CN105389411A - Anti-lock braking method and auxiliary safety system combined method capable of achieving epsilon=1 - Google Patents

Abstract

The invention relates to an anti-lock braking method and auxiliary safety system combined method capable of achieving epsilon=1. The anti-lock braking method and auxiliary safety system combined method capable of achieving epsilon=1 is a method which adopts a comprehensive active safety system combined with a part or all of systems such as ASR, ESP, VDC, EBA, EBS, ACC and the like for application and can omit all structures and programs for distributing a braking force by front and rear wheel load sensing in an ABS to implement high-accuracy distribution of the braking force under the condition of zero sideslip with epsilon=1 so as to further improve traveling safety and stability.

Description

The method that the antilock braking method of ε=1 and supplementary security system combine

The method that the antilock braking method of ε=1 and supplementary security system combine, is applied to the travel safety improving motor vehicle (example: automobile, motorcycle, electric motor car etc.), reduces traffic hazard.Also can combine with registering instrument, be applied to traffic hazard high precision from fix duty.

The prerequisite realizing adhesion coefficient utilization ε=1 identifies the peak value slip rate S corresponding with controlling road surface ₀".But there is following defect in addition in existing ABS.

1, existing ABS is to various road surface corresponding peak value slip rate S ₀" identification, body speed of vehicle Accurate Measurement also do not break through so that adhesion coefficient utilization ε still locates the ε>=0.75 i.e. level of qualified, anti-sideslip about 80%.

Define S as strict as possible ₀": S ₀" be exactly the value of brake braking force=road surface maximum braking force=adhesion equilibrium value identifiable design numerical control, Sustainable Control S ₀" effect should be the shortest braking distance of zero sideslip.

2, do not recognize that drawing beginning Slip Signal is the basis directly controlling slip rate:

Wheel produces the relation of the real-time conditions of beginning Slip Signal S ' and S ' and the speed of a motor vehicle on road surface,

Produce the real-time conditions of S ':

Producing wheel speed during S ' signal, is exactly the speed of a motor vehicle reference value calculating beginning slip rate.

In formula: the damping force of P-detent;

F-road surface damping force;

-adhesion;

Z-road surface is to the vertical reaction of wheel;

-attachment coefficient.

3, do not have to break through the random slip rate S calculated _0Vwith actual slip rate S ₀there is the identification of gap and revise difficulty.

$S_{0V}=\frac{V_b-V_0}{V_b}\×100\%---\left(2\right)$

During without slip rate: V _b=ω r

In formula: V _b-the speed of a motor vehicle;

V ₀-wheel speed;

ω-rotation of wheel angular velocity;

R-wheel effective rolling radius.

Produce the reason of gap: r is (different with tyre load , different climb and fall acts on front and back wheel has different loads to shift), the change of tire pressure, tire temperature, treadwear degree etc. and changing, the change of arbitrary one all can produce corresponding gap, adding the speed of a motor vehicle again can not the gap of Accurate Measurement, close gap comparatively large sometimes, so actual effect will inevitably be affected.

The ABS (Anti-lock Braking System) (being called for short DABS) of ε=1, technical indicator: realize ε=1, ε >=0.90, various road surface or ε >=0.95 are the zero qualified ABS (Anti-lock Braking System) of breakking away.With various supplementary security system (example: antislip control system ASR based on DABS, electronic stabilizing control system ESP, automobile dynamics control VDC, electron assistant brake system EBA, electrically controlled brake system EBS, cruise control system ACC, electric suspension system EMS etc.) part system Combination application or the whole Combination application of each system, as adopt based on DABS with various auxiliary security technical combinations, VDC just can be made to upgrade to realize the VDC-2 breakked away in ε=1 zero, just can improve active safety technologies more comprehensively, further raising travel safety, stability and comfortableness.

The present invention is to application number: the combination of 201410321344.2 improves to improve and is achieved in that first road examination actual slip rate S ₀, S ₀computing method

$S_0=\frac{{S^{\′}}_A-S_A}{{S^{\′}}_A}\×100\%-\left(3\right)$

In formula: S ' _a-wheel has the running distance of slippage;

S _athe running distance of-wheel pure rolling.

S ₀test method see embodiment 5.

The test method of value of sideslip b and computing method

Computing method:

$b\sqrt{c^2-a^2}---\left(4\right)$

The test method of b is shown in embodiment 6.

Peak value slip rate S ₀" definition

Examination ε=1, road

In formula: Fmax-road surface maximum braking force (namely conjunction resistance);

F _wthe wearing resistance of-tire excircle fair wear and tear amount Q;

S ₀"-Fmax is again without the peak value slip rate breakked away;

S _t"-peak value S ₀" braking distance (S _tthe S of test of many times number of times _t" mean value).

The corresponding S in various road surface ₀" road method for testing undertaken by the definition of formula (5)

By sliding friction law and formula (1): wheel longitudinally produces micro-sliding rate of > 0, namely proves damping force P=road adherence , can ε=1 be realized, but can't round Realization S _t", because: Fmax is adhesion (tyre surface of tire embeds the occlusion resistance on uneven road surface) adds the wearing resistance F of the even wear extent Q of tire Zhou Heli _wconjunction resistance, Q value and frictional heating temperature are with S ₀increase and increase, with friction velocity increase and increase.So different road surface, the speed of a motor vehicle have the reasonable value of different Fmax and corresponding S ₀" and the S of ε=1 ₀" peak ranges.Again with the S of examination ε=1, level road road ₀" be reference value, test out climb and fall deceleration value (S _d) with the gap (S of level road deceleration value S _b) and modified value (S _c).

Level road instant recognition principle: the fixing appropriate location onboard of retarded velocity instrument, brake hard, as long as the function of detent is normal, all can production (1) time: retarded velocity instrument saddle (2), under the guiding of guide rail (1), is moved to the left, and overcomes the elastic force P of spring (3) _w, as-F and P _wdisplacement (S is produced during balance ₁) or (S ₂) ...Brake off: saddle (2) is at P _weffect under get back to the right spacing, S value=0.Saddle displacement S is directly proportional to retarded velocity (following S claims deceleration value).Because serving as reasons the reacting force-F of F act on and produce S, so produced by F and-F, increase and decrease, the simultaneity simultaneously disappeared is to complete instant identification simultaneously simultaneously ;

Brake hard acts on saddle (2) by-F and produces the S ' signal i.e. dwell time in season calculate S _0Vfirst identify real-time all kinds of road surface: calculate S _0V< S ₀" super level road franchise and S is constant is descending; Calculate S _0V> S ₀" super level road franchise and S is constant is gone up a slope; Calculate S _{0V ≈}s ₀" and S is also more stable, is the level road do not become, by instantaneous value S _ddirectly be converted to S _cor calculate S _crevise the S of climb and fall; Braking procedure foundation set or calculate retarded velocity slope, calculates any instant S _0Vincrease and decrease identifies increase and decrease: calculate S _0V, S changes in tolerance, be non-significant change; Calculate S _0Vincreasing super franchise and S also becomes, is from height enter low ; Calculate S _0Vsubtracting super franchise and S is more stable, is from low enter height , by increase and decrease pressure time chien shih S ₀"+S ₀-S ₀=S ₀" or ≠ S ₀" (i.e. 1+X-X=1 or ≠ 1) identifies ε=1 or ≠ 1, when there being 1+X-X ≠ 1 surpass franchise, according to extent corresponding the corrections S value of ≠ 1, until the difference of 1+X-X ≠ 1 namely must transfer S in franchise ₀" the definite value value preserving of value exports, and such electronic controller (being called for short ECU) is according to S ' self-identifying refine positive S, S ₀" and Sustainable Control S ₀" namely the automobile exported, motorcycle, electric motor car ABS (Anti-lock Braking System) realize.Various road surface, operating mode, check S ₀" whether maximal value tmax interval time of super franchise should be selected in the test period boundary that can not occur to break away or in the maximal value boundary of wheel steering angle degree, so just can realize S ₀" Timeliness coverage of super franchise and correction just can realize the ABS (Anti-lock Braking System) of initiatively anti-sideslip.Being reduced pressure by the wheel speed of the wheel speed < opposite side of side, correction is invalid identifies braking in a turn.Because each wheel is originated in S ' generation -the F made a concerted effort, so according to S ' refine positive S, S ₀" different to wheel place, front, rear, left and right level road and climb and fall can be suitable for.

Be compared with the prior art:

1, DABS has the advantage breakked away in ε=1 zero.ESP, under drive condition, has self-identifying self-correction advantage to ovdersteering or deficiency, but this advantage weakens or inefficacy to having during limit of adhesion in longitudinal side.ESP and DABS is combined: the excellent effect of conjunction that just can produce two excellent additions.

2, EBA and DABS is combined: advantage and the DABS that EBA can be made to have Quick-pressurizing to shorten braking distance improve the advantage that ε shortens braking distance and be added, the effect of generation conjunction shortening braking distance;

3, DABS and various supplementary security system Combination application: the advantage basis just can breakked away in ε=1 zero producing various supplementary security system, improve travel safety, stability and comfortableness more comprehensively.

4, DABS produces the drive disk assembly of S stroke, produces the drive disk assembly feeling the ratio of carrying and contrasts: transmission principle is identical, and structure is close, but DABS does not need SABS with ABS, so can simplify structure and reduce cost.

5, DABS accurately can identify, measure , V _b, S ₀", but ABS does not break through identification yet, measures , V _b, S ₀" difficulty.

6, DABS and VDC combination (being called for short VDC-2), can improve performance and the conevying efficiency of VDC further.

7, DABS and registering instrument combine, contrast application number: the traffic hazard of 201410321344.2, from fix duty, can improve precision further.

The present invention by following citing and embodiment and accompanying drawingbe described further

Different road surface, the speed of a motor vehicle have different the reasonable value F of conjunction resistance _maxwith corresponding S ₀":

Example 1: smooth ice road surface: occlusion resistance and Q value all more small, when friction temperature is with S ₀be increased to tire, ice surface of contact humidity being when increasing or dissolve for there being a water layer, i.e. corresponding reduction, directional stability is deteriorated, and braking distance ST increases, so S ₀" critical value lower, the therefore S on ice road ₀" the microslip rate of slightly > 0 should be selected just to realize the S of peak performance ε=1 _t";

Example 2: for occlusion resistance and all larger road surface of Q value: friction temperature need with S ₀be increased to a treadwear thing to dissolve for viscose glue shape from granular, be pasted onto on road surface, the roughness of tire, road surface of contact just can be made to reduce, reduce, S _tincrease, tyre surface dissolves the S of critical value ₀" S of critical value is dissolved in > ice face far away ₀", so S ₀" critical value higher, higher S should be selected ₀" realize peak performance ε>=1 (namely ) S _t";

Example 3, comparatively wet mud soil surface: slip rate reaches certain value, road surface desaturation will become the lubricant of mud pulpous state, makes reduce, S _tincrease, so S ₀" critical value also different.

Above-mentioned 3 examples are exactly that different road surface has different S ₀" properties example, there is its reasonable value Q (F on arbitrary road surface _w) corresponding critical value S ₀" and S _t", the slip rate exceeding critical value is larger, and directional stability is poorer, goes out difference by formula (5) method test , V _bcritical value S ₀" retarded velocity slope control, just can the S of round Realization peak performance _t".

Embodiment 1 is level road instant recognition principle.

fig. 1the middle dotted line right side is that the reacting force-F of level road F acts on saddle (2) generation principle figure, the dotted line left side is that conventional example is quoted figure.

Level road instant recognition principle: brake hard, as long as the function of detent is normal, all can production (1) time: the saddle (2) of retarded velocity instrument is moved to the left under the guiding of guide rail (1), overcomes the elastic force P of spring (3) _w, as-F and P _wdisplacement (S is produced during balance ₁) or (S ₂) ...Brake off: saddle (2) is at P _weffect under get back to the right spacing, S value=0.Saddle displacement S is directly proportional to retarded velocity.Because serving as reasons the reacting force-F of F act on and produce S, so test and deriving

The instant basis of characterization of level road deceleration value S: acting force and reacting force produce simultaneously, subtract increasing simultaneously, and the simultaneity simultaneously disappeared identifies, wherein road surface damping force is directed force F; Saddle (2) overcomes elastic force P _wbe moved to the left S ₁or S ₂reacting force-F.

fig. 1in: the direction of (A) arrow is the direction of directed force F, and the direction of (B) arrow is the direction (i.e. direction of traffic) of reacting force-F, and-F is the ratio extraction value of F:

Namely

In formula: G-complete vehicle weight; M-saddle weight.

Body speed of vehicle by -F act on and produce S ' value to realize instant identification:

∵ $-F=\mathrm{ms}={\stackrel{\&OverBar;}{p}}_w---\left(7\right)$

∴ $-F=\mathrm{ms}={\stackrel{\&OverBar;}{p}}_w=s^{\&prime;}---\left(8\right)$

In formula: -act on saddle m to be moved to the left S ₁or S ₂-F and P _wequilibrant;

S '-P with begin balance=-F and P _wthe distance of balance beginning signal saddle movement.

Produce the instant V of S ' beginning signal ₀, be exactly the S of road surface calculating in real time _0Vv _breference value, namely

$S_{0V}=\frac{V_b-V_0}{V_b}\&times;100\%$

According to the V of instant reference value _b, press the retarded velocity slope of setting, can calculate the S of any instant _0V.

By the simultaneity of F and-F guarantee S ' time instant wheel speed do the instant identification of speed of a motor vehicle reference value, to various , climb and fall, left and right wheels place be different road surface and brakeing during cornereing are all applicable.

Now: S ' ≠ S; S ' ≠ S ";

S " is the modified value of S '.

Because S ' results from level road and climb and fall has the value before the unidentified correction of gap, so S ' ≠ S, because of revise so revise S= ;

Because of S " be result from various road surface through identification revise peak value S ₀" value, so S " is parity with or superiority over S.Because Sustainable Control S ₀" equal Sustainable Control Fmax and equal control S _t"

Substitution formula (5) namely

$S_T\&Prime;=\frac{V_b}{p=F\max }=\frac{V_b}{S_0\&Prime;}---\left(9\right)$

Embodiment 2 is the identification of climb and fall deceleration value S and level road gap, test and modification method

fig. 2that gradient i and inclination of ramp convert figure

Inclination of ramp 45 °, corresponding i is 100 °, the actual inclination of ramp of road < far away 45 °.

Ultimate principle: slope road is because of partical gravity P _ieffect, its S value and level road have gap (S _b), wherein: upward slope can act on S has extra void to reduce than level road; Descending can act on S has extra increasing emptily to add than level road, and the increase and decrease of gap increases and decreases with the increase and decrease of gradient i.

$i=\frac{h}{l}\&times;100$

In formula: (h) is that slope is high, (l) is horizontal line length.

fig. 3: be go up a slope to act on S value from solid line S _cvoid is reduced to dotted line S _dsignal figure

fig. 4: be that descending acts on S value from solid line S _cincrease emptily and be added to dotted line S _dsignal figure

Gap (S _b) with S and the S of level road ₀" amount of making comparisons identifies and revises:

The identification of going up a slope and the modification method of S value

If go up a slope ₊i: Action of Gravity Field has extra empty decreasing value for (S in S value than level road _b), the corresponding modified value that should increase is S _c.Extra gap (S _b) namely

S _C-S _D＝S _B

S _C＝S _D+S _B(11)

The test method of upward slope gap modified value and determining

Press ? ₊i, road examination or simulation bench teat: test out such as 5 ° ... 50 ° ... S _dcontrast level road S should increase modified value S _c, calculate according to test figure slope, determine what different gradient was corresponding should increase modified value S _c1, S _c2, formulate S _dcorresponding S _cincrement correction chart make software, complete correction by electronic controller.

The recognition methods of going up a slope

Go up a slope and calculate S by formula (2) _0V> S ₀" super level road franchise identifies:

S value extra void reduce= corresponding empty reduction=V _band S _bVcorresponding increasing emptily add, when calculating S _0V> S ₀" during super level road setting franchise, namely prove upward slope, S _0V> S ₀" value larger, the gradient of upward slope is also larger, otherwise then less, like this go up a slope self-identifying namely complete.

The modification method of extra gap of going up a slope

When proving upward slope: instruction rises in value correction chart directly S by S _d1, S _d2be converted to corresponding S _c1, S _c2, namely the self-identifying self-correction S value of such difference+i completes.

The identification of descending and the modification method of S value

The recognition methods of descending

Descending calculates S by formula (2) _0V< S ₀" super level road franchise identifies:

Descending-i: the component of gravity acts on S value to be had than level road and extra increase emptily value added, increasing emptily of S value add= corresponding increasing emptily add=V _band S _0Vvoid reduce, when calculating S _0V< S ₀" supercharging correction during super level road setting franchise, namely S is constant proves descending, S _0V< S ₀" value larger, downward grades is also larger.Otherwise: then fewer, namely the self-identifying of such descending completes.

Set slope to act on S value and have the extra value that increases emptily for SB than level road, the corresponding modified value that should reduce is S _c, extra gap S _bthat is:

S _D-S _C＝S _B

S _C+S _B＝S _D(12)

The modification method of the extra gap of descending:

The modified value of descending is contrary with upward slope, when proving descending: instruction by correction chart directly S _d1, S _d2be converted to S _c1, S _c2, namely the self-identifying self-correction S value of such difference-i completes.

The test method of descending gap modified value with determine identical with upward slope.

Embodiment 3 is the S directly controlling ε=1 ₀" antilock braking method and ≠ 1 self-identifying self-correction method

The antilock braking method of straight control ε=1: adopt the retarded velocity instrument that the pouring weight displacement S of " from note formula brake instrument " principle is directly proportional to retarded velocity, the guiding of pouring weight movement can be rigid guideway, also can be spring balancing power suspension or magnetic force rail, suitable position onboard fixed by retarded velocity instrument, when braking with level road, the pouring weight of retarded velocity instrument overcomes elastic force and moves forward S for retarded velocity reference value, different the forward pitch be directly proportional during the braking of road surface is from (S ₁) or (S ₂) ... input electronic controller (5) with voltage signal, electronic controller (5) is namely according to real-time (S ₁) or (S ₂) ... signal with or sit in the right seat, the retarded velocity slope calculating set by ε=1, the S controlling any instant ₀", S pressed by command pressure (hydraulic pressure or air pressure) regulator ₀" required regulating brake force:

Essence identifies that refine correction method is provided by the self-identifying self-correction method of following ε ≠ 1

The self-identifying self-correction method of level road ε ≠ 1: test to obtain S by formula (5) definition with various level road ₀" make the reference value 1 of slip rate, command pressure regulator (4), by setting-up time supercharging, tests S ₀"+X (S ₀) namely value transfer decompression-X (S to ₀) value, the respectively time of test determination+X-X or-X+X again with for the reference value of time, carry out interval time by setting respectively after arbitrary S value variate, definite value the increase and decrease pressure of time, checking S ₀" corresponding increase and decrease X (S ₀) value identifies that S definite value is whether accurate, now: as S ₀"+S ₀-S ₀=S ₀" namely

1+X-X＝1(13)

Namely prove that real-time road surface is that level road, retarded velocity are accurate from definite value S, after this namely proceed to S ₀" definite value value preserving, namely the ABS (Anti-lock Braking System) that such level road obtains actual effect ε=1 realizes;

As 1+X-X ≠ 1 (14)

Namely illustrate S from definite value difference > bigger than normal or less than normal or < super ± franchise, corresponding increase and decrease S should be carried out revise, till 1+X-X=1 or ≠ 1 is in franchise, this stops: prove that namely the ABS (Anti-lock Braking System) of the self-identifying self-correction S value of level road ε ≠ 1 realizes;

As 1+X-X=1 but S ₀< or > S ₀" super ± franchise time, explanation is that damping force is bigger than normal or less than normal, should carry out increase and decrease pressure to revise, until S ₀=S ₀" or ≠ S ₀" till in franchise, this stops: prove that namely the damping force self-identifying self-correction of ε ≠ 1 realizes;

From low enter height the self-identifying self-correction of ε ≠ 1 is from verification method

From low enter height , S ₀'-' franchise must be surpassed: such as from enter time, meanwhile from 's be increased to 's , but P is still in corresponding controlling value do not increase, so S is also in S ₁value position do not increase, now: because P does not increase, so s ₀< S ₀" '-' franchise will inevitably be surpassed;

Contrary: as S ₀not super franchise, namely proves high and low difference be within negligible tolerance.

Characteristic identification and pressure regulation, correction: when calculating S _0V< S ₀" super franchise and instruction supercharging, while supercharging, as , prove that place is from low enter height process, should continue to be pressurized to and occur corresponding S ' ₇namely transfer pressurize to, meanwhile: instruction proceed to by ε=1 set retarded velocity slope calculate, control any instant corresponding S ₀" check and revise, so far from low enter height the corresponding S of self-identifying, self-pressure regulating, self-correction ₀" namely complete;

Refine just and checking: check this S revised ₀" with the S of ε=1, real-time road surface ₀" whether conform to, then press the straight control S of level road ₀"+S ₀-S ₀whether=S ₀" amount of making comparisons just is carrying out essence identification, refine, till 1+X-X=1 or ≠ 1 is in franchise.

Like this from low enter height the essence identification of ε ≠ 1, refine are verified namely the ABS (Anti-lock Braking System) of ε=1 realizes just, certainly;

From height enter low the self-identifying self-correction of ε ≠ 1 is from verification method

From height enter low , S ₀'+' franchise must be surpassed: such as from enter time, meanwhile namely from 's be reduced to 's , S value also simultaneously with reduce and be automatically reduced to S from S7 ₁, but P still locates corresponding controlling value do not reduce, now: because P does not reduce, so s ₀> S ₀" '+' franchise will inevitably be surpassed;

Contrary: as not super franchise, namely to prove high and low the negligible tolerance in difference place within.

Characteristic identification and pressure regulation, correction: , prove that place is from height enter low process, even pressure regulation, point are stopped and are made S be reduced to occur S ' ₁, there is S ' when S is reduced to ₁time, then instruction proceed to by ε=1 set retarded velocity slope calculate, control any instant corresponding S ₀" check and pressure regulation correction, so far from height enter low the corresponding S of self-identifying, self-pressure regulating, self-correction ₀" complete;

Refine just and checking: check this S adjusted ₀" with the S of ε=1, real-time road surface ₀" whether conform to, then press the straight control S of level road ₀"+S ₀-S ₀whether=S ₀" amount of making comparisons just is carrying out essence identification, refine, till 1+X-X=1 or ≠ 1 is in franchise.

Like this from height enter low the essence identification of ε ≠ 1, refine are verified namely the ABS (Anti-lock Braking System) of ε=1 realizes just, certainly;

Left and right wheels place is different the self-identifying self-correction of ε ≠ 1, road surface is from verification method

The identification on this road surface is identical with the climb and fall road of level road with level road respectively with modification method.

The identification of braking in a turn and pressure regulation

When producing S ' or S " time; the front and back wheel of both sides if any the wheel speed that the wheel speed of side is less than opposite side carry out decompression revise invalid time, namely illustrate it is braking in a turn, the difference of both sides wheel speed is larger; turning radius is less, act on break away and the centrifugal force of hidden danger also larger.

The peak value slip rate of braking in a turn calculated value: interior wheel > foreign steamer, should add derivation to determine according to the examination of formula (3) (4) (5) road optimized scope.

When identification is braking in a turn, should by turning to carry out Regulation Control value preserving to export, also can be exchanged into high frequency points and stop to control value preserving export, some frequency of stopping is determined by testing.This penalty kick value preserving output intent also can be applicable to control S ₀" value preserving export.

Embodiment 4 is that pouring weight (saddle) displacement is directly proportional to retarded velocity application example: (from remembering formula brake instrument >.

Embodiment 5,6 is respectively by the application number announced: the embodiment 1,2 of 201110123021.9 provides.

2nd embodiment of embodiment 5 is roll printing formula marking appliances

fig. 7it is roll printing formula marking appliance principle of work figure

Roll printing formula marking appliance has capping 4, woven hose 5, mark 6, liquid outlet quantity adjusting part 7 and micro air-vent 8 to be combined into primarily of base 1, reservoir 2, fluid reservoir 3, fluid reservoir 3.Base 1 is screwed on wheel Grains, reservoir 2 is fixed on base 1, and one end of woven hose 5 is fixed on reservoir 2, has mark this one end of head and tire sidewall to fix.

During work: 1,2,3,4,5,6,7,8 of marking appliance rotates with wheel, by centrifugal force, the mark head of coloured label liquid from sponge shape is extruded, when being contacted to earth by mark head, running distance is once marked on road surface, as mark head is uniform by 120 ° in wheel week, wheel turns the running distance of 120 ° namely with regard to a mark actual slip rate, and the mark number of times that wheel circles can need by difference and determine.

Embodiment 7 is that the test of actual effect standard is determined

Actual effect: by EU Economy the councilthe actual S of the Zmax of automobile brake regulation (ECER13) ₀" make standard.Determined by test of many times by the computing method of formula (3) (4) and the test method of embodiment 5,6:

The attachment coefficient definition of interest rate ε

The qualified of ε is defined as follows formula

ε＝Z ₁/Z ₂≥0.75

In formula: Z ₂during-disengagement ABS, single axletree is braked and the obtainable maximum brake factors of wheel not locking;

Z ₁(test roads and brake axle and survey z during work during-ABS ₂shi Xiangtong, but 3 times should be tested) brake factors arithmetic mean.

Peak value slip rate S ₀", be exactly the maximum brake factors z not identifiable design, numerical control ₂(or claiming maximum braking force Fmax) value progress is the S of identifiable design, correction, checking, numerical control ₀" value.

Peak value slip rate S ₀", be the mean value of the zero actual slip rate official test number of times breakked away during Zmax, the maximal value of this mean value and minimum value are S ₀" ± franchise.

Peak value braking distance S _t", be the S of Zmax ₀" initial velocity to stop the legal number of times mean value of braking distance, with S _t" for the ABS (Anti-lock Braking System) performance of ε=1 is by Sustainable Control S ₀" test-type CNC Model: formula (16) (17) have been come.

Embodiment 8 is , S ₀" high precision identification and stage division.

fig. 5decel slope V " with , S ₀", S _taccuracy relation signal figure.

fig. 5in: ---attachment coefficient; S _t---braking distance (measured value);

S---saddle 2 displacement is directly proportional to retarded velocity measured value;

V "---the S of P=Zmax ₀" the retarded velocity slope continued: by actual measurement S _tset;

S ₀"---P=Zmax zero breaks away the slip rate (measured value) of equilibrium value;

S ₀--- supercharging, the slip rate variable value of decompression;

T---the interval time of checking 1+X-X=1 setting, when ≠ 1: corresponding adjustment S=revises , V ".

S ₀" with V ", S _trelation

in figureprovide: s ₀₁", S ₀₂" V must be produced ₁", V ₂" ... S _t.When change (namely during P ≠ Zmax), S, V must be produced " respective change.As without become, P=Zmax also can not become, so V ", S ₀", S remains unchanged.

Precision: S/n.Example: , V " points of 20 grades 1+X-X=1 identify and the V of control ε=1 ".Not only example: when point 20 level verifications there is 1+X-X ≠ 1 but also super franchise time, corresponding adjustment S verifies again, until 1+X-X ≠ 1 is stopped in franchise, this is exactly only automatically complete essence to identify that classification is verified again again.

The equilibrium value S of uniqueness 1:P=Zmax ₀", there is uniqueness and repeatability, so arbitrary road surface only has 1 corresponding S ₀".Can need by different realistic accuracy: the 1+X-X=1 that S/n is derived in test carrys out selected V ₁", V ₂" ....

Uniqueness 2: only have V is " time accurately: could produce S ₀" exact value.Only has checking 1+X-X=1 (S ₀"+S ₀-S ₀=S ₀") repeat time: could produce V " exact value, ability " proof " S ₀" be exactly the equilibrium value of P=Zmax, control S could be proved ₀" precision can obtain the raising of near limit, checking, control S could be realized ₀"=Zmax is the errorless ABS (Anti-lock Braking System) exported again accurately.

Key problem in technology: S ₀", V " all results from P=Zmax, is all triable measured value, but wherein: have S only ₀" be the value with function identification, checking, numerical control, work as S ₀" time accurately: , V _b", S ₀" be all exact value, so, accidental validation S ₀" and numerical control S ₀the key problem in technology of " being realize V ".

Value is in full constant is relatively constant, instead of absolute value is constant, and each controlling value 1 is all approximate value, all can realize the requirement of peak performance scope for index.

In sum with the test method of embodiment 1,2,3,4,5,6,7,8, the S that P=Zmax balance is set up in random test, identical dynamic equivalent zero breaks away undistorted digit control ₀" ± 0.01m, self-identifying are from checking self-correction S ₀", Sustainable Control S ₀" test-type CNC Model:

Level road Sustainable Control S ₀" CNC Model:

Climb and fall ± i Sustainable Control S ₀" CNC Model:

In formula: P ", S ", S _c"---be S ₀" respective value.

When in formula: S ₀"+X-X=S ₀" or ≠ S ₀" time in franchise, real-time , S, V _b, S ₀" be all exact value, namely the ABS (Anti-lock Braking System) of being breakked away by CNC Model numerical control ε=1 zero realizes.Based on breakking away in ε=1 zero, combine various supplementary security system, just can improve travel safety, stability and comfortableness further.

Random test is set up various , V _bthe S of corresponding Fmax ₀" modified value the method of " test-type CNC Model "

Level road Sustainable Control test-type CNC Model:

Climb and fall Sustainable Control test-type CNC Model:

Example 1, brake test method

From 160 reducing to 140, reducing to 120 from 140, reducing 100 from 20 ... reduce to 20km/h from 40, pressure regulation test in order, measures the minimum time t that each braking section zero breaks away _m's and s _kor S _cks or S respectively _cdirect modified value.

By the method for example 1, test is different conventional actual V _b, measure the t of each braking section _m's and s _kor S _ck, then by formula (16) (17) verification method, checking accurately errorlessly to export again, set up various like this v _bbreak away in corresponding ε=1 zero test-type CNC Model namely complete.

Formula (18) (19) can make initial speed of braking all obtain optimum control to end speed whole process, can make following constant, but F change is regulated automatically:

V _bbring up to certain value, airflow lifting force can act on G and alleviate, and the reduced value of G is with V _bincrease and increase, because of when G reduces, F will correspondingly reduce.

Embodiment 9 improves the method for traffic hazard from fix duty precision.

fig. 6the present embodiment initial speed of braking V _b1, braking initial point to the distance of accident origination point from measuring principle figure:

in figure: (S ') signal is effective brake initial point, the real-time V of S ' ₀make V _b1the 1st reference value;

(※) be the signal of accident origination point (such as collide, scraping etc.);

(S _l) be the running distance setting value of wheel speed sensors change in voltage No. 1 wheel pure rolling;

N () is the change in voltage number of times of (S ') signal to (※) signal;

(S _tm) be the running distance of (S ') signal to (※) signal.

$S_{\mathrm{Tm}}=\left[\right(S_L\&times;n+\frac{1}{2}{S}_L)+(S_L\&times;n+\frac{1}{2}{S}_L)\&times;S_0\&Prime;]\&times;\frac{r_2}{r_1}---\left(20\right)$

In formula:

$\left[\right(S_L\&times;n+\frac{1}{2}{S}_L)+(S_L\&times;n+\frac{1}{2}{S}_L)\&times;S_0\&Prime;]-S_{\mathrm{Tm}}$ Automatic calculated value;

R ₁-calculate S _ltire rolling radius setting value;

R ₂the actual measured value of-real time tire rolling radius;

-improve S _tmthe modified value of precision;

$\frac{r_2}{r_1}=\frac{h-\frac{D}{2}}{r_1}$

The diameter that D-wheel hub is measured;

H-wheel hub is perpendicular to the height on measured diameter summit, ground and ground.

V _b1＝V ₀+V _k(21)

In formula: V _k-V _b1to the speed of a motor vehicle reduced when producing S ' beginning signal.

V _kvalue should derive tabulation by test, calculating and make software, with the S of ± i _c1, S _c2... there is corresponding V _k1, V _k2

Producing on the basis that (S ') signal and existing S, (SL), (n) calculate like this, increase generation and the record of (※) signal, calculate by formula (18) (19): just can realize high precision V _b1and S _tmautomatic mensuration, the record of this calculating automatically measured and related data, display and memory function are combined with ECU by the black box (registering instrument) of automobile.Owing to there being recorded at random: after 1. accident occurs, in time accident vehicle can be moved apart the scene of the accident, reduce the traffic congestion time, improve accident treatment efficiency, 2. at process proof procedure, application gage measuring actual ratio.Just can calculate the difference of the time of first, second car brake hard according to formula (18), complete traffic hazard high-accuracy high-efficiency from fix duty.

Claims (4)

1. the method that combines of the antilock braking method of ε=1 and supplementary security system, it is characterized in that saving front and back wheel sense in ABS system and carry the entire infrastructure of ratio change assignment system power and program to realize ε=1, ε>=0.90 or ε>=0.95 are the zero qualified ABS (Anti-lock Braking System) of breakking away, DABS couple s ₀" classification again of the high precision hierarchical identification and checking that can carry out s/n is verified again; can with various supplementary security system (example: ASR, ESP, VDC, EBA, EBS, ACC, EMS); part system combination or the whole Combination application of each system improve the more comprehensive active safety of raising motor vehicle running, by test-type CNC Model: formula (16) (17) complete checking, it is various to control the corresponding S in road surface ₀" the accurately errorless ABS (Anti-lock Braking System) exported again is the active safety technologies on topmost basis, can apply with various active and passive auxiliary security technical combinations.

2. press the method that the antilock braking method of ε=1 described in claims 1 and supplementary security system combine, it is characterized in that difference v _bcorresponding S ₀" modified value by test-type CNC Model: formula (20) (21) realize.

3. press the method that the antilock braking method of ε=1 described in claims 1,2 and supplementary security system combine, it is characterized in that DABS and various auxiliary security technical combinations, VDC just can be made to upgrade, upgrading to VDC-2 is performance.

4. press the method that the antilock braking method of ε=1 described in claims 1 and supplementary security system combine, it is characterized in that DABS also can combine with registering instrument, traffic hazard high precision is realized from fix duty, raising accident appraise quality and efficiency by the measurement of formula (20) (21), computing method.