CN106671980A - Pure electric bus self-adaptive cruise system and control method - Google Patents
Pure electric bus self-adaptive cruise system and control method Download PDFInfo
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- CN106671980A CN106671980A CN201710106009.4A CN201710106009A CN106671980A CN 106671980 A CN106671980 A CN 106671980A CN 201710106009 A CN201710106009 A CN 201710106009A CN 106671980 A CN106671980 A CN 106671980A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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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
- B60T11/00—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant
- B60T11/10—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant transmitting by fluid means, e.g. hydraulic
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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
- B60T11/00—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant
- B60T11/10—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant transmitting by fluid means, e.g. hydraulic
- B60T11/28—Valves specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention belongs to the field of intelligent driving assistance and discloses a pure electric bus self-adaptive cruise system which comprises millimeter-wave radar fixed in the front of a vehicle, and front and rear axle TCS (traction control system) valves and an ABS (antiskid brake system) valve are additionally mounted on a n air braking system. A control method of the pure electric bus self-adaptive cruise system includes following steps: 1, judging working mode of the self-adaptive cruise system of the whole vehicle; 2, calculating and outputting expected acceleration or deceleration; 3, if a self-adaptive cruise decision-making layer algorithm outputs an expected acceleration signal, responding to the signal by a motor controller, and outputting a drive current signal to a motor; if the self-adaptive cruise decision-making layer algorithm outputs an expected deceleration signal, responding to the signal by a braking controller, and outputting a valve control current signal to the air braking system. Self-adaptive cruise system architecture on a pure electric bus is provided, so that a self-adaptive cruise function on the pure electric bus is realized. The self-adaptive cruise system architecture is little in modification to an original vehicle and easy to realize and popularize.
Description
Technical field
The invention belongs to intelligent driving field of auxiliary, and in particular to a kind of pure electric coach self-adaption cruise system and control
Method
Background technology
In recent years, due to ecological deterioration, traffic congestion, Frequent Accidents, new-energy automobile field has been expedited the emergence of and intelligence has been driven
Sail the fast development of field of auxiliary.Self-adaption cruise system, as one kind of intelligent driving ancillary technique, is in cruise
Technical foundation is developed.The ultimate principle of adaptive cruise is that in vehicle traveling, the spacing sensor of front part of vehicle continues
Scanning road ahead, while collection vehicle status information.When too small with the distance between front truck, control unit by with motor
Control system, brakes coordination, make vehicle remain safe distance with front vehicles.
Self-adaption cruise system is a kind of intelligent driving aid system, it is possible to reduce the operation of driver, it is to avoid because driving
The carelessness of the person of sailing and the accident that leads to.But at present self-adaption cruise system applies more on car, and in pure electric coach
On there is no Patents data.According to the statistical data of the Ministry of Public Security, 2015 more due to the caused death toll of operating passenger car accident
Up to 31316 people, the 38.35% of the total death toll of accounting road traffic accident, analyzing the safety meaning that driver is because reason more
Knowing the driving of not enough and fatigue causes.Operating passenger car is more in highway operation, and its features is that travel speed is fast, operating mode
Single, driving time is long, is very easy to cause driver fatigue.Self-adaption cruise system is highly suitable for high-speed working condition, has
The pure electric coach of self-adaption cruise system can fully avoid due to driver fatigue caused vehicle accident, improve vehicle
Safety and economy.
The Chinese patent of Application No. 201310268003.9 proposes a kind of car self-adaption cruise system and controlling party
Method.Its invention is mainly used in the car that conventional engines are power source, and in particular to the framework of self-adaption cruise system and work
Process, but its patent does not address self-adaption cruise system in the framework of pure electric coach, brakes configuration and the course of work.
The content of the invention
The technical problem to be solved is：Propose on pure electric coach using the one of self-adaption cruise system
Solution is planted, a kind of self-adaption cruise system framework and control method for being applied to pure electric coach is specifically proposed, and should
For the Pneumatic braking system configuration and control method of pure electric coach self-adaption cruise system.
To solve above-mentioned technical problem, the present invention adopts the following technical scheme that realization, is described with reference to the drawings as follows：
A kind of pure electric coach self-adaption cruise system, including battery, battery management system, inverter, electric machine controller,
Motor, variator, entire car controller, wheel speed sensors and Pneumatic braking system；
Also include being fixed on the millimetre-wave radar of vehicle front；
Install axle TCS valves and abs valve on the Pneumatic braking system additional；
The abs valve is being installed on the pipeline of brake chamber position；The front axle TCS valves are parallel to before brake control valve
Between axle entrance and exit；The rear axle TCS valves are parallel between brake control valve rear axle entrance and outlet.
The abs valve arranges four.
A kind of control method of pure electric coach self-adaption cruise system, comprises the following steps：
Step one：Judge car load self-adaption cruise system mode of operation；
Step 2：Calculate output and expect acceleration or deceleration；
Step 3：If adaptive cruise decision-making level algorithm output expectation acceleration signal, electric machine controller response signal, to
Motor output driving current signal；If deceleration signal, brake monitor response are expected in the algorithm output of adaptive cruise decision-making level
Signal, to Pneumatic braking system delivery valve control electric current signal.
Judgement car load described in step one enters adaptive cruise mode of operation, and concrete execution step is as follows：
A. adaptive cruise switching signal is detected
Self adaptation continuation of the journey switching signal is sent by adaptive cruise switch, and adaptive cruise is switched in driver cabin, by
Driver is opened and closed；
If adaptive cruise switch is opened, output signal is 1；If adaptive cruise switch is closed, output signal is 0；
Adaptive cruise switching signal passes to entire car controller ECU by car load CAN；
If adaptive cruise switching signal is 1, g steps are performed, if adaptive cruise switching signal is 0, perform b steps
Suddenly；
B. car load driving pedal signal is detected
Car load driving pedal signal is produced by driving pedal displacement transducer, if driver steps on driving pedal, output letter
Number be 1；
If driver does not step on driving pedal, output signal is 0；
Driving pedal signal passes to entire car controller ECU by car load CAN；
If driving pedal signal is 1, g steps are performed, if driving pedal signal is 0, perform step c；
C. car load brake pedal signal is detected
Car load brake pedal signal is produced by brake pedal displacement transducer, if driver's brake pedal, output letter
Number be 1；
If the non-brake pedal of driver, output signal is 0；
Brake pedal signal passes to entire car controller ECU by car load CAN；
If brake pedal signal is 1, g steps are performed, if brake pedal signal is 0, perform Step d；
D. car load speed of operation signal is detected
Car load travel speed signal is sent by brake monitor, and brake monitor obtains wheel speed letter by wheel speed sensors
Number, and through being calculated car load speed of operation signal；
Brake pedal signal passes to entire car controller ECU by car load CAN；
If speed of operation is more than or equal to 150km/h, g steps are performed, if speed of operation is less than 150km/h, perform e steps
Suddenly；
E. detect down time whether more than 2s
The persistent period that speed is 0 is recorded by brake monitor by wheel speed sensors；
If the persistent period, more than 2s, to entire car controller ECU stop sign is sent, entire car controller ECU receives parking
Signal, execution step g, if not receiving stop sign, execution step f；
F. adaptive cruise pattern work
Adaptive cruise state flag bit flag_ACC puts 1, and system works into adaptive cruise pattern；
G. driver's pattern work
Adaptive cruise state flag bit flag_ACC sets to 0, and system enters driver's pattern, and by driver system work is taken over
Make.
Output is calculated described in step 2 and expects acceleration or deceleration, concrete execution step is as follows：
A. adaptive cruise flag bit is detected
Whether detection adaptive cruise flag bit flag_ACC is 1；
If 1, execution step b, if 0, do not export acceleration signal, EP (end of program)；
B. calculate and expect acceleration or deceleration
Decision-making level's algorithm is built according to Model Predictive Control Theory, according to front truck following distance, speed, this car GES meter
Calculate the expectation acceleration or deceleration signal in vehicle subsequent work cycle.
C. acceleration or deceleration signal are expected in output
If expecting, acceleration signal is more than 0, exports expectation acceleration signal to electric machine controller, exports 0 signal to braking
Controller.If expecting, acceleration signal is less than 0, exports expectation deceleration signal to brake monitor, exports 0 signal and gives motor control
Device processed.
Deceleration signal is expected in the response of brake monitor described in step 3, to Pneumatic braking system delivery valve control electric current
Signal；Comprise the following steps that：
A. wheel whether locking is detected
Wheel whether locking is detected by the wheel speed signal of wheel speed sensors, if wheel lock up, into anti-lock pattern, if
The non-locking of wheel, execution step b；
B. antero posterior axis desired braking pressure distribution
C. delivery valve control electric current signal
Antero posterior axis current brake air chamber pressure is obtained by pressure transducer, by antero posterior axis desired braking pressure and antero posterior axis
Current brake pressure ratio is compared with delivery valve control electric current signal：
If i axle desired braking pressure>Current brake pressure, then control the supercharging of i axles：The air inlet valve coil of the axle abs valve and
The equal no power of aerofluxuss valve coil, the TCS valves of the axle are powered；
If i axles demand brake pressure=current brake pressure, the pressurize of i axles is controlled：The air inlet valve coil of the axle abs valve
Energization, aerofluxuss valve coil no power, the TCS valves of the axle are powered；
If i axle demand brake pressures<Current brake pressure, then control the decompression of i axles；The air inlet valve coil of the axle abs valve is not
Energization, air bleeding valve coil electricity, the TCS valves of the axle are powered.
The antero posterior axis brake pressure distribution comprises the steps：
1) the expectation deceleration signal sent by entire car controller ECU is converted to into expectation total braking force signal；
2) carload size is obtained by load transducer；
3) brake-power balance coefficient β is determined according to carload；
4) according to brake-power balance coefficient β, the desired braking pressure of antero posterior axis distribution is calculated.
Compared with prior art the invention has the beneficial effects as follows：
1. at present the country does not have the Patents in pure electric coach application self-adaption cruise system.The present invention proposes one
The self-adaption cruise system framework on pure electric coach is planted, the adaptive cruise function on pure electric coach is realized.
2. apply the active brake system configuration in adaptive cruise mostly to be brake fluid system at present.It is directed to pure electronic
The characteristics of car air-pressure brake, the present invention proposes the Pneumatic braking system structure for being applied to pure electric coach self-adaption cruise system
Type and control method, it is possible to achieve the active brake function of self-adaption cruise system.
3. compared with prior art, self-adaption cruise system framework of the invention is reequiped less to former car, it is easy to accomplish and
Promote.
Description of the drawings
Fig. 1 is pure electric coach self-adaption cruise system Organization Chart；
Fig. 2 is pure electric coach self-adaption cruise system workflow diagram；
Fig. 3 is pure electric coach self-adaption cruise system Pneumatic braking system configuration picture；
Fig. 4 is that flow chart is exited in self-adaption cruise system entrance；
Fig. 5 is self-adaption cruise system decision making algorithm control flow chart；
Fig. 6 is adaptive cruise Pneumatic braking system control flow chart；
In figure：1. front axle right wheel brake chamber；2. front axle right wheel abs valve；3. front axle threeway；4. front axle revolver abs valve；5.
Front axle left wheel brake air chamber；6. front axle revolver wheel speed sensors；7. front axle TCS valves；8. front axle double-way check valve；9. brake valve；
10. rear axle TCS valves；11. rear axle double-way check valves；12. rear axle revolver wheel speed sensors；13. rear axle left wheel brake air chambers；14.
Rear axle revolver abs valve；15. rear axle threeways；16. rear axle right wheel abs valves；17. rear axle right wheel brake chambers；18. rear axle right wheel wheels
Fast sensor；19. quick release valves；20. front axle gas receivers；21. rear axle gas receivers；22. four-loop protection valves；23. hand-operated valves；24.
Wet gas receiver；25. unloaders；26. air pumps；27. front axle right wheel wheel speed sensors.
Specific embodiment
The present invention is explained in detail below in conjunction with the accompanying drawings：
It is a kind of self-adaption cruise system Organization Chart for being applied to pure electric coach proposed by the present invention refering to Fig. 1.Including
Millimetre-wave radar, battery, battery management system (BMS), inverter, electric machine controller, motor, variator, entire car controller
(ECU), Pneumatic braking system, 4 wheel speed sensors.
For the existing part of former car, the part for being changed includes entire car controller (ECU), electric machine controller, inversion
Device, motor, battery management system (BMS), battery, variator, wheel speed sensors.
The entire car controller (ECU) is the core component of former car, adaptive learning algorithms algorithm is preserved, under control
The action of layer car load miscellaneous part controller.
The electric machine controller receives the signal from entire car controller (ECU), by the rotating speed of inverter regulation motor,
Torque.
The unidirectional current of battery is changed into the inverter three-phase alternating current of motor, and it includes inverter bridge, control
Logic and driver circuitry is constituted.
The motor is used to realize the advance or reversing of car load.
The battery management system (BMS) is interacted by holding wire with car load miscellaneous part controller, exports battery
Working condition simultaneously realizes the functions such as charge and discharge control, inline diagnosis, heat management to battery.
The battery provides power resources for the driving traveling of car load.
The variator is AMT two speed transmissions, changes gear ratio.
The wheel speed sensors adopt Hall wheel speed sensors, and using Hall effect principle car load wheel speed is obtained, and are sent to
In ECU.
The existing part of former car is directed to, newly-increased part has millimetre-wave radar, Pneumatic braking system.
What the millimetre-wave radar was selected is Delphi ESR millimetre-wave radars, is that over long distances, frequency is 76GHz, speed
For -100~25m/s, input voltage value is needed to be direct current 12V, for detecting car load road ahead situation.
The Pneumatic braking system is to redesign to obtain based on original Pneumatic braking system, by installing two TCS valves additional,
4 abs valves realize active brake function.
Millimetre-wave radar is fixed on vehicle front bumper middle part, it is ensured that unobstructed with vehicle miscellaneous part, can detect
Car load front road conditions.
The Pneumatic braking system installs axle TCS valves, 4 abs valves additional on the original Pneumatic braking system of vehicle.
Abs valve is being installed on the pipeline of brake chamber position.Front axle TCS valves be parallel to brake control valve front axle entrance and
Between outlet；Rear axle TCS valves are parallel between brake control valve rear axle entrance and outlet.
The course of work of self-adaption cruise system is illustrated below：
Refering to Fig. 2, following distance, the speed information of objects ahead vehicle are detected by millimetre-wave radar.And send into ECU certainly
Adapt to cruise system decision making algorithm.Expectation acceleration signal is calculated by decision making algorithm or deceleration signal is expected.Expect to accelerate
To electric machine controller, electric machine controller is converted into current of electric control signal to degree signal output, is turned by inverter control motor
Square.Deceleration signal output is expected to brake monitor, brake monitor is converted into the current signal of control TCS valves and abs valve,
Brake pressure is controlled by controlling TCS valves and abs valve.
The control method of self-adaption cruise system is illustrated below：
A kind of control method of pure electric coach self-adaption cruise system, step is as follows：
Step one：Judge car load self-adaption cruise system mode of operation；
Step 2：Calculate output and expect acceleration or deceleration；
Step 3：If adaptive cruise decision-making level algorithm output expectation acceleration signal, electric machine controller response signal, to
Motor output driving current signal；If deceleration signal, brake monitor response are expected in the algorithm output of adaptive cruise decision-making level
Signal, to Pneumatic braking system delivery valve control electric current signal.
Refering to the judgement car load self-adaption cruise system mode of operation flow process that Fig. 4 is the present invention, car load is needed according to car load
Status signal includes adaptive cruise switching signal, car load driving pedal signal, car load brake pedal signal, car load speed of operation
Signal, judges that car load enters adaptive cruise mode of operation, and concrete execution step is as follows：
H. adaptive cruise switching signal is detected
Self adaptation continuation of the journey switching signal is sent by adaptive cruise switch, and adaptive cruise is switched in driver cabin, by
Driver is opened and closed.If adaptive cruise switch is opened, output signal is 1；If adaptive cruise switch is closed, output signal is 0.
Adaptive cruise switching signal passes to entire car controller ECU by car load CAN.If adaptive cruise switching signal is 1, hold
Row g steps, if adaptive cruise switching signal is 0, perform b step.
I. car load driving pedal signal is detected
Car load driving pedal signal is produced by driving pedal displacement transducer, if driver steps on driving pedal, output letter
Number be 1；If driver does not step on driving pedal, output signal is 0.Driving pedal signal passes to car load control by car load CAN
Device ECU processed.If driving pedal signal is 1, g steps are performed, if driving pedal signal is 0, perform step c.
J. car load brake pedal signal is detected
Car load brake pedal signal is produced by brake pedal displacement transducer, if driver's brake pedal, output letter
Number be 1；If the non-brake pedal of driver, output signal is 0.Brake pedal signal passes to car load control by car load CAN
Device ECU processed.If brake pedal signal is 1, g steps are performed, if brake pedal signal is 0, perform Step d.
K. car load speed of operation signal is detected
Car load travel speed signal is sent by brake monitor, and brake monitor obtains wheel speed letter by wheel speed sensors
Number, and through being calculated car load speed of operation signal.Brake pedal signal passes to entire car controller ECU by car load CAN.
If speed of operation is more than or equal to 150km/h, g steps are performed, if speed of operation is less than 150km/h, perform step e.
L. detect down time whether more than 2s
The persistent period that speed is 0 is recorded by brake monitor by wheel speed sensors.If the persistent period is more than 2s, to whole
Vehicle controller ECU sends stop sign, and entire car controller ECU receives stop sign, execution step g, if not receiving parking
Signal, execution step f
M. adaptive cruise pattern work
Adaptive cruise state flag bit flag_ACC puts 1, and system works into adaptive cruise pattern.
N. driver's pattern work
Adaptive cruise state flag bit flag_ACC sets to 0, and system works into driver's pattern, is taken over by driver and is
System work.
Expect acceleration or deceleration flow chart to calculate output refering to Fig. 5, it belongs to adaptive cruise decision-making level algorithm,
In being stored in entire car controller ECU.It is input into following distance, the front truck GES and by control for brake perceived by millimetre-wave radar
This car GES that device sends.Entire car controller ECU is calculated and exported and expects that acceleration signal is to electric machine controller or defeated
Go out to expect deceleration signal to brake monitor.Concrete execution step is as follows：
D. adaptive cruise flag bit is detected
Whether detection adaptive cruise flag bit flag_ACC is 1.If 1, execution step b, if 0, do not export acceleration
Degree signal, EP (end of program).
E. calculate and expect acceleration or deceleration
Decision-making level's algorithm is built according to Model Predictive Control Theory, according to front truck following distance, speed, this car GES meter
Calculate the expectation acceleration or deceleration signal in vehicle subsequent work cycle.
F. acceleration or deceleration signal are expected in output
If expecting, acceleration signal is more than 0, exports expectation acceleration signal to electric machine controller, exports 0 signal to braking
Controller.If expecting, acceleration signal is less than 0, exports expectation deceleration signal to brake monitor, exports 0 signal and gives motor control
Device processed.
Acceleration is expected in the response of electric machine controller described in step 3, to motor output driving current signal；Control for brake
Deceleration signal is expected in device response, to Pneumatic braking system delivery valve control electric current signal；Wherein electric machine controller and controlling party
Method is using former vehicle motor controller and control method.Pneumatic braking system and brake monitor are modified segment, its control method
Comprise the following steps that：
It is adaptive cruise Pneumatic braking system control method flow chart refering to Fig. 6, algorithm is stored in brake monitor.
It is input into the expectation deceleration signal for entire car controller ECU outputs.It is output as controlling abs valve electric current and control TCS valve electric currents.Tool
Body execution step is as follows：
D. wheel whether locking is detected
Wheel whether locking is detected by the wheel speed signal of wheel speed sensors, if wheel lock up, into anti-lock pattern, if
The non-locking of wheel, execution step b
E. antero posterior axis desired braking pressure distribution
Antero posterior axis brake pressure distribution is comprised the steps of：
Step one：The expectation deceleration signal sent by entire car controller ECU is converted to into expectation total braking force signal；
Step 2：Carload size is obtained by load transducer；
Step 3：Brake-power balance coefficient β is determined according to carload；
Step 4：According to brake-power balance coefficient β, the desired braking pressure of antero posterior axis distribution is calculated.
F. delivery valve control electric current signal
Antero posterior axis current brake air chamber pressure is obtained by pressure transducer, by antero posterior axis desired braking pressure and antero posterior axis
Current brake pressure ratio is compared with delivery valve control electric current signal：
If i axle desired braking pressure>Current brake pressure, then control the supercharging of i axles：The air inlet valve coil of the axle abs valve and
The equal no power of aerofluxuss valve coil, the TCS valves of the axle are powered；
If i axles demand brake pressure=current brake pressure, the pressurize of i axles is controlled：The air inlet valve coil of the axle abs valve
Energization, aerofluxuss valve coil no power, the TCS valves of the axle are powered；
If i axle demand brake pressures<Current brake pressure, then control the decompression of i axles；The air inlet valve coil of the axle abs valve is not
Energization, air bleeding valve coil electricity, the TCS valves of the axle are powered.
Pneumatic braking system configuration is further illustrated below：
Refering to Fig. 3 be Pneumatic braking system configuration picture, including front axle right wheel brake chamber 1, front axle right wheel abs valve 2,
It is front axle threeway 3, front axle revolver abs valve 4, front axle left wheel brake air chamber 5, front axle revolver wheel speed sensors 6, front axle TCS valves 7, front
Axle double-way check valve 8, brake valve 9, rear axle TCS valves 10, rear axle double-way check valve 11, rear axle revolver wheel speed sensors 12, rear axle
Left wheel brake air chamber 13, rear axle revolver abs valve 14, rear axle threeway 15, rear axle right wheel abs valve 16, rear axle right wheel brake chamber 17,
Rear axle right wheel wheel speed sensors 18, quick release valve 19, front axle gas receiver 20, rear axle gas receiver 21, four-loop protection valve 22, hand-operated valve
23rd, wet gas receiver 24, unloader 25, air pump 26, front axle right wheel wheel speed sensors 27, front axle pressure transducer 28, rear axle pressure
Sensor 29.
The air pump 26 is used to extract outside air, and boil down to high pressure gas storage is stored in wet gas receiver 24.It is described to unload
Lotus valve 25 is used to adjust the pressure of compressed air in wet gas receiver 24, in the pressure limit for being allowed to be maintained at regulation, while making gas
The off-load of pump 26 is dallied, and reduces power loss.The four-loop protection valve 22 guarantees that other loops remain to when a certain partial failure
Normal work.The hand-operated valve 23 is used to applying or releasing parking braking.The rear axle gas receiver 21 is used to store rear axle high pressure
Brake gas.The front axle gas receiver 20 is used to store front axle high-pressure brake gas.When the quick release valve 19 is used for parking braking
Release brake chamber ante-chamber gas.When quick release valve p mouths have gases at high pressure, a1 is closed with a2 mouths, when quick release valve p mouths are without high pressure gas
Body, a is communicated with air.The brake valve 9 connects brake pedal, for adjusting antero posterior axis brake chamber pressure.The TCS valves 7
It is normally closed solenoid valve with TCS valves 10, controls flowing into and out for gas.The double-way check valve 8 and double-way check valve 11 have two
Entrance p1, p2 one outlet a, the gas all the way that inlet pressure can be made higher enters brake chamber.Double-way check valve 8 is connected to
Front axle brake pipeline.Double-way check valve 11 is connected to rear axle brake piping.The abs valve 2, abs valve 4, abs valve 16, abs valve 14
Direct control type barostat, including diaphragm type intake valve, diaphragm type air bleeding valve and two two-bit triplet solenoid valve blocks into,
For adjusting the pressure of brake chamber 1, brake chamber 5, brake chamber 17, brake chamber 13.ABS electromagnetic valves have two lines beam point
Not Qu Dong air inlet valve coil and aerofluxuss valve coil, its operation principle is：If two lines bunch is not powered on, and (abs valve is not powered on shape
State), the conducting of p and a mouths, brake chamber supercharging；If one line one line of energization is not powered on ("on" position of abs valve half), p and air
Communicate, brake chamber decompression, if two signal lines are powered (abs valve all-pass electricity condition), the closing of p, a mouth, brake chamber pressurize.
The brake chamber 1, brake chamber 5 are the single-chamber brake chamber of front axle right wheel and front axle revolver, for realizing service brake.Institute
State brake chamber 17, brake chamber 13 for rear axle right wheel and rear axle revolver two-chamber brake chamber, for realize service brake and
Parking braking.The wheel speed sensors 27, wheel speed sensors 6, wheel speed sensors 18, wheel speed sensors 12 are Hall-type wheel speed biography
Sensor, for measuring the wheel wheel speed of front axle right wheel, front axle revolver, rear axle right wheel, rear axle revolver.The front axle pressure transducer
28th, rear axle pressure transducer 29 is the active pressure transducer of BOSCH companies production, to detect axle brake pressure.
The annexation of Pneumatic braking system configuration is illustrated below：
Refering to Fig. 3, the outlet a of air pump 26 is connected with the entrance p pipelines of unloader 25.The outlet a of unloader 25 and wet gas storage
The entrance p pipelines connection of cylinder 24.The outlet a of wet gas receiver 24 is connected with the entrance p pipelines of four-loop protection valve 22.Four loops are protected
Three outlet a1, a2, a3 of shield valve 22 are respectively at hand-operated valve 23, dry gas receiver 21, the connection of the pipeline of dry gas receiver 20.It is described manual
The outlet a1 of valve 23 is connected with the entrance p pipelines of quick release valve 19.The outlet a2 of hand-operated valve 16 is communicated with air.The quick release valve 19 is exported
A2, a1 ante-chamber p1 mouths respectively with brake chamber 17, the ante-chamber p1 mouth pipelines of brake chamber 13 are connected.Quick release valve 19 export a3 with
Air is communicated.The outlet a of the dry gas receiver 20 is connected respectively with the entrance p and the ante-chamber entrance p1 pipelines of brake valve 9 of TCS valves 7.
The outlet a of the gas receiver 21 is connected respectively with the entrance p pipelines of 9 back cavity entrance p2, TCS valve of brake valve 10.The TCS valves 7 go out
Mouth a is connected with the p1 mouth pipelines of double-way check valve 8.The ante-chamber outlet a1 and the entrance p2 of double-way check valve 8 of the brake valve 9 is managed
Road connects.The outlet a of the TCS valves 10 is connected with the entrance p1 pipelines of double-way check valve 11.The double-way check valve 11 enters
Mouth p2 is connected with the back cavity outlet a2 pipelines of brake valve 9.The outlet a of the double-way check valve 8 and the p mouth pipes of pressure transducer 28
Road connects.The a mouths of pressure transducer 28 are connected with the p mouth pipelines of threeway 3.A1 mouths, the a2 mouths of the threeway 3 respectively with abs valve 2
Entrance p, abs valve 4 entrance p pipelines connection.The outlet a of the double-way check valve 11 and the p mouth pipelines of pressure transducer 29
Connection.It is connected with a mouths of pressure transducer 29 with the p mouth pipelines of threeway 15.A1 mouths, the a2 mouths of the threeway 15 respectively with ABS
The entrance p of valve 16, the entrance p pipelines connection of abs valve 14.The outlet a2 of the abs valve 2 connects with the entrance p pipelines of brake chamber 1
Connect.The outlet a2 of the abs valve 4 is connected with the entrance p pipelines of brake chamber 5.The outlet a2 of the abs valve 16 and brake chamber
17 back cavity entrance p2 pipelines connection.The outlet a2 of the abs valve 14 is connected with the back cavity entrance p2 pipelines of brake chamber 13.Institute
State the a1 mouths of abs valve 2, the a1 mouths of abs valve 4, the a1 mouths of abs valve 14, the a1 mouths of abs valve 16 to communicate with air.
Pneumatic braking system work process is illustrated below：
TCS valves 7, TCS valves 10 are closed all the time.Driver's brake pedal, drive brake valve 9 ante-chamber and
Back cavity valve is opened, and tread depths are bigger, and valve opening is bigger, and air mass flow is bigger.Pressure-air by dry gas receiver 20 a mouths
Out into the ante-chamber p1 mouths of brake valve 9, from a1 mouths out into the p2 mouths of double-way check valve 8 after the current limliting of brake valve 9.It is double
The p1 mouths of logical check valve 8 are without gases at high pressure, therefore the p2-a mouths conducting of double-way check valve 22.Gases at high pressure are from double-way check valve 8
A mouths pressure transducer 28 out through front axle, threeway 3 enter the p mouths of abs valve 2 and the p mouths of abs valve 4.Abs valve 2 and ABS
Valve 4 is in unpowered state, and p-a2 mouths conducting, gases at high pressure enter brake chamber by the a2 mouths of abs valve 2 and the a2 mouths of abs valve 4
1 and brake chamber 5, respectively brake force is applied to front axle right wheel and front axle revolver.
Pressure-air is out entered the back cavity p2 mouths of brake valve 9 by a mouths of dry gas receiver 21, after the current limliting of brake valve 9
From a2 mouths out into the p2 mouths of double-way check valve 11.The p1 mouths of double-way check valve 11 are without gases at high pressure, therefore double-way check valve
11 p2-a mouths conducting.Gases at high pressure enter from a mouths of double-way check valve 11 pressure transducer 29 out through rear axle, threeway 15
Enter the p mouths of abs valve 16 and the p mouths of abs valve 14.Abs valve 16 and abs valve 14 are in unpowered state, the conducting of p-a2 mouths, high pressure gas
Body enters the back cavity of brake chamber 17 and the back cavity of brake chamber 13 by the a2 mouths of abs valve 16 and the a2 mouths of abs valve 14, right respectively
Rear axle right wheel and rear axle revolver apply brake force.
Boost mode system work process：
After top level control system applies supercharging request to Pneumatic braking system, brake monitor response instruction, TCS valves 7
It is powered with TCS valves 10 and opens.
Pressure-air, out into the p mouths of TCS valves 7, is out entered through TCS valves 7 by a mouths of dry gas receiver 20 from a mouths
The p1 mouths of double-way check valve 8.The p2 mouths of double-way check valve 8 are without gases at high pressure, therefore the p2-a mouths conducting of double-way check valve 8.It is high
Body of calming the anger out enters the p mouths of abs valve 2 and the p mouths of abs valve 4 from a mouths of double-way check valve 8 through the threeway 3 of front axle.Abs valve
2 and abs valve 4 p-a2 mouths conducting, gases at high pressure by abs valve 2 a2 mouths and abs valve 4 a2 mouths enter brake chamber 1 and braking
Air chamber 5, applies brake force to front axle right wheel and front axle revolver respectively.
Pressure-air is out entered the p mouths of TCS valves 10 by a mouths of dry gas receiver 21, from a mouths after the current limliting of TCS valves 20
Out into the p2 mouths of double-way check valve 11.The p2 mouths of double-way check valve 15 are without gases at high pressure, therefore the p2- of double-way check valve 15
A mouths are turned on.Gases at high pressure out enter the p mouths and ABS of abs valve 16 from a mouths of double-way check valve 11 through the threeway 15 of rear axle
The p mouths of valve 14.The p-a2 mouths conducting of abs valve 16 and abs valve 14, gases at high pressure are by the a2 mouths of abs valve 16 and the a2 mouths of abs valve 14
Into the back cavity and the back cavity of brake chamber 13 of brake chamber 17, respectively brake force is applied to rear axle right wheel and rear axle revolver.
The pressurize modular system course of work：
After top level control system applies pressurize to Pneumatic braking system asks, brake monitor response instruction, abs valve 2,
Abs valve 4, abs valve 14, the all-pass electricity condition of abs valve 16.TCS valves 7 and the power-off of TCS valves 10.Brake chamber gas does not connect with pipeline
Connect, realize pressurize.
Pressure reducing mode system work process：
After top level control system applies decompression request to Pneumatic braking system, brake monitor response instruction, abs valve 2,
Abs valve 4, abs valve 14, the "on" position of abs valve 16 half, TCS valves 7 and the power-off of TCS valves 10.Brake chamber is communicated with air, is realized
Decompression.
Claims (7)
1. a kind of pure electric coach self-adaption cruise system, including battery, battery management system, inverter, electric machine controller, electricity
Machine, variator, entire car controller, wheel speed sensors and Pneumatic braking system, it is characterised in that：
Also include being fixed on the millimetre-wave radar of vehicle front；
Install axle TCS valves and abs valve on the Pneumatic braking system additional；
The abs valve is being installed on the pipeline of brake chamber position；The front axle TCS valves are parallel to brake control valve front axle and enter
Between mouth and outlet；The rear axle TCS valves are parallel between brake control valve rear axle entrance and outlet.
2. a kind of pure electric coach self-adaption cruise system according to claim 1, it is characterised in that：
The abs valve arranges four.
3. a kind of control method of pure electric coach self-adaption cruise system as claimed in claim 1, it is characterised in that include
Following steps：
Step one：Judge car load self-adaption cruise system mode of operation；
Step 2：Calculate output and expect acceleration or deceleration；
Step 3：If acceleration signal, electric machine controller response signal, to motor are expected in the algorithm output of adaptive cruise decision-making level
Output driving current signal；If adaptive cruise decision-making level algorithm output expectation deceleration signal, brake monitor response signal,
To Pneumatic braking system delivery valve control electric current signal.
4. the control method of a kind of pure electric coach self-adaption cruise system according to claim 3, it is characterised in that：
Judgement car load described in step one enters adaptive cruise mode of operation, and concrete execution step is as follows：
A. adaptive cruise switching signal is detected
Self adaptation switching signal of continuing a journey is sent by adaptive cruise switch, and adaptive cruise is switched in driver cabin, by driving
Member's opening and closing；
If adaptive cruise switch is opened, output signal is 1；If adaptive cruise switch is closed, output signal is 0；
Adaptive cruise switching signal passes to entire car controller ECU by car load CAN；
If adaptive cruise switching signal is 1, g steps are performed, if adaptive cruise switching signal is 0, perform b step；
B. car load driving pedal signal is detected
Car load driving pedal signal is produced by driving pedal displacement transducer, if driver steps on driving pedal, output signal is
1；
If driver does not step on driving pedal, output signal is 0；
Driving pedal signal passes to entire car controller ECU by car load CAN；
If driving pedal signal is 1, g steps are performed, if driving pedal signal is 0, perform step c；
C. car load brake pedal signal is detected
Car load brake pedal signal is produced by brake pedal displacement transducer, if driver's brake pedal, output signal is
1；
If the non-brake pedal of driver, output signal is 0；
Brake pedal signal passes to entire car controller ECU by car load CAN；
If brake pedal signal is 1, g steps are performed, if brake pedal signal is 0, perform Step d；
D. car load speed of operation signal is detected
Car load travel speed signal is sent by brake monitor, and brake monitor obtains wheel speed signal by wheel speed sensors, and
Through being calculated car load speed of operation signal；
Brake pedal signal passes to entire car controller ECU by car load CAN；
If speed of operation is more than or equal to 150km/h, g steps are performed, if speed of operation is less than 150km/h, perform step e；
E. detect down time whether more than 2s
The persistent period that speed is 0 is recorded by brake monitor by wheel speed sensors；
If the persistent period, more than 2s, to entire car controller ECU stop sign is sent, entire car controller ECU receives stop sign,
Execution step g, if not receiving stop sign, execution step f；
F. adaptive cruise pattern work
Adaptive cruise state flag bit flag_ACC puts 1, and system works into adaptive cruise pattern；
G. driver's pattern work
Adaptive cruise state flag bit flag_ACC sets to 0, and system enters driver's pattern, and by driver system work is taken over.
5. the control method of a kind of pure electric coach self-adaption cruise system according to claim 3, it is characterised in that：
Output is calculated described in step 2 and expects acceleration or deceleration, concrete execution step is as follows：
A. adaptive cruise flag bit is detected
Whether detection adaptive cruise flag bit flag_ACC is 1；
If 1, execution step b, if 0, do not export acceleration signal, EP (end of program)；
B. calculate and expect acceleration or deceleration
Decision-making level's algorithm is built according to Model Predictive Control Theory, and according to front truck following distance, speed, this car GES car is calculated
The expectation acceleration or deceleration signal in subsequent work cycle.
C. acceleration or deceleration signal are expected in output
If expecting, acceleration signal is more than 0, exports expectation acceleration signal to electric machine controller, exports 0 signal to control for brake
Device.If expecting, acceleration signal is less than 0, exports expectation deceleration signal to brake monitor, exports 0 signal to motor control
Device.
6. the control method of a kind of pure electric coach self-adaption cruise system according to claim 3, it is characterised in that：
Deceleration signal is expected in the response of brake monitor described in step 3, to Pneumatic braking system delivery valve control electric current letter
Number；Comprise the following steps that：
A. wheel whether locking is detected
Wheel whether locking is detected by the wheel speed signal of wheel speed sensors, if wheel lock up, into anti-lock pattern, if wheel
Non- locking, execution step b；
B. antero posterior axis desired braking pressure distribution
C. delivery valve control electric current signal
Antero posterior axis current brake air chamber pressure is obtained by pressure transducer, antero posterior axis desired braking pressure and antero posterior axis is current
Brake pressure compares, delivery valve control electric current signal：
If i axle desired braking pressure>Current brake pressure, then control the supercharging of i axles：The air inlet valve coil of the axle abs valve and aerofluxuss
The equal no power of valve coil, the TCS valves of the axle are powered；
If i axles demand brake pressure=current brake pressure, the pressurize of i axles is controlled：The air inlet valve coil of the axle abs valve leads to
Electricity, aerofluxuss valve coil no power, the TCS valves of the axle are powered；
If i axle demand brake pressures<Current brake pressure, then control the decompression of i axles；The air inlet valve coil no power of the axle abs valve,
Air bleeding valve coil electricity, the TCS valves of the axle are powered.
7. the control method of a kind of pure electric coach self-adaption cruise system according to claim 6, it is characterised in that：
The antero posterior axis brake pressure distribution comprises the steps：
1) the expectation deceleration signal sent by entire car controller ECU is converted to into expectation total braking force signal；
2) carload size is obtained by load transducer；
3) brake-power balance coefficient β is determined according to carload；
4) according to brake-power balance coefficient β, the desired braking pressure of antero posterior axis distribution is calculated.
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| CN201710106009.4A CN106671980A (en) | 2017-02-27 | 2017-02-27 | Pure electric bus self-adaptive cruise system and control method |
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|---|---|---|---|
| CN201710106009.4A CN106671980A (en) | 2017-02-27 | 2017-02-27 | Pure electric bus self-adaptive cruise system and control method |
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