CN105459987A - Intelligent brake system and control method thereof for oversize vehicle - Google Patents
Intelligent brake system and control method thereof for oversize vehicle Download PDFInfo
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- CN105459987A CN105459987A CN201511034871.6A CN201511034871A CN105459987A CN 105459987 A CN105459987 A CN 105459987A CN 201511034871 A CN201511034871 A CN 201511034871A CN 105459987 A CN105459987 A CN 105459987A
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- 239000003921 oils Substances 0.000 claims description 3
- 238000004321 preservation Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 4
- 230000000979 retarding Effects 0.000 abstract 2
- 280000312338 Pavement companies 0.000 abstract 1
- 238000005516 engineering processes Methods 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 230000001939 inductive effects Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000006243 chemical reactions Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/28—Eddy-current braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T10/00—Control or regulation for continuous braking making use of fluid or powdered medium, e.g. for use when descending a long slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/32—Vehicle surroundings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
Description
Technical field
The present invention relates to braking automobile technical field, be specifically related to a kind of Intelligent brake system for full size vehicle and control method thereof.
Background technology
In recent years, the malfunctioning accident of Chinese large-sized vehicle brake is of common occurrence, automotive market needs a kind of Intelligent brake system, self-actuating brake can either be realized, can ensure that again full size vehicle still effectively can slow down in dangerous road surface (section as slope, low visibility), brake, thus collision free accident.The drag of current full size vehicle, mainly contains following shortcoming: one is too rely on people for behavior: driver driving level is uneven, also very easily occurs the behavior such as fatigue driving, drunk driving; Two is that car brakeing is not mild, damage that sudden stop often causes passenger, vehicle-mounted cargo sustains damage; Three be brake very easily malfunctioning: brake facing, after frequent use, very easily heats up malfunctioning; Four is that braking distance is long, even if driver tramples brake pedal and brakes after discovery danger, but is difficult to often successfully to brake, collision free.
The drag of current full size vehicle, mainly relying on driver people for trampling brake pedal, utilizing former car brake facing mechanical brake.And in this kind of brake method, brake facing is very easily malfunctioning due to frequently braking generation high temperature, some drivers even use cooling water expansion tank to come for brake facing cooling, but result is cured the symptoms, not the disease often, are difficult to solve substantive issue.Braking distance in available engine energy brake technology is comparatively far away, braking effect is general, and infringement driving engine itself.
Summary of the invention
For the technical matters existed in above-mentioned prior art, the present invention aims to provide a kind of Intelligent brake system for full size vehicle, self-actuating brake can either be realized, can ensure that again full size vehicle effectively can slow down in dangerous road surface (section as slope, low visibility), brake, thus collision free accident.
For realizing this technical purpose, the solution of the present invention is:
For an Intelligent brake system for full size vehicle, this system is made up of detector, system bus interface, controller, warning, retarder, brake system and wire harness;
Described detector is responsible for collecting information of road surface, and transmitting real-time information, realizes vehicle environmental perception, for controller provides decision-making foundation; Described detector can be the combination of radar, camera or radar and camera;
Described controller utilizes system bus interface to transmit the data message of coming, and comprises the data being integrated in car speed sensor in controller and angular transducer etc. and gathering, carry out fusion calculation, formulate decision-making action, realizes reporting to the police, the slow and intelligent braking of intelligence;
Described retarder is effectively slow performance element, and the electric signal of controlled device drives, and described retarder, independent of outside the brake system of vehicle, does not use former car mechanical brake sheet; Described retarder is converted to heat energy by mechanical energy, and mechanical wearing and tearing, noiseless ground realize slow;
Described brake system is the performance element braked to static, and the electric signal of controlled device drives;
Described line beam is used for connected system each several part, for communication and transmission electric signal;
Further, described retarder adopts current vortex retarder or hydrodynamic retarder;
Further, described brake system can adopt the various ways methods such as the brake of automatically controlled pedal, bus communication brake, automatically controlled parking brake.
Retarder principle of work is applied physics electromagnetic induction principle, when vehicle needs to slow down, the kinetic energy that vehicle travels is converted to heat energy, makes vehicle reach the object of deceleration, play brake assisting effect.Retarder is made up of rotor and stator; Rotor is connected with system of vehicle transmission parts transmission shaft; Stator is connected with car beam indirectly; When vehicle needs to be switched on power by retarder stator when slowing down, stator coil produces magnetic field, the rotor cutting magnetic line of High Rotation Speed, forms current vortex, produce reverse lock torque, make car retardation at internal rotor; Meanwhile, the heat that current vortex produces is distributed by epitrochanterian fan blade by rotor when rotated.
For a control method for the Intelligent brake system of full size vehicle, the method comprises the following steps;
S1: start program is initial, carries out system initialization, and part finishing equipment runs basic specification configuration, initial guess setting, the functions such as internal memory prearranged assignment;
S2: detector data reads, and the system fixed time reads in real time, obtains the locating information of objects ahead, as relative to speed, the distance and bearing from car, and under current state the position of vehicle accelerator pedal, brake pedal from car information etc.; The detector used is high frequency detector;
S3: suppress to report to the police, when determining danger but chaufeur takes response evasive action, during as subtracted oil or initiatively braking, can suppress low-level warning, then turning back to detector data read step S2;
S4: if above-mentioned S3 suppresses alarming step not suppress to report to the police, just perform risk object recognizer, solve on road, vehicle, people and the multiobject identification problem of roadside buildings thing, the identification of risk object is determined based on the nearest target detect principle in same track.As shown in Figure 3, from car travel lane width be a, be b from the width of car, objects ahead with from car angle be θ;
The Frame of one group of target is uploaded in high frequency detector collection, include each target with from the relative distance of car, relative velocity and relative angle information, can be obtained the transverse pitch of target vehicle and this car by Distance geometry angle, the size by transverse distance judges whether vehicle is in same track with this car.Also can obtain and the vertical distance from car simultaneously, the target determining that present frame is the most dangerous can be calculated by these data, and contrast with past data, confirm whether present frame has occurred new risk object, and preservation is calculated, for the calculating of next step security model algorithm to risk object data.
Security model algorithm, comprehensively from the deceleration and stopping performance of car and the state of kinematic motion of objects ahead, application safety spacing control logic, makes assessment to precarious position, is divided into two kinds of situations mainly for from car and front truck relative velocity:
A. relative velocity is comparatively large, now suppose that the unexpected original place of front vehicles stops, and after considering stopping, following distance still keeps certain safety distance, obtains the collision time of this Safety distance model;
B. relative velocity is less, now suppose vehicle carry out following traveling under normal traffic environment, become certain linear relationship with the relative velocity of objects ahead with vehicle headway from car, obtain this safety distance collision time;
The secure threshold set under calculating the collision time of gained and current vehicle speed is passed to next step S5 to call and evade control program assigning degrees of hazard;
S5: call and evade control program assigning degrees of hazard, starts retarder or brake system according to hazard level, evades control program makes warning and output executing mechanism control logic according to precarious position grade, evades driving risk; Retarder is effectively slow performance element, and the electric signal of controlled device drives, and described retarder, independent of outside the brake system of vehicle, does not use former car mechanical brake sheet; Retarder is converted to heat energy by mechanical energy, and mechanical wearing and tearing, noiseless ground realize slow; Brake system is the performance element braked to static, and the electric signal of controlled device drives;
Be back to S1 step cycle.
Further, described retarder adopts current vortex retarder or hydrodynamic retarder;
Further, described brake system can adopt the various ways methods such as the brake of automatically controlled pedal, bus communication brake, automatically controlled parking brake.
The present invention has the following advantages:
1, Intelligent brake system of the present invention, is exclusively used in the difficult problem that solution full size vehicle slows down, brake is difficult, brake not in time, achieves intelligent alarm, intelligent slow and self-actuating brake; And in slow actr, this system adopts retarder, based on electromagnetic conversion technology, avoid physical abrasion, significantly shorten braking distance, and its braking force changes along with the change of the speed of a motor vehicle, brake is slowly steadily efficient; In brake actuator, the modes such as automatically controlled pedal brakes, bus communication brakes, automatically controlled parking brake that can comprise with multiple brake modes are arranged in pairs or groups and are used, and comformability is good.
2, change and rely on the subjective active hazard recognition of driver traditionally, take measures to eliminate or the dangerous discernment master mode of harm reduction, the safety of vehicle driving is carried out reliable control promptly and accurately by Intelligent brake system, avoids subjectivity and the arbitrariness of people, there is positive meaning.
Accompanying drawing explanation
Fig. 1 is the constructional drawing of Intelligent brake system provided by the invention;
Fig. 2 is the workflow diagram of Intelligent brake system provided by the invention;
Fig. 3 is running car environmental simulation figure: (a) running car road conditions figure; (b) detection of a target data analysis figure.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further details.
Embodiment:
For an Intelligent brake system for full size vehicle, this system is made up of detector 3, system bus interface 4, controller 5, warning 6, retarder 7, brake system 8 and wire harness 9;
Described detector 3 can be the combination of radar 1, camera 2 or radar 1 and camera 2; Described detector 3 is responsible for collecting information of road surface, and transmitting real-time information, realizes vehicle environmental perception, for controller 3 provides decision-making foundation;
Described controller 5 utilizes system bus interface 4 to transmit the data message of coming, comprise the data that the car speed sensor of integrated manipulator 5 inside and angular transducer etc. gather, carry out fusion calculation, formulate decision-making action, realize warning, intelligent slow and intelligent braking;
Described retarder 7 is effectively slow performance elements, and the electric signal of controlled device 5 drives, and described retarder 7, independent of outside the brake system of vehicle, does not use former car mechanical brake sheet; Described retarder 7 is converted to heat energy by mechanical energy, and mechanical wearing and tearing, noiseless ground realize slow;
Described brake system 8 is the performance elements braked to static, and the electric signal of controlled device 5 drives;
Described wire harness 9 is for connected system each several part; For communication and transmission electric signal;
Further, described retarder 7 adopts current vortex retarder or hydrodynamic retarder;
Further, described brake system 8 can adopt the various ways methods such as the brake of automatically controlled pedal, bus communication brake, automatically controlled parking brake.
Retarder principle of work is applied physics electromagnetic induction principle, when vehicle needs to slow down, the kinetic energy that vehicle travels is converted to heat energy, makes vehicle reach the object of deceleration, play brake assisting effect.Retarder is made up of rotor and stator; Rotor is connected with system of vehicle transmission parts transmission shaft; Stator is connected with car beam indirectly; When vehicle needs to be switched on power by retarder stator when slowing down, stator coil produces magnetic field, the rotor cutting magnetic line of High Rotation Speed, forms current vortex, produce reverse lock torque, make car retardation at internal rotor; Meanwhile, the heat that current vortex produces is distributed by epitrochanterian fan blade by rotor when rotated.
For a control method for the Intelligent brake system of full size vehicle, the method comprises the following steps;
S1: start program is initial, carries out system initialization, and part finishing equipment runs basic specification configuration, initial guess setting, the functions such as internal memory prearranged assignment;
S2: detector data reads, the system fixed time reads in real time, obtains the locating information of objects ahead, as relative to speed, the distance and bearing from car, and the position of vehicle accelerator pedal, brake pedal is from car information etc. under current state, the detector used is high frequency detector;
S3: suppress to report to the police, when determining danger but chaufeur takes response evasive action, during as subtracted oil or initiatively braking, can suppress low-level warning, then turning back to detector data read step S2;
S4: if above-mentioned S3 suppresses alarming step not suppress to report to the police, just perform risk object recognizer, solve on road, vehicle, people and the multiobject identification problem of roadside buildings thing, the identification of risk object is determined based on the nearest target detect principle in same track.As shown in Figure 3, from car travel lane width be a, be b from the width of car, objects ahead with from car angle be θ;
The Frame of one group of target is uploaded in high frequency detector collection, include each target with from the relative distance of car, relative velocity and relative angle information, can be obtained the transverse pitch of target vehicle and this car by Distance geometry angle, the size by transverse distance judges whether vehicle is in same track with this car.Also can obtain and the vertical distance from car simultaneously, the target determining that present frame is the most dangerous can be calculated by these data, and contrast with past data, confirm whether present frame has occurred new risk object, and preservation is calculated, for the calculating of next step security model algorithm to risk object data;
Security model algorithm, comprehensively from the deceleration and stopping performance of car and the state of kinematic motion of objects ahead, application safety spacing control logic, makes assessment to precarious position, is divided into two kinds of situations mainly for from car and front truck relative velocity:
A. relative velocity is comparatively large, now suppose that the unexpected original place of front vehicles stops, and after considering stopping, following distance still keeps certain safety distance, obtains the collision time of this Safety distance model;
B. relative velocity is less, now suppose vehicle carry out following traveling under normal traffic environment, become certain linear relationship with the relative velocity of objects ahead with vehicle headway from car, obtain this safety distance collision time;
The secure threshold set under calculating the collision time of gained and current vehicle speed is passed to next step S5 to call and evade control program assigning degrees of hazard;
S5: call and evade control program assigning degrees of hazard, starts retarder or brake system according to hazard level, evades control program makes warning and output executing mechanism control logic according to precarious position grade, evades driving risk.Retarder is effectively slow performance element, and the electric signal of controlled device drives, and described retarder, independent of outside the brake system of vehicle, does not use former car mechanical brake sheet; Retarder is converted to heat energy by mechanical energy, and mechanical wearing and tearing, noiseless ground realize slow; Brake system is the performance element braked to static, and the electric signal of controlled device drives;
Be back to S1 step cycle.
Further, described retarder adopts current vortex retarder or hydrodynamic retarder;
Further, described brake system can adopt the various ways methods such as the brake of automatically controlled pedal, bus communication brake, automatically controlled parking brake.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511034871.6A CN105459987B (en) | 2015-12-31 | 2015-12-31 | A kind of Intelligent brake system and its control method for oversize vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511034871.6A CN105459987B (en) | 2015-12-31 | 2015-12-31 | A kind of Intelligent brake system and its control method for oversize vehicle |
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| Publication Number | Publication Date |
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| CN105459987A true CN105459987A (en) | 2016-04-06 |
| CN105459987B CN105459987B (en) | 2018-05-04 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080556A (en) * | 2016-08-25 | 2016-11-09 | 辽宁科技学院 | A kind of for Vehicular intelligent brake system and control method thereof |
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| WO2010037597A1 (en) * | 2008-10-01 | 2010-04-08 | Robert Bosch Gmbh | Method for operating a brake system in a vehicle |
| CN102642530A (en) * | 2012-05-08 | 2012-08-22 | 陶立高 | Intelligent full-automatic braking system and control method thereof |
| DE102011087118A1 (en) * | 2011-11-25 | 2013-05-29 | Ford Global Technologies, Llc | Method for operating a brake system of a vehicle |
| CN103496361A (en) * | 2013-10-23 | 2014-01-08 | 北京汽车股份有限公司 | Unmanned control braking device, method and vehicle |
| CN204432641U (en) * | 2015-01-27 | 2015-07-01 | 陕西汽车集团有限责任公司 | Based on the crashproof automatic emergency brake system of vehicle forward direction and this vehicle of machine vision |
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- 2015-12-31 CN CN201511034871.6A patent/CN105459987B/en active IP Right Grant
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070150118A1 (en) * | 2003-12-19 | 2007-06-28 | Toyota, Jidosha Kabushiki Kaisha | Vehicle integrated control system |
| WO2010037597A1 (en) * | 2008-10-01 | 2010-04-08 | Robert Bosch Gmbh | Method for operating a brake system in a vehicle |
| DE102011087118A1 (en) * | 2011-11-25 | 2013-05-29 | Ford Global Technologies, Llc | Method for operating a brake system of a vehicle |
| CN102642530A (en) * | 2012-05-08 | 2012-08-22 | 陶立高 | Intelligent full-automatic braking system and control method thereof |
| CN103496361A (en) * | 2013-10-23 | 2014-01-08 | 北京汽车股份有限公司 | Unmanned control braking device, method and vehicle |
| CN204432641U (en) * | 2015-01-27 | 2015-07-01 | 陕西汽车集团有限责任公司 | Based on the crashproof automatic emergency brake system of vehicle forward direction and this vehicle of machine vision |
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| CN106080556A (en) * | 2016-08-25 | 2016-11-09 | 辽宁科技学院 | A kind of for Vehicular intelligent brake system and control method thereof |
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Denomination of invention: Intelligent brake system and control method thereof for oversize vehicle Effective date of registration: 20191127 Granted publication date: 20180504 Pledgee: Tianjin SME Credit Financing Guarantee Center Pledgor: TIANJIN SOTEREA AUTOMOBILE TECHNOLOGY CO., LTD. Registration number: Y2019990000601 |