CN106379299B - A kind of vehicle braking camber control method, system and automobile - Google Patents
A kind of vehicle braking camber control method, system and automobile Download PDFInfo
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- CN106379299B CN106379299B CN201510471785.5A CN201510471785A CN106379299B CN 106379299 B CN106379299 B CN 106379299B CN 201510471785 A CN201510471785 A CN 201510471785A CN 106379299 B CN106379299 B CN 106379299B
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- electric signal
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- brake force
- vehicle braking
- sideslip
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000012545 processing Methods 0.000 claims description 16
- 230000006641 stabilisation Effects 0.000 claims description 9
- 238000011105 stabilization Methods 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 2
- 241000208340 Araliaceae Species 0.000 claims 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 2
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 2
- 235000008434 ginseng Nutrition 0.000 claims 2
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000012360 testing method Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
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Classifications
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
-
- 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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/03—Vehicle yaw rate
Abstract
The present invention provides a kind of vehicle braking camber control method, system and automobile, acquire and corresponding first parameter of left side wheel braking and the second parameter corresponding with right side wheels brake force respectively by automatic technology, to obtain the second electric signal of the first electric signal for being able to reflect left side wheel brake force and right side wheels brake force, pass through the difference between two signals of analysis, it can be derived that the deviation between two wheel braking forces, when the deviation of two wheel braking forces is more than given threshold, then illustrate that deviation phenomenon has occurred in vehicle, exports warning message.It is monitored thus, it is possible to realize to whether the vehicle in braking process occurs sideslip, finds running out the way problem and alert prompts driver when sideslip occurs, so as to handle in time running out the way, eliminate sideslip bring security risk.
Description
Technical field
The present invention relates to Advanced Automotive Automatic Control fields, and in particular to a kind of vehicle braking camber control method and system
With a kind of automobile.
Background technique
The braking of vehicle (such as automobile, gasoline or diesel oil tricycle) is one of main performance of vehicle.Braking is straight
Connect and be related to traffic safety, major traffic accidents are often too long with braking distance, emergency braking when situations such as freeing sideslip it is related,
Therefore the braking of vehicle is the important leverage of vehicle safe driving.Improve vehicle braking, be always Car design manufacture and
Use the vital task of department.Vehicle sails referred to as " brake side-slipping " to the left or to the right automatically partially when braking.There are two its reasons: 1)
The brake force of the left and right wheel drag of vehicle is unequal；2) suspension is oriented to leverage and steering system pull rod kinematically when braking
Uncoordinated (interfering with each other).
As shown in Figure 1, air pressure pushes piston acting when brake, piston push rod length reduces, and air pressure is bigger
Piston push rod length is smaller.As shown, if the corresponding piston push rod length d1 of two wheel drags and
Occur difference DELTA d between d2, just will appear brake side-slipping, Δ d is bigger, and sideslip is more serious.
It is braked using above-mentioned mechanical control method, running out the way information can not be obtained in time, caused in driving conditions
There are security risks.
Summary of the invention
For this purpose, technical problem to be solved by the present invention lies in the prior arts can not obtain vehicle in braking process in time
Sideslip information.
In order to solve the above technical problems, the invention provides the following technical scheme:
A kind of vehicle braking camber control method, includes the following steps:
Obtain and corresponding first electric signal of left side wheel brake force and the second telecommunications corresponding with right side wheels brake force
Number；
Judge the difference between the corresponding brake force of first electric signal and the corresponding brake force of second electric signal
Whether preset threshold is less than or equal to；
When the difference is greater than the preset threshold, the warning message for prompting running out the way is issued.
Preferably, corresponding with left side wheel brake force first electric signal and corresponding with right side wheels brake force of obtaining
The second electric signal the step of in:
First electric signal is converted to by the corresponding piston pole length of left side wheel；
Second electric signal is converted to by the corresponding piston pole length of right side wheels.
Preferably, corresponding with left side wheel brake force first electric signal and corresponding with right side wheels brake force of obtaining
The second electric signal the step of in:
First electric signal is converted to by the corresponding inner pressure of air cylinder of left side wheel；
Second electric signal is converted to by the corresponding inner pressure of air cylinder of right side wheels.
Preferably, when the difference be greater than the preset threshold when, issue for prompt running out the way warning message it
After further include following steps:
Judge whether the difference is less than or equal to deviation threshold；
If then exporting the first sideslip status information；
Otherwise the second sideslip status information is exported, and vehicle maximum braking torque is limited.
Preferably, judge whether the difference between first electric signal and second electric signal is being less than or equal in advance
If the step of threshold value, includes:
Stabilization processing is carried out to the difference, eliminates condition of instant error dither signal.
The present invention also provides a kind of vehicle braking Serve Systems, comprising:
First data acquisition unit, for acquiring corresponding with left side wheel brake force the first parameter, and by described first
Parameter Switch is the output of the first electric signal；
Second data acquisition unit, for acquiring corresponding with right side wheels brake force the second parameter, and by described second
Parameter Switch is the output of the second electric signal；
Data processing unit receives first electric signal and second electric signal, judges first electric signal pair
Whether the difference between the brake force answered and the corresponding brake force of second electric signal is less than or equal to preset threshold；
Signal prompt unit issues the alarm for prompting running out the way when the difference is greater than the preset threshold
Information.
Preferably, first data acquisition unit is position sensor, the corresponding piston of acquisition left side wheel
Pole length is as the first parameter；
Second data acquisition unit is position sensor, and the corresponding piston pole length of acquisition right side wheels is made
For the second parameter.
Preferably, first data acquisition unit is pressure sensor, the corresponding inner pressure of air cylinder of acquisition left side wheel
As the first parameter；
Second data acquisition unit is pressure sensor, and the corresponding inner pressure of air cylinder of acquisition right side wheels is as second
Parameter.
Preferably, the data processing unit, is also used to judge whether the difference is less than or equal to deviation threshold；
The signal prompt unit is also used to export the first sideslip when the difference is less than or equal to the deviation threshold
Status information；The second sideslip status information is exported when the difference is greater than the deviation threshold, and vehicle maximum is braked and is turned round
Square is limited.
Preferably, the data processing unit includes stabilization subunit, for carrying out stabilization processing to the difference,
Eliminate condition of instant error dither signal.
The present invention also provides a kind of automobiles including above-mentioned vehicle braking Serve System.
The above technical solution of the present invention has the following advantages over the prior art:
(1) vehicle braking camber control method, system and automobile of the present invention, are acquired respectively by electronic sensor
And left side wheel brakes corresponding first parameter and the second parameter corresponding with right side wheels brake force, to obtain being able to reflect a left side
The second electric signal of the first electric signal and right side wheels brake force of side wheel braking force passes through the difference between two signals of analysis
Value, can be derived that the deviation between two wheel braking forces, when the deviation of two wheel braking forces is more than given threshold, then say
Deviation phenomenon has occurred in bright vehicle, exports warning message.Thus, it is possible to realize to whether the vehicle in braking process occurs sideslip
It is monitored, finds running out the way problem and alert prompts driver when sideslip occurs, so as to right in time
Running out the way is handled, and sideslip bring security risk is eliminated.
(2) vehicle braking camber control method, system and automobile of the present invention, it is different according to sideslip state, it takes
Different measures.When sideslip within the acceptable range when, export the first sideslip status information, and driver reminded to examine in time
It looks into, avoids due to sideslip bring adverse consequences.When sideslip state exceeds acceptable range, in the same of prompting driver
When, the brake force of vehicle is limited, to avoid dangerous generation in time.
(3) vehicle braking camber control method, system and automobile of the present invention are obtaining two electric signal differences
Afterwards, it will do it stabilization processing, to eliminate condition of instant error dither signal bring error, guarantee the accuracy detected to sideslip.
Detailed description of the invention
In order to make the content of the present invention more clearly understood, it below according to specific embodiments of the present invention and combines
Attached drawing, the present invention is described in further detail, wherein
Fig. 1 is the structural schematic diagram of pneumatic drum brake system；
Fig. 2 is the flow chart of vehicle braking camber control method described in one embodiment of the invention；
Fig. 3 is the flow chart of vehicle braking camber control method described in another embodiment of the present invention；
Fig. 4 is the flow chart of vehicle braking Serve System described in one embodiment of the invention
Specific embodiment
Embodiment 1
The present embodiment provides a kind of vehicle braking camber control methods, as shown in Fig. 2, it includes the following steps:
S1: acquisition and corresponding first electric signal of left side wheel brake force and the second electricity corresponding with right side wheels brake force
Signal.Wherein, brake force can embody in the following way: piston pole length, inner pressure of air cylinder etc..Substantially, when
After vehicle braking brake, with the relationship of inverse proportion between piston pole length, inner pressure of air cylinder, wherein one can be passed through
It is a to be worth another value.
S2: judge the difference between the corresponding brake force of first electric signal and the corresponding brake force of second electric signal
Whether value is less than or equal to preset threshold, illustrates sideslip value in the reasonable scope if being less than, does not need to handle, then enter step
S3, if more than then illustrating that sideslip value beyond zone of reasonableness, then enters step S4.
In this step, when brake force is embodied by piston pole length, preset threshold herein can be left side
The preset threshold of difference between the corresponding piston pole length of wheel piston pole length corresponding with right side wheels.
When brake force is embodied by inner pressure of air cylinder, preset threshold herein can be the corresponding inner pressure of air cylinder of left side wheel and the right side
The preset threshold of difference between the corresponding inner pressure of air cylinder of side wheel.Similarly with above scheme, can also using other parameters come
Judged, such as by the wheel after brake force or the stress in other positions, is carrying out difference and preset threshold
When comparing, guarantee that the two is identical parameter.
Piston pole length or inner pressure of air cylinder can also be scaled by the laggard of brake force by conversion relation in this step
Row judgement, at this moment preset threshold directly selects the preset threshold of left side wheel brake force and right side wheels brake force difference.
Above-mentioned preset threshold, is selected according to actual application environment, and the obtained result of different vehicle may be different.It can
By being selected after carrying out test of many times to vehicle according to test result.
S3: output sideslip state is the information of " 0 ".
S4: the warning message for prompting running out the way is issued.Type of alarm can be light alarm failure lamp, play mention
Show sound etc..
It is advanced optimized as to above-described embodiment, as shown in figure 3, after step s4 further include:
S5: judging whether the difference is less than or equal to deviation threshold, enters step S6 if being less than, otherwise enters step
S7。
S6: if then exporting the first sideslip status information.First sideslip status information can be that " 1 " is run in this case
Bias belongs to acceptable range, therefore only needs information alert by sideslip occurs to driver.
S7: the second sideslip status information is otherwise exported, and vehicle braking force is limited.Second sideslip status information can
Think " 2 ", in this case, sideslip value has exceeded acceptable range, may cause danger at any time, therefore sideslip is occurring
Information alert to driver except, the brake force of vehicle can also be limited in this step, limit the maximum braking of vehicle
Torque, to guarantee the personal safety of passengers inside the car.
It is further preferred that further including carrying out stabilization processing to the difference in step s 2, eliminates condition of instant error and tremble
The step of dynamic signal, to guarantee the accuracy detected to sideslip.
Embodiment 2
The present embodiment provides a kind of vehicle braking Serve Systems, as shown in Figure 4, comprising:
First data acquisition unit 11, for acquiring corresponding with left side wheel brake force the first parameter, and by described the
One Parameter Switch is the output of the first electric signal.
Second data acquisition unit 12, for acquiring corresponding with right side wheels brake force the second parameter, and by described the
Two Parameter Switch are the output of the second electric signal.Alternatively, first data acquisition unit 11 is position sensor,
The corresponding piston pole length of left side wheel is acquired as the first parameter；Second data acquisition unit 12 is position biography
Sensor, the corresponding piston pole length of acquisition right side wheels is as the second parameter.It is described as another optional scheme
First data acquisition unit 11 is pressure sensor, and the corresponding inner pressure of air cylinder of acquisition left side wheel is as the first parameter；It is described
Second data acquisition unit 12 is pressure sensor, and the corresponding inner pressure of air cylinder of acquisition right side wheels is as the second parameter.Essence
On, after vehicle braking brake, with the relationship of inverse proportion between piston pole length, inner pressure of air cylinder, it can pass through
One of them is worth another value.
Data processing unit 13 receives first electric signal and second electric signal, judges first electric signal
Whether the difference between corresponding brake force and the corresponding brake force of second electric signal is less than or equal to preset threshold.Work as system
When power is embodied by piston pole length, preset threshold herein can be the corresponding piston bar of left side wheel
The preset threshold of difference between length piston pole length corresponding with right side wheels.When brake force passes through inner pressure of air cylinder
When embodiment, preset threshold herein can be the corresponding inner pressure of air cylinder of left side wheel inner pressure of air cylinder corresponding with right side wheels
Between difference preset threshold.Similarly with above scheme, can also be judged using other parameters, in progress difference and in advance
If when threshold value comparison, guaranteeing that the two is identical parameter.It can also will be in piston pole length or cylinder by conversion relation
Conversion pressure is that brake force is judged later, and at this moment preset threshold directly selects left side wheel brake force and right side wheels braking
The preset threshold of power difference.Above-mentioned preset threshold, is selected according to actual application environment, and the obtained result of different vehicle can
It can be different.It can be by being selected according to test result after vehicle progress test of many times.
Signal prompt unit 14 issues the report for prompting running out the way when the difference is greater than the preset threshold
Alert information.Type of alarm can be to light alarm failure lamp, playing alert tones etc..
Preferably, the data processing unit 13, is also used to judge whether the difference is less than or equal to deviation threshold.Institute
Signal prompt unit 14 is stated, is also used to export the first sideslip state letter when the difference is less than or equal to the deviation threshold
Breath；First sideslip status information can be " 1 ", and in this case, sideslip value belongs to acceptable range, therefore only needs to send out
The information alert of raw sideslip is to driver.
The second sideslip status information is exported when the difference is greater than the deviation threshold, and to vehicle maximum braking torque
It is limited.Second sideslip status information can be " 2 ", and in this case, sideslip value has exceeded acceptable range, at any time may be used
It can cause danger, therefore except the information alert that sideslip occurs is to driver, it can also be to the brake force of vehicle in this step
It is limited, limits the maximum braking torque of vehicle, to guarantee the personal safety of passengers inside the car.
It is further preferred that the data processing unit 14 includes stabilization subunit, for preventing the difference
Dithering process eliminates condition of instant error dither signal.To guarantee the accuracy detected to sideslip.
Embodiment 3
The present embodiment provides a kind of including the automobile of the vehicle braking Serve System provided in embodiment 2.Automobile can
Think electric car or other include the automobile of entire car controller.Entire car controller in automobile can be used as data processing
Unit.It is defeated that first data acquisition unit and the collected signal of the second data acquisition unit by A/D are converted to digital signal
Enter to entire car controller.Certain A/D conversion also can be set in entire car controller, the first data acquisition unit and the second data
Data after acquisition unit acquisition are directly inputted into the A/D conversion module in entire car controller.Automobile provided in this embodiment by
In the sideslip state that can detect automobile in time, and different measures can be taken for different sideslip values, so as to
It is enough to avoid guaranteeing the safety of passengers inside the car due to Vehicle Driving Wandering bring security risk in time.
Although the embodiments of the invention are described in conjunction with the attached drawings, but those skilled in the art can not depart from this hair
Various modifications and variations can be made in the case where bright spirit and scope, and such modifications and variations are each fallen within by appended claims
Within limited range.
Claims (11)
1. a kind of vehicle braking camber control method, which comprises the steps of:
Obtain and corresponding first electric signal of left side wheel brake force and the second electric signal corresponding with right side wheels brake force；
Judge whether is difference between the corresponding brake force of first electric signal and the corresponding brake force of second electric signal
Less than or equal to preset threshold；
When the difference is greater than the preset threshold, the warning message for prompting running out the way is issued.
2. vehicle braking camber control method according to claim 1, which is characterized in that the acquisition and left side wheel system
In the step of corresponding first electric signal of power and the second electric signal corresponding with right side wheels brake force:
First electric signal is converted to by the corresponding piston pole length of left side wheel；
Second electric signal is converted to by the corresponding piston pole length of right side wheels.
3. vehicle braking camber control method according to claim 1, which is characterized in that the acquisition and left side wheel system
In the step of corresponding first electric signal of power and the second electric signal corresponding with right side wheels brake force:
First electric signal is converted to by the corresponding inner pressure of air cylinder of left side wheel；
Second electric signal is converted to by the corresponding inner pressure of air cylinder of right side wheels.
4. vehicle braking camber control method according to claim 1 to 3, which is characterized in that when the difference is greater than
When the preset threshold, issuing for prompting the warning message of running out the way further includes later following steps:
Judge whether the difference is less than or equal to deviation threshold；
If then exporting the first sideslip status information；
Otherwise the second sideslip status information is exported, and vehicle maximum braking torque is limited.
5. vehicle braking camber control method according to claim 1 to 3, which is characterized in that judge first electricity
Difference between signal and second electric signal whether the step of being less than or equal to preset threshold including:
Stabilization processing is carried out to the difference, eliminates condition of instant error dither signal.
6. a kind of vehicle braking Serve System characterized by comprising
First data acquisition unit, for acquiring corresponding with left side wheel brake force the first parameter, and by first parameter
Be converted to the output of the first electric signal；
Second data acquisition unit, for acquiring corresponding with right side wheels brake force the second parameter, and by second parameter
Be converted to the output of the second electric signal；
Data processing unit receives first electric signal and second electric signal, judges that first electric signal is corresponding
Whether the difference between brake force and the corresponding brake force of second electric signal is less than or equal to preset threshold；
Signal prompt unit issues the warning message for prompting running out the way when the difference is greater than the preset threshold.
7. vehicle braking Serve System according to claim 6, it is characterised in that:
First data acquisition unit is position sensor, and the corresponding piston pole length of acquisition left side wheel is as the
One parameter；
Second data acquisition unit is position sensor, and the corresponding piston pole length of acquisition right side wheels is as the
Two parameters.
8. vehicle braking Serve System according to claim 6, it is characterised in that:
First data acquisition unit is pressure sensor, and the corresponding inner pressure of air cylinder of acquisition left side wheel is as the first ginseng
Number；
Second data acquisition unit is pressure sensor, and the corresponding inner pressure of air cylinder of acquisition right side wheels is as the second ginseng
Number.
9. according to vehicle braking Serve System as claimed in claim 6 to 8, it is characterised in that:
The data processing unit, is also used to judge whether the difference is less than or equal to deviation threshold；
The signal prompt unit is also used to export the first sideslip state when the difference is less than or equal to the deviation threshold
Information；Export the second sideslip status information when the difference is greater than the deviation threshold, and to vehicle maximum braking torque into
Row limitation.
10. according to vehicle braking Serve System as claimed in claim 6 to 8, it is characterised in that:
The data processing unit includes stabilization subunit, and for carrying out stabilization processing to the difference, it is different to eliminate moment
Normal dither signal.
11. a kind of automobile including any vehicle braking Serve System of claim 6-10.
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| CN201510471785.5A CN106379299B (en) | 2015-08-04 | 2015-08-04 | A kind of vehicle braking camber control method, system and automobile |
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| CN201510471785.5A CN106379299B (en) | 2015-08-04 | 2015-08-04 | A kind of vehicle braking camber control method, system and automobile |
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| CN109470390B (en) * | 2017-09-08 | 2020-11-03 | 上海汽车集团股份有限公司 | Method and device for avoiding accelerated deviation of automobile |
| CN107856660B (en) * | 2017-09-20 | 2019-10-22 | 北汽福田汽车股份有限公司 | Vehicle braking monitoring method, device, vehicle and storage medium |
| CN108168901B (en) * | 2017-12-13 | 2020-01-31 | 天津英创汇智汽车技术有限公司 | Method, device and system for measuring vehicle braking deviation |
| CN109255855B (en) * | 2018-09-28 | 2022-01-14 | 上汽通用五菱汽车股份有限公司 | Vehicle maintenance method, terminal and computer readable storage medium |
| CN112977599B (en) * | 2019-12-17 | 2022-06-21 | 北汽福田汽车股份有限公司 | Steering gear, vehicle steering system and vehicle |
| CN113044048B (en) * | 2021-03-31 | 2023-03-28 | 东风商用车有限公司 | Method, device and equipment for identifying vehicle deviation and readable storage medium |
| CN113848068B (en) * | 2021-09-10 | 2023-07-11 | 东风汽车集团股份有限公司 | Vehicle deviation measuring method and device |
| CN114235432B (en) * | 2021-11-12 | 2023-06-13 | 东风越野车有限公司 | Multi-source fusion diagnosis method and system for vehicle deviation problem cause |
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| CN100590010C (en) * | 2006-12-12 | 2010-02-17 | 比亚迪股份有限公司 | Self-adaptive ABS control method |
| US8707756B2 (en) * | 2008-10-29 | 2014-04-29 | Nissan Motor Co., Ltd. | Device and method for estimating frictional condition of ground surface with which vehicle is in contact |
| JP5131498B2 (en) * | 2010-11-25 | 2013-01-30 | トヨタ自動車株式会社 | Braking force control device for vehicle |
| CN202147679U (en) * | 2011-05-30 | 2012-02-22 | 山东理工大学 | Braking deviation alarm device |
| BR112013017290B1 (en) * | 2011-06-03 | 2020-09-08 | Toyota Jidosha Kabushiki Kaisha | BRAKING FORCE DISTRIBUTION CONTROL DEVICE FOR VEHICLE |
| CN102358274A (en) * | 2011-07-26 | 2012-02-22 | 奇瑞汽车股份有限公司 | Control device and control method for preventing braking deviation of automobile |
| JP5472350B2 (en) * | 2012-03-16 | 2014-04-16 | トヨタ自動車株式会社 | Braking force control device |
| CN202518256U (en) * | 2012-04-16 | 2012-11-07 | 常秀岩 | Automatic adjusting device for braking deviation of car |
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