD of curve 1 correspondence is M
1, the angle of roll of curve 2 correspondences is M
2, M
2>=M
1, set alert levels G as follows:
Table 1 alert levels
2. running brake efficiency according to claim 1 dynamic monitoring and warning, is characterized in that, each module principle of described information acquisition and control unit is as follows:
(1) passenger capacity monitoring and threshold value adjusting module
Information acquisition and control unit gather door contact interrupter signal based on former car CAN bus, when car door, open and turn while closing, and obtain former car card reader passenger capacity signal passenger capacity N, according to curve 2, adjust MFDD
min.
(2) brake monitoring module out of supply
Information acquisition and control unit are based on CAN bus collection vehicle clutch pedal switch amount signal, brake pedal switching value signal, and when the two is 1 simultaneously, vehicle starts braking out of supply.
(3) MFDD on-line monitoring
T
0for the time that brake pedal is stepped on, by CAN bus, gather the state of brake pedal.
S
b---the test speed of a motor vehicle is from V
oto V
bbetween the distance of Vehicle Driving Cycle, unit is rice (m);
S
e---the test speed of a motor vehicle is from V
oto V
ebetween the distance of Vehicle Driving Cycle, unit is rice (m).
V(t)＝V
0-a
xt (3)
Adopt maximum wheel speed method to determine initial speed of braking V
0, by acceleration pick-up, directly measure deceleration/decel a
x, simultaneous formula 1,2,3,4, calculates MFDD.
(4) road surface top rake monitoring modular
The pitch angle α that adopts gyroscope Real-time Collection vehicle, α should meet:
α＜0.6° (5)
The frequency of vehicle response is generally more than 0.5HZ, and road gradient belongs to low frequency signal, carries out LPF, by frequency, is 0.5HZ.
(5) coefficient of road adhesion monitoring modular
By CAN bus, can gather ABS mode of operation switching value, when ABS starts working, gather vehicle body longitudinal acceleration, when ABS quits work, collection stops, and selects maxim a
xmax, coefficient of road adhesion can be expressed as:
μ＝a
xmax/g (6)
(6) get rid of interference module
In braking procedure, occur that pit, deceleration strip, rank, road the operating mode such as even collide, cause the variation of braking deceleration, should give eliminating.
In normal brake application process, the equation of motion of x direction is:
ma
x＝F
Xb+F
w+F
f (7)
F
xbfor ground braking force, F
wfor air resistance, F
ffor rolling resistance.
General F
wcan provide the deceleration/decel of about 0.03g, F
fthe deceleration/decel of about 0.01g can be provided.
ma
x≤F
Xbmax+F
w+F
f (8)
a
x≤(μ+0.04)g (9)
(7) brake-pedal travel
During emergency braking, brake-pedal travel d first increases, and remains unchanged after reaching maxim, until stop.Gather brake pedal displacement transducer signal, if at 0.8V
0-0.1V
0during this time, brake-pedal travel d constantly increases and reaches maxim d
max, meet formula 10, think emergency braking.
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|---|---|---|---|
| CN201210311112.XA CN103625459B (en) | 2012-08-29 | 2012-08-29 | The dynamic monitoring of running brake efficiency and warning system |
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|---|---|---|---|
| CN201210311112.XA CN103625459B (en) | 2012-08-29 | 2012-08-29 | The dynamic monitoring of running brake efficiency and warning system |
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| CN103625459A true CN103625459A (en) | 2014-03-12 |
| CN103625459B CN103625459B (en) | 2018-03-16 |
Family
ID=50207027
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