CN106585593A - Vehicle emergency hill-holding method and system - Google Patents
Vehicle emergency hill-holding method and system Download PDFInfo
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- CN106585593A CN106585593A CN201611178705.8A CN201611178705A CN106585593A CN 106585593 A CN106585593 A CN 106585593A CN 201611178705 A CN201611178705 A CN 201611178705A CN 106585593 A CN106585593 A CN 106585593A
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Classifications
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- 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
- 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
- B60T2201/04—Hill descent control
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Abstract
The invention discloses a vehicle emergency hill-holding method and system. The vehicle emergency hill-holding method comprises the following steps: detecting whether anyone sits on a driver's seat or not; if yes, judging whether a vehicle slides forward or backward according to the electrical level of a driving direction identifier bit pre-marked in the information sent by a wheel speed sensor; when the vehicle slides backward, controlling a rear axle brake through an electronic hand brake valve to achieve parking braking; and when the vehicle slides forward, controlling the rear axle brake through the electronic hand brake valve to achieve parking braking and controlling a front brake through a temporary engine stop valve to achieve parking braking, wherein the temporary engine stop valve is connected between an air reservoir and a front braking anti-lock system electromagnetic valve. According to the vehicle emergency hill-holding method and system disclosed by the invention, a more suitable parking braking mode is selected according to the vehicle sliding direction. Therefore, the problem that a conventional vehicle hill-holding method cannot meet the actual demand can be solved by utilizing the vehicle emergency hill-holding method and system.
Description
Technical field
The present invention relates to technical field of electronic control, more particularly to a kind of emergency vehicle method and system in slope.
Background technology
As vehicle population is increasing, the active safety of vehicle increasingly obtains the attention of people.In life often
Be commonly encountered because after parking parking handle do not draw cause vehicle occur " slipping by slope " phenomenon, cause life and property loss it is serious after
Really.
The emergency vehicle method in slope of prior art mainly detects whether have in main seat by seating pressure sensor
People, and detect whether current shift is forward gear or retreating gear by shift sensor, if no one in main seat, and would work as front
Position is forward gear or retreating gear, then control brakes and be braked.But, current shift can not directly reflect Current vehicle
Whether car slipping there is：Even if current shift is not forward gear or retreating gear, when vehicle is located at ramp, car slipping still may occur and show
As.Additionally, when vehicle is located at the road surface for having ramp, when headstock is towards direction of fall, then the axle load of vehicle can be shifted forward, i.e.,
Fore bearing receives more load, and when headstock is towards upward slope direction, then the axle load of vehicle understands shifts backward, i.e. rear axle can bear more
Load.The parking system of cargo vehicle is typically all to act on rear axle, when headstock is towards direction of fall parking, once
When appearance slips by slope phenomenon, the parking braking of rear axle may have that braking effect cannot meet requirement.
The content of the invention
The invention provides a kind of emergency vehicle method and system in slope, the vehicle method in slope for solving prior art cannot
Meet the problem of actual demand.
The invention provides a kind of emergency vehicle method in slope, including：
Whether someone on detection driver's seat；
If it is, according to the level of the travel direction flag demarcated in advance in the information of wheel speed sensors transmission, sentencing
Disconnected vehicle whether forward car slipping or car slipping backward；
When car slipping backward, controlling rear axle brake vi by electronics hand brake valve carries out parking braking；
When car slipping forward, controlling rear axle brake vi by electronics hand brake valve carries out parking braking, and by stopping temporarily
Car valve control front brake carries out parking braking, wherein, temporary parking valve is connected to gas receiver and front anti-blocking brake system electricity
Between magnet valve.
Preferably, demarcating the travel direction flag of the advance demarcation includes：
Wheel speed sensors are provided, wheel speed sensors include：Gear ring and Hall element, gear ring includes circle body and is uniformly distributed
Teeth portion on circle body；
On Hall element after electricity, the output in ring gear against rotation has high level and low level square-wave signal；
Increase the resistance value between hall sensor output and ground connection so that the difference between high level and low level becomes
Greatly, and Hall element is exported with high level, middle level and low level square-wave signal in ring gear against rotation, wherein, it is adjacent
Two high level between there are several middle level；
A middle level position corresponding with vehicle traveling direction is chosen from the position of several middle level as traveling side
To flag.
Preferably, methods described also includes：
In debugging out after level, the difference that teeth portion is shaped such that between middle level and high level, low level is adjusted
Become big, wherein, the teeth portion after adjustment is shaped as：Clockwise surface configuration and anticlockwise surface configuration not phase
Together, including it is following any one：
Clockwise surface configuration is concave surface, and anticlockwise surface configuration is plane；Or
Clockwise surface configuration is concave surface, and anticlockwise surface configuration is convex surface；Or
Clockwise surface configuration is plane, and anticlockwise surface configuration is convex surface；Or
Clockwise surface configuration is S-shaped cambered surface, and anticlockwise surface configuration is plane.
Preferably, the teeth portion is shaped as：Clockwise surface configuration be concave surface, anticlockwise surface shape
Shape is plane；
It is described that a middle level position corresponding with vehicle traveling direction is chosen from the position of several middle level as row
Sailing direction signs position includes：
Determine the number of the middle level between adjacent two high level；
Setting communication protocol, a byte in each in the level correspondence communication protocol of level position, each byte
The height of the level of the level position is represented, wherein, middle level correspondence 1, low level correspondence 0；
Gear ring is rotated, the direction of each byte and ring gear against rotation in the signal of sensor output is compared；
If level position correspondence byte is 0 when ring gear against rotation direction is clockwise in certain, and the byte is in tooth
Circle rotation direction is 1 when being counterclockwise, then the byte can be used as travel direction flag；
From can as in the byte of travel direction flag choose one as travel direction flag.
Preferably, methods described also includes：
After front brake being controlled by temporary parking valve and carries out parking braking, judge vehicle whether in static shape
State；
If it is, control front brake releases braking；
Judge whether vehicle remains static, if it is not, then control front brake is braked.
Correspondingly, present invention also offers a kind of emergency vehicle system in slope, including：
The main seat pressure sensor 2 that is connected with electronic control unit 1 respectively, wheel speed sensors 3, electronics hand brake valve 4,
With anti-blocking brake system 5；
Main seat pressure sensor 2 is used to gather the pressure information in main seat, and is sent to electronic control unit 1；
Wheel speed sensors 3 are used to for the information of collection to be sent to electronic control unit 1, wherein, what wheel speed sensors 3 sent
Information at least includes the level of the travel direction flag demarcated in advance；
Electronic control unit 1 is used to judge on driver's seat whether someone according to pressure information, if it is, according to wheel speed biography
Whether forward the level of the travel direction flag demarcated in advance in the information that sensor 3 sends, judge vehicle car slipping or backward
Car slipping, when car slipping backward, controlling rear axle brake vi by electronics hand brake valve 4 carries out parking braking, when car slipping forward, leads to
Crossing the control rear axle brake vi of electronics hand brake valve 4 carries out parking braking, and controls front brake system by temporary parking valve
It is dynamic；
Electronics hand brake valve 4, spring energy-storage air chamber and the rear axle brake vi being sequentially connected with electronic control unit 1, electronics
When control unit 1 judges to need to carry out parking braking, parking message is sent, electronics hand brake valve 4 is received after parking message, closed
The gas outlet of electronics hand brake valve 4 is closed, the supercharging of spring energy-storage air chamber carries out parking braking to control rear axle brake vi；
Anti-blocking brake system 5 includes：Gas receiver, front braking anti-lock magnetic valve, the front system being connected with front wheel cylinder
Dynamic device；Temporary parking valve 51 is connected between the gas receiver of anti-blocking brake system 5 and front anti-blocking brake system magnetic valve, electricity
When sub-control unit 1 judges to need front brake to carry out parking braking, controlling temporary parking valve 51 increases the pressure of front wheel cylinder
Power carries out parking braking to control front brake.
Preferably, the wheel speed sensors 3 include：
Gear ring 31, Hall element 32, electric capacity 33, resistance 34 and regulation resistance 6, the footpath of the probe of Hall element 32
It is generally aligned in the same plane through the center of circle of gear ring 31 and with gear ring 31 to extended line, the power end and output end of Hall element 32
Between an electric capacity 33 in parallel, the output end of Hall element 32 is also grounded respectively and is connected with electronic control unit 1, and resistance 34 is gone here and there
It is associated between the output end of Hall element 32 and ground connection；
Resistance 6 is adjusted, is connected between the output end of Hall element 32 and ground connection, it is defeated for increasing Hall element 32
Resistance value between going out end and being grounded so that the difference between high level and low level becomes big, and Hall element 32 is existed
Output when gear ring 31 is rotated has high level, middle level and low level square-wave signal, and electric capacity 33 strobes, wherein, phase
There are several middle level between two adjacent high level；
Electronic control unit 1 is specifically for from the corresponding position of several middle level of the square-wave signal for receiving, choosing one
Middle level position corresponding with vehicle traveling direction as travel direction flag, then according to the level of travel direction flag
Height determine the travel direction of vehicle.
Preferably, the gear ring 31 includes：Circle body and the teeth portion being evenly distributed on circle body；
The teeth portion is shaped such that the difference between middle level and high level, low level becomes big；
The teeth portion is shaped as：Clockwise surface configuration and anticlockwise surface configuration are differed, bag
Include it is following any one：
Clockwise surface configuration is concave surface, and anticlockwise surface configuration is plane；Or
Clockwise surface configuration is concave surface, and anticlockwise surface configuration is convex surface；Or
Clockwise surface configuration is plane, and anticlockwise surface configuration is convex surface；Or
Clockwise surface configuration is S-shaped cambered surface, and anticlockwise surface configuration is plane.
Preferably, the teeth portion is shaped as：Clockwise surface configuration be concave surface, anticlockwise surface shape
Shape is plane；
The electronic control unit 1 specifically for：
During the setting of communication protocol：Determine the number of the middle level between adjacent two high level；For each
One byte of individual middle level position setting, the height of the level of each byte representation level position, wherein, middle level correspondence 1,
Low level correspondence 0；When gear ring 31 is rotated, the side that each byte and gear ring 31 are rotated in the signal of the output of Hall element 32 is compared
To uniformity, determine travel direction flag；Wherein, travel direction flag at least meets following condition：Byte is in gear ring
It is 0 when 31 rotation directions are clockwise, and is 1 when the rotation direction of gear ring 31 is counterclockwise；
During emergency vehicle stays slope：Electronic control unit 1 determines the row of vehicle according to the value of travel direction flag
Direction is sailed, wherein, when travel direction flag is 0, vehicle heading is to move forward；When travel direction flag is 1, car
Travel direction is to travel backward.
Preferably, the electronic control unit 1 is additionally operable to carrying out parking system by temporary parking valve control front brake
After dynamic, judge whether vehicle remains static, if it is, control front brake releases braking, next, it is determined that vehicle is
It is no to remain static, if it is not, then control front brake is braked.
A kind of emergency vehicle method and system in slope that the present invention is provided, detect on driver's seat whether someone；If it is,
According to the level of the travel direction flag demarcated in advance in the information that wheel speed sensors send, vehicle whether forward car slipping is judged
Or car slipping backward；When car slipping backward, controlling rear axle brake vi by electronics hand brake valve carries out parking braking；When slipping forward
Che Shi, controlling rear axle brake vi by electronics hand brake valve carries out parking braking, and controls front brake by temporary parking valve
Parking braking is carried out, wherein, temporary parking valve is connected between gas receiver and front anti-blocking brake system magnetic valve.Due to basis
Whether the real time monitoring signals vehicle that wheel speed sensors send moves, and so avoids to judge whether that needs are carried out according to gear
The judgement of automatic parking brake is more accurate.Further, since the wheel speed sensors can also judge the moving direction of vehicle, so
The present invention is allowd for slipping by slope or slipping by slope backward selection more suitably mode of braking forward, when such as slipping by slope backward only with
Parking braking, is then braked using parking braking and brake hard two ways simultaneously when slipping by slope forward, with solve by
Cause the not good problem of rear axle brake vi braking effect in axle load reach.
Further, the emergency vehicle method and system in slope that the present invention is provided, are judged using gear ring and Hall element
Whether car load is in advance or the state for retreating.Specifically, in the calibration process of traveling direction signs position：Passed by increasing Hall
Resistance value between sensor output end and ground connection so that the difference between high level and low level becomes big, and Hall element exists
Output during ring gear against rotation has high level, middle level and low level square-wave signal, wherein, deposit between two adjacent high level
In several middle level；A middle level position corresponding with vehicle traveling direction is chosen from the position of several middle level as row
Sail direction signs position.During emergency vehicle stays slope：The row of vehicle is determined according to the height of the level of travel direction flag
Sail direction.Prior art can not gather directional information generally using gear ring and Hall element collection rotary speed information, this
Invent and by adjusting the resistance value between hall sensor output and ground connection Hall element is exported in ring gear against rotation
With high level, middle level and low level square-wave signal, and middle level can be used to characterize the travel direction of vehicle.Using this
Invention itself can be problem in forward travel state or fallback state with fast automatic identifying.
Further, the emergency vehicle method and system in slope that the present invention is provided, can also pass through the shape of adjustment teeth portion
So that the difference between middle level and high level, low level becomes big.So it is easy to distinguish high level and low level difference, especially
When level in also existing so that the difference between middle level and high level, low level becomes apparent from, travel direction flag is improved
Level recognition accuracy.
Further, the emergency vehicle method and system in slope that the present invention is provided, additionally provide the shape of specific teeth portion：
Clockwise surface configuration is concave surface, and anticlockwise surface configuration is plane etc..Such teeth portion shape can be more preferably
Debugging go out middle level, itself be in forward travel state or fallback state in order to fast automatic the identifying of level in basis.
Further, the emergency vehicle method and system in slope that the present invention is provided, additionally provide specifically travel direction mark
Know position and choose mode：Setting communication protocol, a byte in each in the level correspondence communication protocol of level position, according to
Whether each byte is consistent with ring gear against rotation direction to determine whether each byte can be as travel direction flag, if it is, therefrom
A byte is chosen as travel direction flag.So travel direction flag simply can be accurately selected, in order to
It is follow-up to judge that Current vehicle is in forward travel state or fallback state according to the value of travel direction flag.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing that needs are used is briefly described, it should be apparent that, drawings in the following description are only described in the present invention
A little embodiments, for those of ordinary skill in the art, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is a kind of flow chart according to emergency vehicle method in slope provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart of the determination method according to travel direction flag provided in an embodiment of the present invention；
Fig. 3 is a kind of structural representation of the active wheel speed sensor of prior art；
The square wave figure that Fig. 4 is exported for the active wheel speed sensor of prior art；
Fig. 5 is the square wave figure according to Hall element provided in an embodiment of the present invention output；
Fig. 6 is another kind of flow chart of the determination method according to travel direction flag provided in an embodiment of the present invention；
Fig. 7 is according to the method that travel direction flag is chosen from several middle level provided in an embodiment of the present invention
Plant flow chart；
Fig. 8 is a kind of structural representation according to emergency vehicle system in slope provided in an embodiment of the present invention；
Fig. 9 is a kind of structural representation according to brake piping provided in an embodiment of the present invention；
Figure 10 is a kind of circuit diagram according to wheel speed sensors provided in an embodiment of the present invention.
Reference：
In Fig. 1-Figure 10：
The electronics hand brake valve of 1 electronic control unit 4
The anti-blocking brake system of 2 main seat pressure sensor 5
The temporary parking valve of 3 wheel speed sensors 51
31 gear ring 6 adjusts resistance
32 Hall elements
The gear ring of 33 electric capacity 1 '
The Hall element of 34 resistance 2 '
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar parameter or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
In order to be better understood from technical scheme and technique effect, below with reference to schematic flow sheet to specific
Embodiment is described in detail.As shown in figure 1, being the one kind according to emergency vehicle method in slope provided in an embodiment of the present invention
Flow chart, the method may comprise steps of：
Step S01, whether someone on detection driver's seat.
In the present embodiment, can judge to drive by main seat pressure sensor, imageing sensor, infrared sensor etc.
Whether someone is sailed on seat, is driver intention when showing that Current vehicle is moved, without the need for carrying out automatically if someone on driver's seat
Parking braking, if nobody, ground car slipping is intended to when showing that Current vehicle is moved for non-driver.
Step S02, if it is, according to the travel direction flag demarcated in advance in the information of wheel speed sensors transmission
Whether forward level, judge vehicle car slipping or car slipping backward.
In the present embodiment, vehicle whether forward car slipping or car slipping backward, tool are judged using improved wheel speed sensors
Body ground, according to the level of the travel direction flag demarcated in advance in the information that wheel speed sensors send, judge vehicle whether to
Front car slipping or backward car slipping.The wheel speed sensors of prior art are generally used for obtaining the rotating speed of wheel, then according to wheel
Rotating speed calculates speed etc., and in the present embodiment, wheel speed sensors can be not only used for the rotating speed of collection vehicle, can be also used for collection
The moving direction of vehicle.In order to select suitable parking braking mode according to the vehicle moving direction of collection.
Step S03, when car slipping backward, controlling rear axle brake vi by electronics hand brake valve carries out parking braking.
In the present embodiment, because the rear axle brake vi of vehicle is generally all disposed within rear axle, when vehicle car slipping backward,
Axle load is concentrated mainly on rear axle, therefore, parking braking function can preferably be realized by rear axle brake vi.
Step S04, when car slipping forward, controlling rear axle brake vi by electronics hand brake valve carries out parking braking, and leads to
Crossing temporary parking valve control front brake carries out parking braking, wherein, temporary parking valve is connected to gas receiver and front ABS
Between dead system magnetic valve.
In the present embodiment, because the rear axle brake vi of vehicle is generally all disposed within rear axle, when vehicle car slipping forward,
Axle load is concentrated mainly on front axle, if now only with rear axle brake vi, parking effect may not be good, particularly with loading
Lorry, if be now braked only with rear axle brake vi, may cause braking effect not good.Therefore, using brake hard
The brake being arranged on front axle of system coordinates rear axle brake vi preferably to ensure parking braking effect.
A kind of emergency vehicle method and system in slope that the present invention is provided, detect on driver's seat whether someone, if it is,
According to the level of the travel direction flag demarcated in advance in the information that wheel speed sensors send, vehicle whether forward car slipping is judged
Or car slipping backward；When car slipping backward, controlling rear axle brake vi by electronics hand brake valve carries out parking braking；When slipping forward
Che Shi, controlling rear axle brake vi by electronics hand brake valve carries out parking braking, and controls front brake by temporary parking valve
Parking braking is carried out, wherein, temporary parking valve is connected between gas receiver and front anti-blocking brake system magnetic valve.Due to basis
Whether the real time monitoring signals vehicle that wheel speed sensors send moves, and so avoids to judge whether that needs are carried out according to gear
The judgement of automatic parking brake is more accurate.Further, since the wheel speed sensors can also judge the moving direction of vehicle, so
The present invention is allowd for slipping by slope or slipping by slope backward selection more suitably mode of braking forward, when such as slipping by slope backward only with
Rear axle brake vi is braked, then simultaneously using rear axle brake vi and brake hard two ways system when slipping by slope forward
It is dynamic, to solve the problems, such as because axle load reach causes rear axle brake vi braking effect not good.
As shown in Fig. 2 being a kind of flow process of the determination method according to travel direction flag provided in an embodiment of the present invention
Figure.In the present embodiment, the travel direction flag for demarcating the advance demarcation may comprise steps of：
Travel direction flag demarcation is carried out in advance, and calibration process can include：
Step S21, there is provided wheel speed sensors, wheel speed sensors include：Gear ring and Hall element, gear ring include circle body and
The teeth portion being evenly distributed on circle body.Specifically, the wheel speed sensors of prior art, here can be adopted not to limit.Such as Fig. 3
It is shown, it is a kind of structural representation of the active wheel speed sensor of prior art, the active wheel speed sensor passes through Hall
The Hull voltage that effect is produced generates two level：High level and low level.Thus can be according to high in the unit interval
The number of times that level or low level send calculates wheel speed.Its principle is ceaselessly rotated for gear ring 1 ', when the teeth portion of gear ring 1 ' is near suddenly
During your sensor 2 ', Hall element 2 ' exports a high level, when teeth groove is near Hall element 2 ', Hall element 2 '
Produce a low level.
Step S22, on Hall element after electricity, there is high level and low level square wave to believe for the output in ring gear against rotation
Number.
In the present embodiment, high level and low level square-wave signal are debugged out first.As shown in figure 4, being prior art
Active wheel speed sensor output square wave figure, wherein, two level of circuit output：High level I1 and low level I2, the ripple
Shape figure is square-wave waveform figure.Wherein, electric capacity plays a part of filtering, i.e., only defeated when level is in the upper and lower certain limit of I1 values
Go out a high level I1, when level is in the upper and lower certain limit of I2 values, only export low level I2.For example, high level is
2.2mA, it is 1.1mA that low level is I2, then the low level of 1.1mA, level ＞ 1.6mA are exported in the range of level≤1.6mA
Export the high level of 2.2mA.
Step S23, increases the resistance value between hall sensor output and ground connection so that between high level and low level
Difference become big, and Hall element export in ring gear against rotation and has high level, middle level and low level square-wave signal, its
In, there are several middle level between two adjacent high level.
In the present embodiment, by adjusting the resistance value between hall sensor output and ground connection so that the Hall is passed
Sensor can export the middle level that can characterize car load moving direction, in order to according to electrical level judging car load moving direction in this.Tool
Body ground, when resistance value is bigger, the level range value of Hall element output is bigger, you can be easy to obtaining outside low and high level
Obtain an intermediate level again, for example, by increase resistance value so that Hall element export a 1.2mA low level, one
The middle level of the high level of individual 4.8mA, 2.4mA.Wherein, increase resistance after resistance size can for 80 Ω, 100 Ω,
120 Ω, 150 Ω etc..As shown in figure 5, being the square wave figure according to Hall element provided in an embodiment of the present invention output.Wherein,
There are 8 middle level between high level：b1、b2、b3、b4、b5、b6、b7、b8.It is present in vehicle traveling direction in this in level
Consistent part.
Step S24, a middle level position corresponding with vehicle traveling direction is chosen from the position of several middle level and is made
For travel direction flag.
In the present embodiment, because the rotation direction of gear ring and the direct of travel of vehicle have corresponding relation, for example, car
Gear ring is rotated counterclockwise when moving forward, or gear ring is rotated clockwise during forward travel, then turning according to gear ring
Dynamic direction and the corresponding relation of each middle level, when the rotation direction of the height of the level of level position and gear ring in certain has one
During cause property, then can be according to the rotation direction of the consistent middle electrical level judging gear ring, and then according to the rotation side of gear ring
To the travel direction for determining vehicle.
It should be noted that step S21 to step S24 can be after once demarcation, when subsequently using, according to this deutero-albumose
Determining result use, all re-scaling during without the need for using every time.
During emergency vehicle stays slope, the traveling side of vehicle is determined according to the height of the level of travel direction flag
To.Specifically, because the height of level of travel direction flag has uniformity with the travel direction of vehicle, therefore, it can
The travel direction of vehicle is determined according to the height of the level of travel direction flag.For example, when the level of travel direction flag
For low level when, then may determine that vehicle for forward travel state, when the level of travel direction flag is high level, then can sentence
Disconnected vehicle is fallback state.Certainly, the travel direction of vehicle needs the rotation direction according to actual gear ring and car load traveling side
To corresponding relation be adjusted.
As shown in fig. 6, being another kind of stream of the determination method according to travel direction flag provided in an embodiment of the present invention
Cheng Tu.
In the present embodiment, methods described also includes：Step S66, in debugging out after level, adjusts the shape of teeth portion
So that the difference between middle level and high level, low level becomes big.
In the present embodiment, can by the Adjusting Shape stepped of teeth portion, the asymmetric shape in both sides and other it is contemplated that
Shape, if the shape of the teeth portion can cause difference between middle level and high level, low level to become big, and in this level and
The steering of gear ring is related.
In a specific embodiment, teeth portion is shaped as：Clockwise surface configuration and anticlockwise table
Face shape is differed.When can so cause gear ring towards different direction rotations, Hall element exports different square waves, so
The rotation direction of gear ring just can be determined according to the square wave.
Further, teeth portion is shaped as：Clockwise surface configuration be concave surface, anticlockwise surface configuration
For plane；Or clockwise surface configuration is concave surface, anticlockwise surface configuration is convex surface；Or it is square clockwise
To surface configuration be plane, anticlockwise surface configuration be convex surface；Or clockwise surface configuration is S-shaped arc
Face, anticlockwise surface configuration is plane.High level, three kinds of level of middle level and low level, middle electricity can so be formed
Flat to can be used to characterize the rotation direction of gear ring, high level can be used to characterize the velocity of rotation of gear ring, and a kind of sensor can be with
The collection of velocity of rotation and rotation direction is realized simultaneously.
As shown in fig. 7, being that travel direction flag is chosen from several middle level according to provided in an embodiment of the present invention
A kind of flow chart of method.
In the present embodiment, being shaped as with the teeth portion：Clockwise surface configuration is concave surface, counterclockwise
Surface configuration be plane as a example by illustrate.It is described that one is chosen from the position of several middle level with vehicle traveling direction pair
The middle level position answered includes as travel direction flag：
Step S71, determines the number of the middle level between adjacent two high level.
Step S72, sets communication protocol, a byte in each in the level correspondence communication protocol of level position,
The height of the level of each byte representation level position, wherein, middle level correspondence 1, low level correspondence 0.
Step S73, rotates gear ring, compares the direction of each byte and ring gear against rotation in the signal of sensor output.
Step S74, if level position correspondence byte is 0 when ring gear against rotation direction is clockwise in certain, and
It is 1 when ring gear against rotation direction is counterclockwise, then the byte can be used as travel direction flag.
Step S75, from can as in the byte of travel direction flag choose one as travel direction flag.
In a specific embodiment, I0 is middle level, and in communication protocol, level corresponds to a Bit in each
(byte), each Bit can pass through the binary code that the presence or absence of its level corresponds to 0 or 1, according to each middle level position
Level height and ring gear against rotation direction uniformity, determine a Bit therein for characterizing the directionality of wheel speed sensors.
For example, the 3rd Bit b3 in Fig. 5 is used to characterize the travel direction of car load, and b3 sends code 0 during advance, and generation is sent during retrogressing
Code 1.B3 level is I0 when i.e. vehicle advances, and b3 level is I2 during retrogressing.
Correspondingly, present invention also offers emergency vehicle system in slope corresponding with said method, as shown in figure 8, being root
According to a kind of structural representation of emergency vehicle system in slope provided in an embodiment of the present invention, including：
The main seat pressure sensor 2 that is connected with electronic control unit 1 respectively, wheel speed sensors 3, electronics hand brake valve 4,
With anti-blocking brake system 5.
Main seat pressure sensor 2 is used to gather the pressure information in main seat, and is sent to electronic control unit 1.
Wheel speed sensors 3 are used to for the information of collection to be sent to electronic control unit 1, wherein, what wheel speed sensors 3 sent
Information at least includes the level of the travel direction flag demarcated in advance.
Electronic control unit 1 is used to judge on driver's seat whether someone according to pressure information, if it is, according to wheel speed biography
Whether forward the level of the travel direction flag demarcated in advance in the information that sensor 3 sends, judge vehicle car slipping or backward
Car slipping, when car slipping backward, controlling rear axle brake vi by electronics hand brake valve 4 carries out parking braking, when car slipping forward, leads to
Crossing the control rear axle brake vi of electronics hand brake valve 4 carries out parking braking, and controls front brake system by temporary parking valve
It is dynamic.
Electronics hand brake valve 4, spring energy-storage air chamber and the rear axle brake vi being sequentially connected with electronic control unit 1, electronics
When control unit 1 judges to need to carry out parking braking, parking message is sent, electronics hand brake valve 4 is received after parking message, closed
The gas outlet of electronics hand brake valve 4 is closed, the supercharging of spring energy-storage air chamber carries out parking braking to control rear axle brake vi.
Anti-blocking brake system 5 includes：Gas receiver, front braking anti-lock magnetic valve, the front system being connected with front wheel cylinder
Dynamic device；Temporary parking valve 51 is connected between the gas receiver of anti-blocking brake system 5 and front anti-blocking brake system magnetic valve, electricity
When sub-control unit 1 judges to need front brake to carry out parking braking, controlling temporary parking valve 51 increases the pressure of front wheel cylinder
Power carries out parking braking to control front brake.As shown in figure 9, being the one kind according to brake piping provided in an embodiment of the present invention
Structural representation.
Specifically, as shown in Figure 10, it is a kind of circuit diagram according to wheel speed sensors provided in an embodiment of the present invention.It is described
Wheel speed sensors 3 can include：Gear ring 31, Hall element 32, electric capacity 33, resistance 34 and regulation resistance 6, Hall element
The radial direction extended line of 32 probe passes through the center of circle of gear ring 31 and is generally aligned in the same plane with gear ring 31, the electricity of Hall element 32
An electric capacity 33 in parallel between source and output end, the output end of Hall element 32 also respectively ground connection and with electronic control unit 1
It is connected, resistance 34 is connected between the output end of Hall element 32 and ground connection.
Resistance 6 is adjusted, is connected between the output end of Hall element 32 and ground connection, it is defeated for increasing Hall element 32
Resistance value between going out end and being grounded so that the difference between high level and low level becomes big, and Hall element 32 is existed
Output when gear ring 31 is rotated has high level, middle level and low level square-wave signal, and electric capacity 33 strobes, wherein, phase
There are several middle level between two adjacent high level.
Electronic control unit 1 chooses one with vehicle row from the corresponding position of several middle level of the square-wave signal for receiving
Enter the corresponding middle level position in direction as travel direction flag, it is then true according to the height of the level of travel direction flag
Determine the travel direction of vehicle.
Further, in order that the difference between high level, middle level and low level becomes apparent from, the gear ring 31
Including：Including circle body and the teeth portion being evenly distributed on circle body.The teeth portion be shaped such that middle level and high level, low level it
Between difference become big.
Wherein, the teeth portion is shaped as：Clockwise surface configuration and anticlockwise surface configuration not phase
Together.
Preferably, the teeth portion is shaped as：Clockwise surface configuration be concave surface, anticlockwise surface shape
Shape is plane；Or clockwise surface configuration is concave surface, anticlockwise surface configuration is convex surface；Or clockwise
The surface configuration in direction is plane, and anticlockwise surface configuration is convex surface；Or clockwise surface configuration is S-shaped
Cambered surface, anticlockwise surface configuration is plane.It should be noted that example provided above, is merely illustrative citing, not
It is understood that as limitation of the invention.
Additionally, the electronic control unit 1 is additionally operable to carrying out parking braking by temporary parking valve control front brake
Afterwards, judge whether vehicle remains static, if it is, control front brake releases braking, next, it is determined that whether vehicle
Remain static, if it is not, then control front brake is braked.
In another embodiment, the electronic control unit 1 specifically for：
During the setting of communication protocol：Determine the number of the middle level between adjacent two high level；For each
One byte of individual middle level position setting, the height of the level of each byte representation level position, wherein, middle level correspondence 1,
Low level correspondence 0；When gear ring 31 is rotated, the side that each byte and gear ring 31 are rotated in the signal of the output of Hall element 32 is compared
To uniformity, determine travel direction flag；Wherein, travel direction flag at least meets following condition：Byte is in gear ring
It is 0 when 31 rotation directions are clockwise, and is 1 when the rotation direction of gear ring 31 is counterclockwise.
During emergency vehicle stays slope：Electronic control unit 1 determines the row of vehicle according to the value of travel direction flag
Direction is sailed, wherein, when travel direction flag is 0, vehicle heading is to move forward；When travel direction flag is 1, car
Travel direction is to travel backward.
Certainly, the system can also include warning device, when electronic control unit 1 judges currently car slipping to occur, control report
Alert unit is reported to the police.
The emergency vehicle system in slope of the bright offer of this embodiment, including：The seat of honour being connected with electronic control unit 1 respectively
Chair pressure sensor 2, wheel speed sensors 3, electronics hand brake valve 4 and anti-blocking brake system 5.Effectively solved using the present invention
Certainly solving the problems, such as the vehicle method in slope of prior art cannot meet actual demand.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Point mutually referring to.For especially for system embodiment, because it is substantially similar to embodiment of the method, so describing
Fairly simple, related part is illustrated referring to the part of embodiment of the method.System embodiment described above is only to show
Meaning property, wherein the unit as separating component explanation can be or may not be physically separate.Can be with root
The factually purpose for needing to select some or all of module therein to realize this embodiment scheme on border.Ordinary skill
Personnel are not in the case where creative work is paid, you can to understand and implement.
The embodiment of the present invention is described in detail above, specific embodiment used herein is carried out to the present invention
Illustrate, the explanation of above example is only intended to help and understands the method for the present invention and system；Simultaneously for the one of this area
As technical staff, according to the present invention thought, will change in specific embodiments and applications, to sum up institute
State, this specification content should not be construed as limiting the invention.
Claims (10)
1. a kind of emergency vehicle method in slope, it is characterised in that include：
Whether someone on detection driver's seat；
If it is, according to the level of the travel direction flag demarcated in advance in the information of wheel speed sensors transmission, judging car
Whether forward car slipping or backward car slipping；
When car slipping backward, controlling rear axle brake vi by electronics hand brake valve carries out parking braking；
When car slipping forward, controlling rear axle brake vi by electronics hand brake valve carries out parking braking, and by temporary parking valve
Control front brake carries out parking braking, wherein, temporary parking valve is connected to gas receiver and front anti-blocking brake system magnetic valve
Between.
2. method according to claim 1, it is characterised in that demarcate the travel direction flag bag of the advance demarcation
Include：
Wheel speed sensors are provided, wheel speed sensors include：Gear ring and Hall element, gear ring includes circle body and is evenly distributed on circle
Teeth portion on body；
On Hall element after electricity, the output in ring gear against rotation has high level and low level square-wave signal；
Increase the resistance value between hall sensor output and ground connection so that the difference between high level and low level becomes big,
And Hall element is exported with high level, middle level and low level square-wave signal in ring gear against rotation, wherein, adjacent two
There are several middle level between individual high level；
A middle level position corresponding with vehicle traveling direction is chosen from the position of several middle level as travel direction mark
Know position.
3. method according to claim 2, it is characterised in that methods described also includes：
In debugging out after level, adjustment teeth portion is shaped such that the difference between middle level and high level, low level becomes big,
Wherein, teeth portion after adjustment is shaped as：Clockwise surface configuration and anticlockwise surface configuration are differed, bag
Include it is following any one：
Clockwise surface configuration is concave surface, and anticlockwise surface configuration is plane；Or
Clockwise surface configuration is concave surface, and anticlockwise surface configuration is convex surface；Or
Clockwise surface configuration is plane, and anticlockwise surface configuration is convex surface；Or
Clockwise surface configuration is S-shaped cambered surface, and anticlockwise surface configuration is plane.
4. method according to claim 3, it is characterised in that the teeth portion is shaped as：Clockwise surface shape
Shape is concave surface, and anticlockwise surface configuration is plane；
It is described that a middle level position corresponding with vehicle traveling direction is chosen from the position of several middle level as traveling side
Include to flag：
Determine the number of the middle level between adjacent two high level；
Setting communication protocol, a byte in each in the level correspondence communication protocol of level position, each byte representation
The height of the level of the level position, wherein, middle level correspondence 1, low level correspondence 0；
Gear ring is rotated, the direction of each byte and ring gear against rotation in the signal of sensor output is compared；
If level position correspondence byte is 0 when ring gear against rotation direction is clockwise in certain, and the byte turns in gear ring
It is 1 when dynamic direction is counterclockwise, then the byte can be used as travel direction flag；
From can as in the byte of travel direction flag choose one as travel direction flag.
5. the method according to any one of Claims 1-4, it is characterised in that methods described also includes：
After front brake being controlled by temporary parking valve and carries out parking braking, judge whether vehicle remains static；
If it is, control front brake releases braking；
Judge whether vehicle remains static, if it is not, then control front brake is braked.
6. a kind of emergency vehicle system in slope, it is characterised in that include：
Main seat pressure sensor (2), wheel speed sensors (3), the electronics hand brake valve being connected with electronic control unit (1) respectively
(4), anti-blocking brake system (5) and temporary parking valve (51)；
Main seat pressure sensor (2) is sent to electronic control unit (1) for gathering the pressure information in main seat；
Wheel speed sensors (3) for the information of collection to be sent to into electronic control unit (1), wherein, wheel speed sensors (3) send
Information at least include the level of the travel direction flag demarcated in advance；
Electronic control unit (1) for judging on driver's seat whether someone according to pressure information, if it is, being sensed according to wheel speed
Whether forward the level of the travel direction flag demarcated in advance in the information that device (3) sends, judge vehicle car slipping or backward
Car slipping, when car slipping backward, controlling rear axle brake vi by electronics hand brake valve (4) carries out parking braking, when car slipping forward,
Controlling rear axle brake vi by electronics hand brake valve (4) carries out parking braking, and is entered by temporary parking valve control front brake
Row braking；
Electronics hand brake valve (4), spring energy-storage air chamber and the rear axle brake vi being sequentially connected with electronic control unit (1), electronics
When control unit (1) judges to need to carry out parking braking, parking message is sent, electronics hand brake valve (4) receives parking message
Afterwards, the gas outlet of electronics hand brake valve (4) is closed, the supercharging of spring energy-storage air chamber carries out parking braking to control rear axle brake vi；
Anti-blocking brake system (5) includes：Gas receiver, front braking anti-lock magnetic valve, the front braking being connected with front wheel cylinder
Device；Temporary parking valve (51) is connected between the gas receiver of anti-blocking brake system (5) and front anti-blocking brake system magnetic valve,
When electronic control unit (1) judges to need front brake to carry out parking braking, control temporary parking valve (51) increases front braked wheel
The pressure of cylinder carries out parking braking to control front brake.
7. system according to claim 6, it is characterised in that the wheel speed sensors (3) include：
Gear ring (31), Hall element (32), electric capacity (33), resistance (34) and regulation resistance (6), Hall element (32)
The radial direction extended line of probe passes through the center of circle of gear ring (31) and is generally aligned in the same plane with gear ring (31), Hall element (32)
An electric capacity (33) in parallel between power end and output end, the output end of Hall element (32) is also grounded respectively and and Electronic Control
Unit (1) is connected, and resistance (34) is connected between the output end of Hall element (32) and ground connection；
Resistance (6) is adjusted, is connected between the output end of Hall element (32) and ground connection, for increasing Hall element (32)
Resistance value between output end and ground connection so that the difference between high level and low level becomes big, and cause Hall element
(32) when gear ring (31) is rotated, output has high level, middle level and low level square-wave signal, and electric capacity (33) plays filtering and makees
With, wherein, there are several middle level between two adjacent high level；
Electronic control unit (1) specifically for from receive square-wave signal the corresponding position of several middle level, choose one with
The corresponding middle level position of vehicle traveling direction as travel direction flag, then according to the level of travel direction flag
Height determines the travel direction of vehicle.
8. system according to claim 7, it is characterised in that the gear ring (31) includes：Circle body and it is evenly distributed on circle
Teeth portion on body；
The teeth portion is shaped such that the difference between middle level and high level, low level becomes big；
The teeth portion is shaped as：Clockwise surface configuration and anticlockwise surface configuration are differed, including with
Descend any one：
Clockwise surface configuration is concave surface, and anticlockwise surface configuration is plane；Or
Clockwise surface configuration is concave surface, and anticlockwise surface configuration is convex surface；Or
Clockwise surface configuration is plane, and anticlockwise surface configuration is convex surface；Or
Clockwise surface configuration is S-shaped cambered surface, and anticlockwise surface configuration is plane.
9. system according to claim 8, it is characterised in that the teeth portion is shaped as：Clockwise surface shape
Shape is concave surface, and anticlockwise surface configuration is plane；
The electronic control unit (1) specifically for：
During the setting of communication protocol：Determine the number of the middle level between adjacent two high level；For in each
One byte of level position setting, the height of the level of each byte representation level position, wherein, middle level correspondence 1, low electricity
Flat correspondence 0；When gear ring (31) is rotated, compare what each byte and gear ring (31) in the signal of Hall element (32) output were rotated
The uniformity in direction, determines travel direction flag；Wherein, travel direction flag at least meets following condition：Byte is in tooth
Circle (31) rotation direction is 0 when being clockwise, and is 1 when gear ring (31) rotation direction is counterclockwise；
During emergency vehicle stays slope：Electronic control unit (1) determines the traveling of vehicle according to the value of travel direction flag
Direction, wherein, when travel direction flag is 0, vehicle heading is to move forward；When travel direction flag is 1, vehicle
Travel direction is to travel backward.
10. the system according to any one of claim 6 to 9, it is characterised in that the electronic control unit (1) is additionally operable to
After front brake being controlled by temporary parking valve and carries out parking braking, judge whether vehicle remains static, if it is,
Then control front brake and release braking, next, it is determined that whether vehicle remains static, if it is not, then control front brake is entered
Row braking.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611178705.8A CN106585593B (en) | 2016-12-19 | 2016-12-19 | A kind of emergency vehicle method and system in slope |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611178705.8A CN106585593B (en) | 2016-12-19 | 2016-12-19 | A kind of emergency vehicle method and system in slope |
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| CN106585593A true CN106585593A (en) | 2017-04-26 |
| CN106585593B CN106585593B (en) | 2019-02-19 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667538A (en) * | 2019-10-21 | 2020-01-10 | 北京汽车集团越野车有限公司 | Anti-sliding method and vehicle |
| CN115230662A (en) * | 2022-08-24 | 2022-10-25 | 浙江联控技术有限公司 | Electric automobile control method and system and electric automobile |
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| US5667282A (en) * | 1996-04-22 | 1997-09-16 | Kia Motors Corporation | Electronic parking brake device for vehicles and control method therefor |
| CN103991441A (en) * | 2013-02-14 | 2014-08-20 | 福特全球技术公司 | System and method to prevent unintended vehicle travel |
| CN104597278A (en) * | 2015-02-15 | 2015-05-06 | 昆山德拉特兰传动科技有限公司 | Detection wheel with directionality and method for detecting running speed and running direction of vehicle at same time |
| CN104908731A (en) * | 2014-12-12 | 2015-09-16 | 青岛电子研究所有限责任公司 | Hand brake detection reminding alarm system of vehicle |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5667282A (en) * | 1996-04-22 | 1997-09-16 | Kia Motors Corporation | Electronic parking brake device for vehicles and control method therefor |
| CN103991441A (en) * | 2013-02-14 | 2014-08-20 | 福特全球技术公司 | System and method to prevent unintended vehicle travel |
| CN104908731A (en) * | 2014-12-12 | 2015-09-16 | 青岛电子研究所有限责任公司 | Hand brake detection reminding alarm system of vehicle |
| CN104597278A (en) * | 2015-02-15 | 2015-05-06 | 昆山德拉特兰传动科技有限公司 | Detection wheel with directionality and method for detecting running speed and running direction of vehicle at same time |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110667538A (en) * | 2019-10-21 | 2020-01-10 | 北京汽车集团越野车有限公司 | Anti-sliding method and vehicle |
| CN115230662A (en) * | 2022-08-24 | 2022-10-25 | 浙江联控技术有限公司 | Electric automobile control method and system and electric automobile |
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| Publication number | Publication date |
|---|---|
| CN106585593B (en) | 2019-02-19 |
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