CN106828006B - A kind of braking method, system and vehicle based on air suspension control - Google Patents
A kind of braking method, system and vehicle based on air suspension control Download PDFInfo
- Publication number
- CN106828006B CN106828006B CN201710112697.5A CN201710112697A CN106828006B CN 106828006 B CN106828006 B CN 106828006B CN 201710112697 A CN201710112697 A CN 201710112697A CN 106828006 B CN106828006 B CN 106828006B
- Authority
- CN
- China
- Prior art keywords
- damper
- acceleration
- braking
- vehicle
- gas pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0164—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during accelerating or braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/20—Type of damper
- B60G2202/24—Fluid damper
- B60G2202/242—Pneumatic damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/30—Propulsion unit conditions
- B60G2400/34—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/22—Braking, stopping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/24—Steering, cornering
-
- 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
- B60T2201/03—Brake assistants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/14—Rough roads, bad roads, gravel roads
-
- 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
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/09—Complex systems; Conjoint control of two or more vehicle active control systems
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of braking method, system and vehicles based on air suspension control, if method includes: the road conditions that road ahead situation is poor flatness, control reduces gas pressure in all dampers of air suspension；If road ahead situation is bending section or detects that transfer is steering state, control increases gas pressure in the damper on the outside of Vehicular turn, and control reduces gas pressure in the damper on the inside of Vehicular turn；If current vehicle speed is more than speed boundary value and springs back acceleration greater than spring back acceleration with all strength 90%, the size of pre- braking acceleration is determined according to the size of rebound acceleration, damper goal pressure is obtained according to pre- braking acceleration, gas pressure in damper on the front suspension of adjustment vehicle bilateral；Pre- brake signal is sent to Vehicular brake device.The above method estimates the braking intention of driver in advance and carries out prefabricated dynamic, controls the air pressure of braking system damper, provides higher safety and convenience.
Description
Technical field
The present invention relates to technical field of vehicle control, more specifically to a kind of braking based on air suspension control
Method and system.The invention further relates to a kind of vehicles including the above-mentioned braking system based on air suspension control.
Background technique
The braking system of vehicle is one of important control system of vehicle, and the development of vehicle control braking technology determines
The technical level of vehicle.
The braking system of vehicle in the prior art includes brake, hand brake etc., in conventional situation, works as driver
An emergency situation is encountered, usually rapidly loosens the right crus of diaphragm stepped down on throttle, recycling while shifting to brake pedal, and by brake pedal
Step on, after brake pedal is stepped on, speed can just be reduced, and speed keeps original speed substantially in the process, and therebetween when
Even if there is no form braking between, that is to say, that brake operating can not be found to make in time when emergency by driver anti-
It answers, there are the possibility of operational delays, cause great threat to the driving safety of vehicle.In addition, in vehicle driving and braking
In the process, vehicle air suspension is also passively to be operated when facing different environments, can not be mentioned in emergency
Before make a response, can not realize autonomous adjustment.
It is current those skilled in the art in conclusion how to provide a kind of braking method based on air suspension control
Urgent problem to be solved.
Summary of the invention
In view of this, this method can the object of the present invention is to provide a kind of braking method based on air suspension control
Vehicle is braked in advance before the brake operating of brake pedal occurs, and air suspension can be adjusted, guarantees that vehicle is in peace
Total state.
It is a further object of the present invention to provide a kind of braking systems based on air suspension control for realizing the above method
System and the vehicle including above system.
To achieve the goals above, the invention provides the following technical scheme:
A kind of braking method based on air suspension control, comprising:
S1: the infrared monitoring device by the way that vehicle front is arranged in detects the road ahead situation of vehicle, if the front
When road conditions are the road conditions of poor flatness, control reduces gas pressure in all dampers of air suspension；
S2: the steering situation of transfer is obtained；If the road ahead situation is bending section or detects described turn
To device be steering state when, control increase Vehicular turn on the outside of damper in gas pressure, control reduce Vehicular turn in
Gas pressure in the damper of side；
S3: obtaining the speed and accelerator pedal aperture of vehicle in real time, and when the accelerator pedal aperture reduces, obtains and add
The rebound acceleration of speed pedal rebound；
S4: if presently described speed is more than speed boundary value, judges whether the rebound acceleration is greater than and spring back with all strength
The 90% of acceleration, if it has not, the step of then returning to the speed and accelerator pedal aperture that obtain vehicle in real time；If it has, then holding
Row S5；
S5: the size of pre- braking acceleration is determined according to the size of the rebound acceleration, is accelerated according to the pre- braking
Degree obtains damper goal pressure, adjust on the front suspension of vehicle bilateral in damper gas pressure to the damper target
Pressure is consistent；
S6: sending pre- brake signal to Vehicular brake device, and the pre- brake signal includes the pre- braking acceleration, with
Brake Vehicular brake device according to the pre- braking acceleration.
Preferably, the size of pre- braking acceleration is determined, according to institute according to the size of the rebound acceleration in the S5
State the step of pre- braking acceleration obtains damper goal pressure, comprising:
S51: the deceleration target value braked in advance is determined according to the size of the rebound acceleration, and according to the deceleration
Target value determines the corresponding pre- braking acceleration, and the deceleration target value is positively correlated with the pre- braking acceleration,
The pre- braking acceleration is the pre- brake signal for being sent to the Vehicular brake device；According to the deceleration mesh
Scale value determines the damper goal pressure.
Preferably, before sending pre- brake signal to Vehicular brake device in the S6, further includes:
S61: detecting the state of the transfer, judges whether vehicle is in steering state, if it has, then control increases
Gas pressure in damper on the outside of Vehicular turn, control reduce gas pressure in the damper on the inside of Vehicular turn；
S62: obtaining current steering angle, adjusts the pre- braking acceleration according to the steering angle, the pre- braking accelerates
The size of degree and the steering angle is in inverse ratio.
Preferably, before sending pre- brake signal to Vehicular brake device in the S6, further includes:
S62: the road ahead situation of vehicle is detected by the infrared monitoring device, if there are hollows for the road ahead
Out-of-flatness, then controlling reduces gas pressure in all dampers.
Preferably, adjusted in the S5 on the front suspension of vehicle bilateral in damper gas pressure to the damper mesh
Mark the consistent step of pressure, comprising:
The pulse signal for adjusting gas pressure in the damper is sent to the gas receiver of air suspension, and is subtracted described in detection
The actual gas pressure shaken in device stops sending the arteries and veins when actual gas pressure is consistent with the damper goal pressure
Rush signal.
A kind of braking system based on air suspension control, comprising:
For detecting the infrared monitoring device of the road ahead situation of vehicle, before the infrared monitoring device is set to vehicle
Side；
For obtaining the steering state acquisition device of steering angle, the steering state acquisition device is filled set on the steering
It sets；
Accelerator pedal state acquisition device and speed acquisition device for obtaining accelerator pedal aperture, springing back acceleration；
Pre- braking acceleration control unit, being used for is more than speed boundary value in speed and the rebound acceleration is greater than with all strength
When springing back the 90% of acceleration, pre- braking acceleration is determined according to the size of the rebound acceleration, and to Vehicular brake device
Pre- brake signal is sent, the pre- brake signal includes the pre- braking acceleration；
Air suspension damper Pneumatic controller, for according to the infrared monitoring device and steering state acquisition device
The current state of acquisition controls the air pressure of damper, obtains damper goal pressure according to the pre- braking acceleration,
Gas pressure is extremely consistent with the damper goal pressure in damper on the front suspension of adjustment vehicle bilateral.
Preferably, the air suspension damper Pneumatic controller includes:
Hollow road processing unit, for when the road ahead situation is the road conditions of poor flatness, control to be dropped
Gas pressure in low all dampers；
Bend road processing unit is crossed, for for bending section or detecting the transfer when the road ahead situation
When for steering state, control increases gas pressure in the damper on the outside of Vehicular turn, and control reduces subtracting on the inside of Vehicular turn
Gas pressure in vibration device.
Preferably, further includes:
Front detection device, for detecting vehicle front barrier state；
Rear detection device, for detecting rear of vehicle barrier state；
Front and back state controller, for judging whether to need to brake according to the front obstacle state, when needing to brake
When, on-position alarm is rearward issued according to the installation condition of the rear obstacle or issues not braking mention to driver
Show.
A kind of vehicle, including braking system, the braking system are described in above-mentioned any one based on air suspension control
The braking system of system.
It is provided by the present invention based on air suspension control braking method and system by road conditions, speed, plus
Speed pedal aperture, rebound acceleration various aspects are obtained, analyzed and are considered, to vehicle when having worked out for anxious lift accelerator pedal
The control method of braking, air suspension air pressure, allow the vehicle to carry out before driver's brake pedal it is prefabricated dynamic, can
Avoid foot jam on pedal it is slow in one's movements caused by safety accident, the braking intention of driver can be estimated in advance, not only controlled
Braking system, also adjusts the air pressure of air suspension damper, so that the two can be with vehicle's current condition phase
It adapts to, provides higher safety and convenience.
The present invention also provides a kind of vehicles including the above-mentioned braking system based on air suspension control.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the flow chart of the specific embodiment one of the braking method provided by the present invention based on air suspension control；
Fig. 2 is the flow chart of the specific embodiment two of the braking method provided by the present invention based on air suspension control；
Fig. 3 is the structural schematic diagram of the braking system provided by the present invention based on air suspension control.
In Fig. 3:
1 it is infrared monitoring device, 2 be steering state acquisition device, 3 be accelerator pedal state acquisition device, 4 is that speed obtains
Taking device, 5 is that braking acceleration control unit, 6 are air suspension damper Pneumatic controller in advance.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Core of the invention is to provide a kind of braking method based on air suspension control, and this method can be in brake pedal
Brake operating occur before vehicle is braked in advance, and air suspension can be adjusted, guarantee vehicle is in a safe condition.
Another core of the invention is to provide a kind of braking system based on air suspension control for realizing the above method
System and the vehicle including above system.
Please refer to the specific implementation that Fig. 1 to 3, Fig. 1 is the braking method provided by the present invention based on air suspension control
The flow chart of example one；Fig. 2 is the stream of the specific embodiment two of the braking method provided by the present invention based on air suspension control
Cheng Tu；Fig. 3 is the structural schematic diagram of the braking system provided by the present invention based on air suspension control.
A kind of braking method based on air suspension control provided by the present invention, mainly includes the following steps that 1 to 6:
Step S1: the infrared monitoring device by the way that vehicle front is arranged in detects the road ahead situation of vehicle, if front
When road conditions are the road conditions of poor flatness, control reduces gas pressure in all dampers.
It should be noted that infrared monitoring device is used to measure vehicle front road conditions by sensing technology, it is main to wrap
It includes path formation situation and whether road is provided with barrier etc., whether vehicle front road conditions are to sentence to being braked
The foundation of damper adjustment fixed and to air suspension.Above-mentioned damper is the damper of air suspension.It is flat having found
It is whole degree it is poor after, can directly control reduce damper air pressure, to make air suspension become softer, allow vehicle by when subtract
The collision of few rigidity.
Step S2: the steering situation of transfer is obtained；If road ahead situation is bending section or detects that steering fills
When being set to steering state, control increases gas pressure in the damper on the outside of Vehicular turn, and control reduces on the inside of Vehicular turn
Gas pressure in damper.
It should be noted that transfer can be the devices directly related with steering such as steering wheel, turned to for obtaining
Angle and steering state can control the damper air pressure to the outside of steering and increase when being measured as will turn to, corresponding
, external atmospheric pressure is reduced, thus, so that vehicle is in this state, there is preferable rolling condition, so that vehicle is in this state
Controllability is more preferable.
Step S3: obtaining the speed and accelerator pedal aperture of vehicle in real time, and when accelerator pedal aperture reduces, obtains and add
The rebound acceleration of speed pedal rebound.
Step S4: if current vehicle speed is more than speed boundary value, judge to spring back whether acceleration is greater than rebound acceleration with all strength
The 90% of degree, if it has not, the step of then returning to the speed and accelerator pedal aperture that obtain vehicle in real time；If it has, then executing step
Rapid S5.
It should be noted that accelerator pedal aperture is the degree that accelerator pedal is operated.When accelerator pedal aperture reduce and
When springing back acceleration greater than spring back acceleration with all strength 90%, illustrates that driver takes the operation of anxious lift throttle, judge at this time
It may be vehicle emergency, obtain accelerator pedal and spring back acceleration.
Step S5: the size of pre- braking acceleration is determined according to the size of rebound acceleration, is obtained according to pre- braking acceleration
To damper goal pressure, adjust on the front suspension of vehicle bilateral in damper gas pressure to damper goal pressure one
It causes.
Step S6: pre- brake signal is sent to Vehicular brake device, pre- brake signal includes pre- braking acceleration, so that vehicle
Brake apparatus is braked according to pre- braking acceleration.
It should be noted that pre- braking acceleration be sent in pre- brake operating Vehicular brake device, for controlling
The acceleration of vehicle braking processed, pre- braking acceleration are obtained according to rebound acceleration, and specifically, pre- braking acceleration and rebound add
Speed is positively correlated.That is, rebound acceleration is bigger, so that pre- braking acceleration when the speed of lift throttle is faster
Bigger, braking effect is more obvious.Accelerator pedal rebound acceleration affects the braking effect of vehicle, same reason, rebound
The damper goal pressure that acceleration influences.
Braking method provided by the present invention based on air suspension control passes through to road conditions, speed, accelerator pedal
Aperture, rebound acceleration various aspects are obtained, analyzed and are considered, when having worked out for anxious lift accelerator pedal to vehicle braking,
The control method of air suspension air pressure, allows the vehicle to carry out before driver's brake pedal prefabricated dynamic, can be avoided
Foot jam on pedal it is slow in one's movements caused by safety accident, the braking intention of driver can be estimated in advance, not only control system
Dynamic system, also adjusts the air pressure of air suspension damper, so that the two can be adapted with vehicle's current condition,
Provide higher safety and convenience.
On the basis of above-described embodiment, pre- braking acceleration is determined according to the size of rebound acceleration in step S5
Size, the step of obtaining damper goal pressure according to pre- braking acceleration, specifically include the following contents:
Step S51: the deceleration target value braked in advance is determined according to the size of rebound acceleration, and according to deceleration target
Value determines corresponding pre- braking acceleration, and deceleration target value is positively correlated with pre- braking acceleration, and pre- braking acceleration is to use
In the pre- brake signal for being sent to Vehicular brake device；Damper goal pressure is determined according to deceleration target value.
It should be noted that the size of rebound acceleration determines the deceleration target value braked in advance, deceleration target value
It determines, can more accurately obtain pre- braking acceleration, and can will spring back acceleration and be applied to sentencing for damper goal pressure
It is fixed.
Optionally, above-mentioned signal determining process can also be by other physical quantitys, such as current vehicle speed or when front steering fills
The steering angle etc. set.
Damper goal pressure is had determined that in step S5, and controls pressure and is consistent with goal pressure, however, working as
When being braked, it is also necessary to consider currently with the presence or absence of turning to, because steering operation will affect the effect of vehicle braking.?
On the basis of any one above-mentioned embodiment, before the operation for sending pre- brake signal in step S6 to Vehicular brake device,
It is further comprising the steps of:
Step S61: detecting the state of transfer, judges whether vehicle is in steering state, if it has, then control increases
Gas pressure in damper on the outside of Vehicular turn, control reduce gas pressure in the damper on the inside of Vehicular turn.
Step S62: obtaining current steering angle, adjusts pre- braking acceleration, pre- braking acceleration and steering according to steering angle
The size at angle is in inverse ratio.
Therefore, in step S61, damper gas pressure is adjusted first against the current steering state of vehicle,
Then pre- braking acceleration is readjusted according to steering angle again, thus, so that the state of pre- braking acceleration and current operation is more
Stick on closely, the brake operating after vehicle is turned to is more stable.
On the basis of any one above-mentioned embodiment, in step S6 to Vehicular brake device send pre- brake signal it
Before, it is further comprising the steps of:
Step S62: the road ahead situation of vehicle is detected by infrared monitoring device, if there are unevens for road ahead
Whole, then controlling reduces gas pressure in all dampers.
It is similar with the effect purpose of above-described embodiment, step S62 be also for the vehicle that will be braked again into
Row damper pressure adjustment, so that in the road for passing by uneven, the damper of vehicle can be relatively soft, convenient for passing through
The road.
On the basis of any one above-mentioned embodiment, adjusted in step S5 on the front suspension of vehicle bilateral in damper
Gas pressure specifically includes following the description to the step consistent with damper goal pressure:
The pulse signal of gas pressure in adjustment damper is sent to the gas receiver of air suspension, and is detected in damper
Actual gas pressure stops sending pulse signal when actual gas pressure is consistent with damper goal pressure.
It should be noted that can use above-mentioned side for the step of pressure adjustment in preceding investitive meaning one embodiment
Method is adjusted gas pressure by pulse signal.
Optionally, above-mentioned adjustment mode is compared with being suitable for respectively individually adjusting different dampers, and to vehicle institute
Have the integrated regulation of damper then can single-measurement, be uniformly controlled by way of realize.
In addition to the braking method based on air suspension control provided by above-described embodiment, the present invention also provides one kind to be used for
Implement the system of the above method, specially a kind of braking system based on air suspension control constitutes upper system master in structure
It include: infrared monitoring device 1, steering state acquisition device 2, accelerator pedal state acquisition device 3, speed acquisition device 4, pre-
Braking acceleration control device 5 and air suspension damper Pneumatic controller 6.
For detecting the infrared monitoring device 1 of the road ahead situation of vehicle, before infrared monitoring device 1 is set to vehicle
Side.
For obtaining the steering state acquisition device 2 of steering angle, steering state acquisition device 2 is set on transfer.
Accelerator pedal state acquisition device 3 and speed acquisition device for obtaining accelerator pedal aperture, springing back acceleration
4。
Pre- to brake acceleration control unit 5, being used for is more than speed boundary value in speed and rebound acceleration is greater than all one's effort time
When playing the 90% of acceleration, pre- braking acceleration is determined according to the size of rebound acceleration, and send in advance to Vehicular brake device
Brake signal, pre- brake signal include pre- braking acceleration；
Air suspension damper Pneumatic controller 6, for according to infrared monitoring device 1 and steering state acquisition device 2
The current state of acquisition controls the air pressure of damper, obtains damper goal pressure according to pre- braking acceleration, adjustment
Gas pressure is extremely consistent with damper goal pressure in damper on the front suspension of vehicle bilateral.
On the basis of above-described embodiment, air suspension damper Pneumatic controller 6 includes: hollow road processing dress
Set and cross bend road processing unit.
Hollow road processing unit, for when front road conditions are the road conditions of poor flatness, control to reduce institute
There is gas pressure in damper.
Bend road processing unit is crossed, for when front road conditions are bending section or detect that transfer is to turn to shape
When state, control increases gas pressure in the damper on the outside of Vehicular turn, and control reduces gas in the damper on the inside of Vehicular turn
Body pressure.
Above-mentioned hollow road processing unit is please referred to the operation and control method for crossing bend road processing unit based on air
The embodiment of the braking method of Suspension control, details are not described herein again.
On the basis of any one above-mentioned embodiment, the system further include: front and back state controller, front detection dress
It sets and rear detection device.
Front detection device is for detecting vehicle front barrier state, and rear detection device is for detecting rear of vehicle barrier
Hinder object state.
Front and back state controller, for judging whether to need to brake according to front obstacle state, when needing to brake, root
On-position alarm is rearward issued according to the installation condition of rear obstacle or not braking prompt is issued to driver.
It should be noted that front and back state controller is detected except through front detection device, rear detection device
In addition, it can also connect with cloud server, present case is carried out by the road real-time monitoring system on cloud server
Determine.
Optionally, above by hollow road processing unit, control of the bend road processing unit to vehicle suspension excessively, moreover it is possible to
Enough road conditions are obtained and determined by above-mentioned cloud server.Therefore, in method and system provided by the present invention,
It further include the signal transmission being connect with cloud server, acquisition device, which, which can network, obtains information, and can be by road
Information is downloaded, and realizes the information processing under single machine state.
In addition to provided by above-mentioned each embodiment based on air suspension control braking method and system, the present invention also mention
For a kind of vehicle including above-mentioned braking system, refer to the prior art for the structure of other each sections of the vehicle, herein not
It repeats again.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Detailed Jie has been carried out to braking method, system and the vehicle provided by the present invention based on air suspension control above
It continues.Used herein a specific example illustrates the principle and implementation of the invention, and the explanation of above embodiments is only
It is to be used to help understand method and its core concept of the invention.It should be pointed out that for those skilled in the art
For, it without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention, these improve and repair
Decorations are also fallen within the protection scope of the claims of the present invention.
Claims (3)
1. a kind of braking method based on air suspension control characterized by comprising
S1: the infrared monitoring device by the way that vehicle front is arranged in detects the road ahead situation of vehicle, if the road ahead
When situation is the road conditions of poor flatness, control reduces gas pressure in all dampers of air suspension；
S2: the steering situation of transfer is obtained；If the road ahead situation is bending section or detects that the steering fills
When being set to steering state, control increases gas pressure in the damper on the outside of Vehicular turn, and control reduces on the inside of Vehicular turn
Gas pressure in damper；
S3: obtaining the speed and accelerator pedal aperture of vehicle in real time, and when the accelerator pedal aperture reduces, obtains and accelerate to step on
The rebound acceleration of plate rebound；
S4: if presently described speed is more than speed boundary value, judge whether the rebound acceleration is greater than rebound with all strength and accelerates
The 90% of degree, if it has not, the step of then returning to the speed and accelerator pedal aperture that obtain vehicle in real time；If it has, then executing S5；
S5: the size of pre- braking acceleration is determined according to the size of the rebound acceleration, is obtained according to the pre- braking acceleration
To damper goal pressure, adjust on the front suspension of vehicle bilateral in damper gas pressure to the damper goal pressure
Unanimously；
S6: pre- brake signal is sent to Vehicular brake device, the pre- brake signal includes the pre- braking acceleration, so that vehicle
Brake apparatus is braked according to the pre- braking acceleration；
The size of pre- braking acceleration is determined according to the size of the rebound acceleration in the S5, is accelerated according to the pre- braking
The step of degree obtains damper goal pressure, comprising:
S51: the deceleration target value braked in advance is determined according to the size of the rebound acceleration, and according to the deceleration target
Value determines the corresponding pre- braking acceleration, and the deceleration target value is positively correlated with the pre- braking acceleration, described
Pre- braking acceleration is the pre- brake signal for being sent to the Vehicular brake device；According to the deceleration target value
Determine the damper goal pressure；
Before sending pre- brake signal to Vehicular brake device in the S6, further includes:
S61: detecting the state of the transfer, judges whether vehicle is in steering state, if it has, then control increases vehicle
Gas pressure in the damper in outside is turned to, control reduces gas pressure in the damper on the inside of Vehicular turn；
S62: obtaining current steering angle, adjusts the pre- braking acceleration according to the steering angle, the pre- braking acceleration with
The size of the steering angle is in inverse ratio；
S63: detecting the road ahead situation of vehicle by infrared monitoring device, if that there are unevens is whole for road ahead, controls
System reduces gas pressure in all dampers；
Gas pressure is extremely consistent with the damper goal pressure in damper on the front suspension of adjustment vehicle bilateral in the S5
The step of, comprising:
The pulse signal for adjusting gas pressure in the damper is sent to the gas receiver of air suspension, and detects the damper
Interior actual gas pressure stops sending the pulse letter when actual gas pressure is consistent with the damper goal pressure
Number.
2. a kind of braking system based on air suspension control characterized by comprising
For detecting the infrared monitoring device of the road ahead situation of vehicle, the infrared monitoring device is set to the front of vehicle；
For obtaining the steering state acquisition device of steering angle, the steering state acquisition device is set on transfer；
Accelerator pedal state acquisition device and speed acquisition device for obtaining accelerator pedal aperture, springing back acceleration；
Pre- to brake acceleration control unit, being used for is more than speed boundary value in speed and the rebound acceleration is greater than rebound with all strength
Acceleration 90% when, pre- braking acceleration is determined according to the size of the rebound acceleration, and send to Vehicular brake device
Pre- brake signal, the pre- brake signal include the pre- braking acceleration；
Air suspension damper Pneumatic controller, for being obtained according to the infrared monitoring device and steering state acquisition device
Current state the air pressure of damper is controlled, damper goal pressure is obtained according to the pre- braking acceleration, adjust
Gas pressure is extremely consistent with the damper goal pressure in damper on the front suspension of vehicle bilateral；
The air suspension damper Pneumatic controller includes:
Hollow road processing unit, for when the road ahead situation is the road conditions of poor flatness, control to reduce institute
There is gas pressure in damper；
Bend road processing unit is crossed, for when the road ahead situation is bending section or detects that the transfer is to turn
When to state, control increases gas pressure in the damper on the outside of Vehicular turn, and control reduces the damper on the inside of Vehicular turn
Interior gas pressure；
Further include:
Front detection device, for detecting vehicle front barrier state；
Rear detection device, for detecting rear of vehicle barrier state；
Front and back state controller, for judging whether to need to brake according to the front obstacle state, when needing to brake, root
On-position alarm is rearward issued according to the installation condition of the rear obstacle or not braking prompt is issued to driver.
3. a kind of vehicle, which is characterized in that including braking system, the braking system is as claimed in claim 2 based on air
The braking system of Suspension control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710112697.5A CN106828006B (en) | 2017-02-28 | 2017-02-28 | A kind of braking method, system and vehicle based on air suspension control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710112697.5A CN106828006B (en) | 2017-02-28 | 2017-02-28 | A kind of braking method, system and vehicle based on air suspension control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106828006A CN106828006A (en) | 2017-06-13 |
| CN106828006B true CN106828006B (en) | 2018-12-11 |
Family
ID=59138507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710112697.5A Active CN106828006B (en) | 2017-02-28 | 2017-02-28 | A kind of braking method, system and vehicle based on air suspension control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106828006B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109094566A (en) * | 2017-06-21 | 2018-12-28 | 奥迪股份公司 | Vehicle drive assist system and method |
| CN109910886B (en) * | 2017-12-11 | 2020-11-06 | 郑州宇通客车股份有限公司 | Road surface bump detection method, vehicle control method and system |
| CN109466269B (en) * | 2018-10-29 | 2021-11-23 | 江苏大学 | Control method of curve pre-aiming air suspension control system based on Internet of vehicles |
| CN112660091B (en) * | 2020-12-24 | 2022-11-15 | 珠海格力电器股份有限公司 | Automobile control method and device, automobile, storage medium and processor |
| CN113829826A (en) * | 2021-09-27 | 2021-12-24 | 科大讯飞股份有限公司 | Emergency braking control method and device combined with air suspension and electronic equipment |
| CN116373522B (en) * | 2023-05-10 | 2023-08-29 | 广州市华劲机械制造有限公司 | Lightweight air suspension structure and production process thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007131093A (en) * | 2005-11-09 | 2007-05-31 | Advics:Kk | Deceleration controller for vehicle |
| CN101071304A (en) * | 2006-05-09 | 2007-11-14 | 株式会社万都 | Electronic control system for vehicle and control method thereof |
| CN202987135U (en) * | 2012-11-08 | 2013-06-12 | 长安大学 | Device for identifying speed reducing prediction behavior before corner |
| CN105228841A (en) * | 2013-05-30 | 2016-01-06 | 丰田自动车株式会社 | Suspension system for vehicle |
| CN105946824A (en) * | 2016-06-12 | 2016-09-21 | 江苏大学 | Automatic braking system based on suspension vibration energy recovery and braking method thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101068988B1 (en) * | 2005-03-29 | 2011-09-30 | 주식회사 만도 | Air suspension and electronically controled suspension system |
| US8027773B2 (en) * | 2007-08-10 | 2011-09-27 | Toyota Motor Engineering & Manufacturing North America, Inc. | Methods and systems for automated control of vehicle braking |
| CN104648074A (en) * | 2013-11-21 | 2015-05-27 | 天津亚克龙创汽车设计有限公司 | Design method of chassis-variable suspension system |
-
2017
- 2017-02-28 CN CN201710112697.5A patent/CN106828006B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007131093A (en) * | 2005-11-09 | 2007-05-31 | Advics:Kk | Deceleration controller for vehicle |
| CN101071304A (en) * | 2006-05-09 | 2007-11-14 | 株式会社万都 | Electronic control system for vehicle and control method thereof |
| CN202987135U (en) * | 2012-11-08 | 2013-06-12 | 长安大学 | Device for identifying speed reducing prediction behavior before corner |
| CN105228841A (en) * | 2013-05-30 | 2016-01-06 | 丰田自动车株式会社 | Suspension system for vehicle |
| CN105946824A (en) * | 2016-06-12 | 2016-09-21 | 江苏大学 | Automatic braking system based on suspension vibration energy recovery and braking method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106828006A (en) | 2017-06-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106828006B (en) | A kind of braking method, system and vehicle based on air suspension control | |
| JP6670901B2 (en) | Method and apparatus for assisting driving of a vehicle | |
| JP6333655B2 (en) | Method and apparatus for assisting in driving a vehicle | |
| US7099764B2 (en) | Braking control device | |
| JP5330521B2 (en) | Method for adjusting vehicle brake device in case of collision | |
| US8914208B2 (en) | Brake control device | |
| AU2015252293B2 (en) | Automatically controlling vehicle speed in accordance with a set-speed | |
| KR20120024717A (en) | Method and apparatus for regulating or controlling the driving stability of a vehicle | |
| CN106828195B (en) | A kind of lightweight electric powered vehicles brake control method and system | |
| JP2005255112A (en) | Deceleration controller | |
| DE102005054754A1 (en) | Time point determining method for initiating necessary brake intervention for motor vehicle, involves determining time point based on brake deceleration that is determined such that another brake deceleration is predetermined | |
| JP2008280017A (en) | Vehicle controller | |
| EP2712782B1 (en) | Method and apparatus for performing driving assistance | |
| EP2261093A1 (en) | Method and system for predictive yaw stability control for automobile | |
| JP6856013B2 (en) | Vehicle driving force control device | |
| JP6842551B2 (en) | Braking control device | |
| KR102377541B1 (en) | Apparatus and method for emergency braking for a secondary accident prevention | |
| JP2015047980A (en) | Brake control device | |
| JP6481196B2 (en) | Brake control device | |
| JP2021079865A (en) | Brake force control apparatus | |
| KR101254231B1 (en) | Assist control system of vehicle and assist control method of the same | |
| JP6247898B2 (en) | Automatic braking device | |
| JP6247603B2 (en) | Vehicle control device | |
| JP2009227043A (en) | Vehicle behavior control unit | |
| JP6138730B2 (en) | Vehicle control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 311100 room 801, silver international business center, Wuchang Street, Yuhang District, Hangzhou, Zhejiang Applicant after: Hangzhou Hengyuan Automobile Technology Co., Ltd. Address before: Hangzhou City, Zhejiang province Xihu District 310007 Ancient Jade Road 173, 18F-I (1809) Applicant before: Hangzhou Hengyuan Automobile Technology Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |