CN106627533A - Heavy truck brake control method and system, and truck comprising system - Google Patents
Heavy truck brake control method and system, and truck comprising system Download PDFInfo
- Publication number
- CN106627533A CN106627533A CN201611238927.4A CN201611238927A CN106627533A CN 106627533 A CN106627533 A CN 106627533A CN 201611238927 A CN201611238927 A CN 201611238927A CN 106627533 A CN106627533 A CN 106627533A
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- truck
- heavy truck
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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
- 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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/10—ABS control systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a heavy truck brake control method and system, and a truck comprising the system. The method comprises the steps that the steering wheel turning angle and the running speed in the current state are obtained and sent to an ESP control unit, and the ESP control unit obtains the truck target running state according to the steering wheel turning angle and the running speed; the yaw rate and the roll rate of the truck in the current state are obtained and sent to the ESP control unit, and the ESP control unit obtains the actual truck running state according to the yaw rate and the roll rate; the ESP control unit judges whether the truck target running state is the same as the actual truck running state, and if yes, the process returns to the steering wheel turning angle obtaining step; and if no, corresponding truck wheels are controlled to be braked, and the rotation speed of an engine is controlled to be decreased. According to the heavy truck brake control method and system, and the truck comprising the system, potential safety hazards of the truck can be identified in advance, and active brake control over the truck is conducted, so that the greatest safety guarantee is provided for the truck.
Description
Technical field
The present invention relates to Car design technical field, more particularly, it relates to a kind of heavy truck brake control method and system.
Moreover, it relates to a kind of vehicle including above-mentioned heavy truck braking control system.
Background technology
Heavy truck at this stage is all assembled with ABS anti-lock braking systems according to related GB substantially, and ABS anti-lock braking systems are a
The anti-lock braking system of passive property, it actively can not in advance recognize rollover and the phenomenon for occurring of skidding, so can not be in advance
The timely parameter of associated vehicle traveling is actively provided to vehicle.
In the scheme of heavy truck assembling ABS anti-lock braking systems, typically four wheel speed sensors are assembled in related vehicle
On tire, an abs controller is arranged in driver's cabin rational position, four ABS magnetic valves are then arranged on crossbeam, passed through
ABS wire harness couples together each device, finally transfers information on instrument board.
Can be so that ABS working conditions are divided into 0 (not working) and 1 (work), when vehicle runs into by ABS work schedules state
Emergency, driver steps on strength brake in T1, and ABS wheel speed sensors detect the change of wheel speed and conversed braking cunning
Rate score is moved, car load this time period from T1 to T2 is all the region of ABS normal works, and during T1 to T2, ABS magnetic valves
It is corresponding also to make the rotation combination inflated several times and be vented, for example, during T1 to T2, including by t1 to t8, wherein, from
T1 to t2 is exactly the process of an inflation/deflation, is spaced a time period, is again the process of an inflation/deflation from t3 to t4, this rank
Section inflation/deflation cause vehicle tyre will not locking but point stop, so as to ensure that the safety of vehicle.
But in the prior art, ABS system shortcoming is exactly the brakes that it belongs to passive property, it is impossible to enough actively to carry
The potential danger that front identification vehicle is present, often when driver recognizes the presence of danger, it is difficult to avoid sending out for accident
It is raw.
In sum, how a kind of heavy truck brake control method of guarantee vehicle safety is provided, is current art technology
Personnel's problem demanding prompt solution.
The content of the invention
In view of this, it is an object of the invention to provide a kind of heavy truck brake control method, the method ensure that vehicle
Driving safety.
It is a further object of the present invention to provide a kind of heavy truck braking control system for implementing said method and including
The vehicle of above-mentioned heavy truck braking control system.
To achieve these goals, the present invention provides following technical scheme：
A kind of heavy truck brake control method, including：
The steering wheel angle and travel speed under current state is obtained, and is sent to ESP control units, the ESP controls
Unit obtains vehicle target transport condition according to the steering wheel angle and the travel speed；
The yaw-rate and roll rate of vehicle under current state are obtained, and is sent to the ESP control units, the ESP controls
Unit processed obtains vehicle actual travel state according to the yaw-rate and the roll rate；
The ESP control units judge the vehicle target transport condition and the vehicle actual travel state whether phase
Together, if it has, then returning the step of obtaining the steering wheel angle；If it has not, then controlling corresponding wheel implements brake operating,
And control engine speed reduction of speed.
Preferably, the step of stating and control corresponding wheel enforcement brake operating, and control engine speed reduction of speed, including：
Compare the vehicle target transport condition and the vehicle actual travel state；
If comparative result is that Vehicular turn is not enough, the trailing wheel for controlling the interior camber line of Vehicular turn is braked, and controls
The engine, gearbox carry out reduction of speed；If comparative result is that Vehicular turn is excessive, before controlling the outer camber line of Vehicular turn
Wheel is braked, and controls the engine, gearbox and carry out reduction of speed.
Preferably, the step of control engine, gearbox carry out reduction of speed, including：
If the travel speed is more than or equal to 60km/h, and the angular range that the steering wheel angle was turned in a second
For 45 degree to 60 degree when, control engine speed decline scope be 60% to 80%；
If the travel speed is less than 60km/h, and the angular range of steering wheel angle steering angle in a second is 0
When spending to 45 degree, the scope for controlling engine speed decline is 30% to 40%.
Preferably, it is described obtain current state under travel speed the step of, including：Obtain the air throttle under real-time status
Aperture, and the travel speed of vehicle is obtained according to the throttle opening.
Preferably, while the corresponding wheel of the control implements brake operating and controls engine speed reduction of speed, also wrap
Include：
Early warning is sent to driver, the early warning includes that alarming lamp prompt, buzzer prompting and instrument board are aobvious
Show prompting.
A kind of heavy truck braking control system, including：
For obtaining the rotary angle transmitter of steering wheel angle, the speed acquisition device for obtaining Vehicle Speed, institute
State rotary angle transmitter and the speed acquisition device is connected with ESP control units；
For obtaining the lateral acceleration of the yaw acceleration sensor of the yaw-rate of vehicle, roll rate for obtaining vehicle
Degree sensor, the yaw acceleration sensor and the lateral acceleration sensor are connected with ESP control units；
The ESP control units of vehicle, for obtaining vehicle target row according to the steering wheel angle and the travel speed
Sail state, vehicle actual travel state obtained according to the yaw-rate and the roll rate, when the vehicle target transport condition
When differing with the vehicle actual travel state, control corresponding wheel and implement brake operating, and control engine speed drop
Speed.
Preferably, the steering wheel angle sensor is arranged on the steering column of the steering wheel, and/or the yaw
Acceleration transducer is arranged on the 4th crossbeam of vehicle frame.
Preferably, the speed acquisition device includes：The air throttle baroceptor being connected on air throttle, or be arranged on
Wheel speed sensors on the wheel, or the travel speed acquisition device being connected with Vehicle Electronic Control Unit.
Preferably, also include for contrasting each vehicle wheel rotational speed to judge ASR valves that whether vehicle skids, the ASR valves
It is arranged on the crossbeam of vehicle, the ASR valves are connected with the control system of vehicle.
A kind of vehicle, including the heavy truck braking control system described in above-mentioned any one.
The present invention provide heavy truck brake control method and system compared with the existing control method based on ABS system,
Can realize that the active brake to vehicle is controlled, the potential danger that vehicle is present can be in advance recognized, prior to driver's
Active operation, heavy truck brake control method can the potential danger of autonomous classification, for vehicle provide maximum safety guarantee.
In addition, a kind of present invention also offers vehicle including above-mentioned heavy truck braking control system.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can be with basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the flow chart of heavy truck brake control method provided by the present invention；
Fig. 2 is the structure chart of heavy truck braking control system provided by the present invention.
Reference is in Fig. 2：
Rotary angle transmitter 1, speed acquisition device 2, yaw acceleration sensor 3, lateral acceleration sensor 4 and ESP control
Unit processed 5.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The core of the present invention is to provide a kind of heavy truck brake control method, and the method ensure that the driving safety of vehicle.
The present invention another core be to provide a kind of heavy truck braking control system for implementing said method and including
The vehicle of above-mentioned heavy truck braking control system.
Fig. 1 to Fig. 2 is refer to, Fig. 1 is the flow chart of heavy truck brake control method provided by the present invention；Fig. 2 is this
The structure chart of bright provided heavy truck braking control system.
A kind of heavy truck brake control method provided by the present invention, is mainly used in the control for brake of heavy truck vehicle, the method
Mainly include the following steps that：
Step S1：The steering wheel angle and travel speed under current state is obtained, and is sent to ESP control units, ESP controls
Unit processed obtains vehicle target transport condition according to steering wheel angle and travel speed.
The yaw-rate and roll rate of vehicle under current state are obtained, and is sent to ESP control units, ESP control unit roots
Vehicle actual travel state is obtained according to yaw-rate and roll rate.
Step S2：ESP control units judge whether vehicle target transport condition and vehicle actual travel state are identical, if
It is then to return the step of obtaining steering wheel angle；If it has not, then controlling corresponding wheel implements brake operating, and control is started
Machine rotating speed reduction of speed.
It should be noted that steering wheel angle refers to the corner of wheel steering post in above-mentioned steps S1, the corner energy
Enough react driver to want to manipulate the travel direction of vehicle, travel speed refers to driver and wants to manipulate the traveling speed of vehicle
Degree, the travel speed can be measured by wheel speed sensors, or be obtained by the aperture of accelerator pedal.ESP is controlled
Unit processed is the part in the intrinsic control system of vehicle, for being controlled to tractive force, by steering wheel angle and traveling
Speed is sent to after ESP control units, and ESP control units obtain the intention of driver according to the two.
In step S2, yaw-rate and roll rate can illustrate the state of Current vehicle and the current reaction of pavement of road.
ESP control units are received after above-mentioned yaw-rate and roll rate, can obtain the actual row of vehicle according to yaw-rate and roll rate
Sail state, travel direction etc..
It should be noted that acquisition and analysis of the above-mentioned ESP control units to data is the intrinsic control of ESP control units
Ability processed.In addition, ESP control units can also be carried out the intention of the driver transport condition actual with vehicle, travel direction
Contrast, comparing result can obtain whether vehicle travels according to the intention of driver, if under ensure that driver's control
Safety.When it is identical with vehicle actual travel state to obtain vehicle target transport condition, it can be determined that vehicle is in relative peace
Full transport condition, if differing, the control strategy that can be based on ESP control units is braked to the corresponding wheel of vehicle
Control, and the engine to vehicle carries out reduction of speed control.
Compared with the existing control method based on ABS system, by above-mentioned heavy truck brake control method, it is right to realize
The active brake control of vehicle, can in advance recognize the potential danger that vehicle is present, prior to the active operation of driver, weight
Blocking flowing control method can the potential danger of autonomous classification, for vehicle provide maximum safety guarantee.
On the basis of above-described embodiment, corresponding wheel is controlled in step S2 and implements brake operating, and control is started
The step of machine rotating speed reduction of speed, can specifically include：
Step S21：Compare vehicle target transport condition and vehicle actual travel state.
Step S22：If comparative result is that Vehicular turn is not enough, the trailing wheel system of the interior camber line of Vehicular turn is controlled
Moving, and control engine, gearbox carries out reduction of speed；If comparative result is that Vehicular turn is excessive, the outer arc of Vehicular turn is controlled
The front-wheel of line is braked, and controls engine, gearbox and carry out reduction of speed.
It should be noted that the method that the corresponding wheel of vehicle is operated can specific to turn to camber line in
To, export-oriented different operating, vehicle can be obtained in understeer, ovdersteering, side to the comparison of two states in step S21
Turn over that angle is excessive or yaw-rate is excessive, the situation of understeer and ovdersteering can be adjusted in step S22, by control
System turns to the wheel of inner side and outer side and carries out certain braking, can adjust the degree of steering, and then avoids ovdersteering or turn
To deficiency.
Optionally, above-mentioned control method is not unique, it is also possible to by control or change of the others to the speed of wheel
Adjustment of the control realization of fast case to understeer or ovdersteering.
On the basis of above-described embodiment, the step of controlling engine, gearbox in step S22 and carry out reduction of speed, can be with
Specifically include：
If travel speed is more than or equal to 60km/h, and the angular range that turned in one second of steering wheel angle for 45 degree extremely
When 60 degree, the scope for controlling engine speed decline is 60% to 80%.
If travel speed is less than 60km/h, and the angular range of steering wheel angle steering angle in a second is 0 degree to 45 degree
When, the scope for controlling engine speed decline is 30% to 40%.
It should be noted that travel speed and corner all than it is larger when, vehicle occur braking in a turn operation danger
Danger is more serious, so needing the operation that larger braking amount is carried out to vehicle；And when travel speed and relatively small corner,
The rotating speed to engine can suitably be adjusted.
It should be noted that above-mentioned adjusting range is only a kind of embodiment, can be according to travel speed, steering wheel angle
Numerical values recited be adjusted.That is, engine speed drop-out value is proportionate with travel speed, steering wheel angle, or
Person can specifically engine speed drop-out value it is proportional with travel speed, steering wheel angle.
On the basis of above-described embodiment, in step S1 obtain current state under travel speed the step of, can have
Body includes：The throttle opening under real-time status is obtained, and the travel speed of vehicle is obtained according to throttle opening.
Optionally, travel speed can also be obtained by the velocity of rotation of wheel, and can specifically pass through wheel speed sensors
Obtain.
On the basis of above-mentioned any one embodiment, control corresponding wheel and implement brake operating and control to start
While machine rotating speed reduction of speed, also include：
Early warning is sent to driver, early warning includes that alarming lamp prompt, buzzer prompting and instrument board show and carry
Show.
It should be noted that provided by the present invention can solve the problem that vehicle urgent the method that vehicle implements active brake
Process under state, but due to the topmost control mode of active control or vehicle of driver, in order to avoid driver
The misunderstanding of reduction of speed is caused to method, driver can be pointed out, inform that the present vehicle of human pilot is in the hole, and
Implement the active brake of system.
Except the heavy truck brake control method disclosed in above-described embodiment, the present invention also provides a kind of for implementing above-mentioned side
The heavy truck braking control system of method, the heavy truck braking control system, mainly includes：Rotary angle transmitter, speed acquisition device, yaw
Acceleration transducer, lateral acceleration sensor and ESP control units.
Rotary angle transmitter is used to obtain steering wheel angle, and speed acquisition device is used to obtain Vehicle Speed, and corner is passed
Sensor and speed acquisition device are connected with ESP control units.
Yaw acceleration sensor is used to obtain the side of the yaw-rate of vehicle, lateral acceleration sensor for obtaining vehicle
Incline rate, yaw acceleration sensor and lateral acceleration sensor are connected with ESP control units.
The ESP control units of vehicle, for obtaining vehicle target transport condition, root according to steering wheel angle and travel speed
Vehicle actual travel state is obtained according to yaw-rate and roll rate, when vehicle target transport condition and vehicle actual travel state not phase
Meanwhile, control corresponding wheel and implement brake operating, and control engine speed reduction of speed.
It should be noted that rotary angle transmitter can be connected with Car Electronic Control system, to obtain turning for steering wheel
Angle, speed acquisition device can be connected to obtain the speed of vehicle, or to be arranged on wheel with Car Electronic Control system
On velocity sensor.The step of use operation of said apparatus refer to said method embodiment.
In vehicle traveling process, rotary angle transmitter monitoring driver turn heavy truck braking control system provided by the present invention
Curved direction and angle, speed acquisition device monitoring speed, lateral acceleration sensor and yaw acceleration Sensor monitoring automobile
Yaw and roll speed.ESP control units judge that vehicle traveling and driver manipulate the gap being intended to after calculating, then
Instruction is sent by ESP control units, the brake force on the rotating speed and wheel of engine is adjusted, to avoid car skidding, turn to
Degree, understeer and locking, so as to ensure the driving safety of automobile.
On the basis of above-mentioned any one embodiment, steering wheel angle sensor is arranged on the steering column of steering wheel
On, and/or yaw acceleration sensor is arranged on the 4th crossbeam of vehicle frame.
A yaw-rate acceleration transducer for monitoring Vehicular yaw situation is mounted with the 4th crossbeam of vehicle frame,
Effect is exactly real-time monitoring Vehicular yaw situation, and the stability of vehicle is rectified a deviation in real time and improved, and is stably defined by reaching.
On the basis of above-mentioned any one embodiment, speed acquisition device includes：The solar term being connected on air throttle
Door baroceptor, or wheel speed sensors being arranged on wheel, or the travel speed being connected with Vehicle Electronic Control Unit are obtained
Take device.
On the basis of above-mentioned any one embodiment, also include be to judge vehicle for contrasting each vehicle wheel rotational speed
The ASR valves of no skidding, ASR valves are arranged on the crossbeam of vehicle, and ASR valves are connected with the control system of vehicle.
In above-mentioned any one embodiment, what heavy truck braking control system compared ABS is arranged in driver's cabin steering tube
Steering angle sensor is increased on post, two baroceptors is increased on foot valve, ASR magnetic valves are increased on crossbeam,
And increased yaw acceleration sensor on the 4th crossbeam.
The vertical ESP control units of heavy truck braking control system provided by the present invention can be according to the weight of vehicle itself and axle
Away from the concrete numerical value scope for setting special parameter and formulating above-mentioned reduction of speed, for example, ESP control units racing to when the ginseng that arranges
Number is set according to vehicle inherent parameters, so can preferably be accurately obtained parameter so as to preferably protect vehicle and driving
Person.
The passive control for brake safety upgrade of vehicle is active control for brake security system by the present invention.Now need to increase inspection
The isoparametric equipment of measuring pressure, speed, yaw-rate and steering angle, the real-time parameter that these equipment are obtained is transferred in time ESP
In control unit, ESP control units send again the output of instruction control engine speed and moment of torsion.
The present invention can carry out monitor in real time, active brake and remind in advance.ESP control units can monitor in real time drive
The operation of the person of sailing, road surface reaction and vehicle running state simultaneously constantly send instruction to engine and brakes.The safe skill such as ABS
Art mainly plays intervention effect to the action of driver, but can not regulate and control engine, and ESP control units then can be with active control
The rotating speed of engine and the driving force of each wheel and brake force.In addition, when driver's misoperation or abnormal road surface, ESP
Control unit can use emergency warning lamp warning drivers.
Except the heavy truck braking control system that above-mentioned each embodiment is provided, the present invention also provides a kind of including above-mentioned reality
The vehicle of heavy truck braking control system disclosed in example is applied, the vehicle is due to being provided with above-mentioned heavy truck braking control system, Neng Goushi
When monitor the state of the operation of driver, road surface reaction and vehicle traveling, ensure that the driving safety of vehicle, the vehicle its
The structure of his each several part refer to prior art, repeat no more herein.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
Heavy truck brake control method provided by the present invention, system and vehicle are described in detail above.Herein
Apply specific case to be set forth the principle and embodiment of the present invention, the explanation of above example is only intended to help
Understand the method for the present invention and its core concept.It should be pointed out that for those skilled in the art, do not taking off
On the premise of the principle of the invention, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into this
In invention scope of the claims.
Claims (10)
1. a kind of heavy truck brake control method, it is characterised in that include：
The steering wheel angle and travel speed under current state is obtained, and is sent to ESP control units, the ESP control units
Vehicle target transport condition is obtained according to the steering wheel angle and the travel speed；
The yaw-rate and roll rate of vehicle under current state are obtained, and is sent to the ESP control units, the ESP controls are single
Unit obtains vehicle actual travel state according to the yaw-rate and the roll rate；
The ESP control units judge whether the vehicle target transport condition and the vehicle actual travel state are identical, if
It is yes, then returns the step of obtaining the steering wheel angle；If it has not, then controlling corresponding wheel implements brake operating, and control
Engine speed reduction of speed processed.
2. heavy truck brake control method according to claim 1, it is characterised in that the corresponding wheel of the control implements system
The step of moving and operate, and control engine speed reduction of speed, including：
Compare the vehicle target transport condition and the vehicle actual travel state；
If comparative result is that Vehicular turn is not enough, the trailing wheel for controlling the interior camber line of Vehicular turn is braked, and controls described
Engine, gearbox carry out reduction of speed；If comparative result is that Vehicular turn is excessive, the front-wheel for controlling the outer camber line of Vehicular turn enters
Going and brake, and control the engine, gearbox carries out reduction of speed.
3. heavy truck brake control method according to claim 2, it is characterised in that the control engine, speed change
The step of case carries out reduction of speed, including：
If the travel speed is more than or equal to 60km/h, and the angular range that the steering wheel angle was turned in a second is 45
When spending to 60 degree, the scope for controlling engine speed decline is 60% to 80%；
If the travel speed be less than 60km/h, and the angular range of steering wheel angle steering angle in a second be 0 degree extremely
When 45 degree, the scope for controlling engine speed decline is 30% to 40%.
4. heavy truck brake control method according to claim 1, it is characterised in that the traveling under the acquisition current state
The step of speed, including：The throttle opening under real-time status is obtained, and the traveling of vehicle is obtained according to the throttle opening
Speed.
5. heavy truck brake control method according to claim 1, it is characterised in that the corresponding wheel of the control implements system
While moving operation and control engine speed reduction of speed, also include：
Early warning is sent to driver, the early warning includes that alarming lamp prompt, buzzer prompting and instrument board show and carry
Show.
6. a kind of heavy truck braking control system, it is characterised in that include：
For obtaining the rotary angle transmitter of steering wheel angle, the speed acquisition device for obtaining Vehicle Speed, described turn
Angle transducer and the speed acquisition device are connected with ESP control units；
Pass for obtaining the yaw acceleration sensor of the yaw-rate of vehicle, the side acceleration of roll rate for obtaining vehicle
Sensor, the yaw acceleration sensor and the lateral acceleration sensor are connected with ESP control units；
The ESP control units of vehicle, for obtaining vehicle target traveling shape according to the steering wheel angle and the travel speed
State, vehicle actual travel state is obtained according to the yaw-rate and the roll rate, when the vehicle target transport condition and institute
When stating vehicle actual travel state and differing, control corresponding wheel and implement brake operating, and control engine speed reduction of speed.
7. heavy truck braking control system according to claim 6, it is characterised in that the steering wheel angle sensor is arranged
On the steering column of the steering wheel, and/or the yaw acceleration sensor is arranged on the 4th crossbeam of vehicle frame.
8. heavy truck braking control system according to claim 6, it is characterised in that the speed acquisition device includes：Even
The air throttle baroceptor being connected on air throttle, or the wheel speed sensors being arranged on the wheel, or with vehicle electric control
The travel speed acquisition device of unit connection processed.
9. heavy truck braking control system according to claim 6, it is characterised in that also include turning for contrasting each wheel
To judge the ASR valves whether vehicle skids, the ASR valves are arranged on the crossbeam of vehicle speed, the control of the ASR valves and vehicle
System connects.
10. a kind of vehicle, it is characterised in that including the heavy truck braking control system described in claim 6 to 9 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611238927.4A CN106627533A (en) | 2016-12-28 | 2016-12-28 | Heavy truck brake control method and system, and truck comprising system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611238927.4A CN106627533A (en) | 2016-12-28 | 2016-12-28 | Heavy truck brake control method and system, and truck comprising system |
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| Publication Number | Publication Date |
|---|---|
| CN106627533A true CN106627533A (en) | 2017-05-10 |
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ID=58836952
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611238927.4A Pending CN106627533A (en) | 2016-12-28 | 2016-12-28 | Heavy truck brake control method and system, and truck comprising system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110225851A (en) * | 2017-01-24 | 2019-09-10 | 标致雪铁龙汽车股份有限公司 | The control system for motor vehicles power assembly with preparatory anti-sliding control |
| CN111137267A (en) * | 2020-01-06 | 2020-05-12 | 恒大新能源汽车科技(广东)有限公司 | Vehicle braking system and method |
| CN114987411A (en) * | 2022-06-14 | 2022-09-02 | 安徽江淮汽车集团股份有限公司 | Intelligent automobile braking force distribution system, electronic equipment and storage medium |
| CN115891977A (en) * | 2023-02-22 | 2023-04-04 | 北京易控智驾科技有限公司 | Method and device for controlling understeer of unmanned mining vehicle, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1948066A (en) * | 2005-10-13 | 2007-04-18 | 丰田自动车株式会社 | Vehicle with different level of devices for inhibiting over steering or insufficient steering |
| CN101795908A (en) * | 2007-08-27 | 2010-08-04 | 丰田自动车株式会社 | Vehicle behavior control apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110225851A (en) * | 2017-01-24 | 2019-09-10 | 标致雪铁龙汽车股份有限公司 | The control system for motor vehicles power assembly with preparatory anti-sliding control |
| CN110225851B (en) * | 2017-01-24 | 2021-07-09 | 标致雪铁龙汽车股份有限公司 | Control system for a motor vehicle powertrain with advanced anti-slip control |
| CN111137267A (en) * | 2020-01-06 | 2020-05-12 | 恒大新能源汽车科技(广东)有限公司 | Vehicle braking system and method |
| CN114987411A (en) * | 2022-06-14 | 2022-09-02 | 安徽江淮汽车集团股份有限公司 | Intelligent automobile braking force distribution system, electronic equipment and storage medium |
| CN115891977A (en) * | 2023-02-22 | 2023-04-04 | 北京易控智驾科技有限公司 | Method and device for controlling understeer of unmanned mining vehicle, electronic equipment and storage medium |
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