CN106945665A - A kind of car ramp starting anti-slip control method and control system - Google Patents
A kind of car ramp starting anti-slip control method and control system Download PDFInfo
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- CN106945665A CN106945665A CN201710132140.8A CN201710132140A CN106945665A CN 106945665 A CN106945665 A CN 106945665A CN 201710132140 A CN201710132140 A CN 201710132140A CN 106945665 A CN106945665 A CN 106945665A
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18118—Hill holding
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
-
- 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
Abstract
Start to walk anti-slip control method and control system the invention discloses a kind of car ramp, when method includes detecting vehicle in starting state, anti-slip the second required braking moment is calculated according to the current hill grade of vehicle, current vehicle load and first braking moment, and sending anti-slip instruction to deceleration of electrons module makes the deceleration of electrons module produce second braking moment to vehicle braking；Wherein, second braking moment is less than first braking moment；When having detected throttle signal with GES, second braking moment that sending starting instruction to deceleration of electrons module makes the deceleration of electrons module produce vehicle is gradually decreased as zero to drive vehicle to move to set direction.The car ramp of the present invention start to walk anti-slip control method can automatic identification car ramp starting state and by deceleration of electrons module to the further braking of vehicle, it is ensured that do not occur during car ramp starting smooth.
Description
Technical field
The present invention relates to vehicle starting control method, and in particular to a kind of car ramp start to walk anti-slip control method with
Control system.
Background technology
Auto industry is developed rapidly in recent years for China, and major city automobile quantity are sharply increased, and traffic congestion situation often occurs,
Especially in peak period on and off duty, parking on ramp is can hardly be avoided, and many drivers are due to lacking experience or technology is not good, often
Situations such as generation vehicle smooth (posteriorly or anteriorly) causes engine misses, traffic accident can be caused when serious.Vehicle safety
Increasingly it can be paid close attention to by people, anti-slip uphill starting has been an extremely important automotive safety problem.
The existing anti-slip technology of uphill starting largely takes traditional control method, based on machinery, hydraulic pressure, based on traditional
One-way clutch, ratchet and pawl arrangement, worm-and-wheel gear etc. realize that vehicle drives in the wrong direction smooth locking.These conventional methods are although tool
There is mechanical system high reliability, but produced during Anti-slip and impact larger, comfortableness is not enough.
The content of the invention
The embodiment of the present invention proposes a kind of anti-slip control method and control system of car ramp starting, and vehicle can be certainly
Dynamic identification car ramp starting state, and by deceleration of electrons module to the further braking of vehicle, it is ensured that when car ramp is started to walk
Do not occur smooth.
To achieve the above object, the technical solution adopted in the present invention is as follows：
One aspect of the present invention provides a kind of car ramp starting anti-slip control method, including：
Detect whether vehicle is in starting state；
When detecting vehicle in starting state, the current hill grade of vehicle is obtained by Slope Transducer, passes through weight
Sensor obtains the current vehicle load of vehicle and obtained by the torque sensor being arranged on the brake support frame of vehicle
Take as hand-braking to the first braking moment produced by vehicle；
Calculate anti-slip according to the current hill grade of the vehicle, the current vehicle load and first braking moment
The second required braking moment, and sending anti-slip instruction to deceleration of electrons module makes the deceleration of electrons module brake vehicle
Produce second braking moment；Wherein, second braking moment is less than first braking moment；
When the numerical value for detecting first braking moment becomes zero, throttle signal and GES have been detected whether；
When can't detect throttle signal with GES, instruction is kept to make to deceleration of electrons module transmission described
Deceleration of electrons module keeps second braking moment produced to vehicle to prevent that vehicle from slipping to ramp bottom；
When having detected throttle signal with GES, sending starting instruction to the deceleration of electrons module makes the electricity
Second braking moment that sub- brake module is produced to vehicle is gradually decreased as zero to drive vehicle to move to set direction.
Preferably, the deceleration of electrons module is electric stabilizing system or anti-blocking brake system or Anti-slip regulation system
System.
Preferably, methods described also includes：
Obtain car door signal, belt signal, throttle signal, GES, shift signal, the letter of the weight sensor
Number, the first braking moment signal of the signal of the ramp sensor and the torque sensor, and be sent to display module
Shown.
Preferably, methods described also includes：
When it is zero to detect the grade signal, identification vehicle is currently at no hill start step state；
When detecting, the grade signal is not zero, the braking moment signal is not zero and the service brake signal is not
When zero, identification vehicle is currently at descending starting state；
When detecting, the grade signal is not zero, the braking moment signal is not zero and the service brake signal is zero
When, identification vehicle is currently at upward slope starting state；
When detecting, the grade signal is not zero, the braking moment signal is not zero and the shift sensor
Signal is the signal that reverses gear, and identification vehicle is currently at reversing upward slope starting state；
The uphill starting state recognized is shown by the display module.
Preferably, methods described also includes：
When it is zero to detect the grade signal, if the numerical value of first braking moment is also zero, car is judged
The current non-pull-up of parking brake simultaneously sends the first alerting signal by the display module；
It is not zero and when the numerical value of first braking moment is also not zero when detecting the grade signal, passes through weight
Sensor obtains the current vehicle load of vehicle, and current hill grade and current vehicle load calculating parking brake according to the vehicle
Braking moment threshold value required for braking, and the numerical value of first braking moment is compared with the braking moment threshold value
Compared with；
When the numerical value of first braking moment is less than the braking moment threshold value, judge that the current parking brake of vehicle is not tensed
And the second alerting signal is sent by the display module.
The control method anti-slip relative to the car ramp starting that one aspect of the present invention is provided, present invention also offers one
The anti-slip control system of car ramp starting is planted, is arranged on controlled vehicle, including：
Starting detection module, for detecting whether vehicle is in starting state；
Sensor signal acquisition module, under the starting state, the current of vehicle to be obtained by Slope Transducer
The gradient, by weight sensor obtain vehicle current vehicle load and by being arranged on the brake support frame of vehicle
Torque sensor is obtained as hand-braking to the first braking moment produced by vehicle；
Electric control braking output module, for the current hill grade according to the vehicle, the current vehicle load and described
First braking moment calculates anti-slip the second required braking moment, and to deceleration of electrons module send anti-slip instruction make it is described
Deceleration of electrons module produces second braking moment to vehicle braking；Wherein, second braking moment is less than described first
Braking moment；
Uphill starting judge module, for detecting first braking moment when the sensor signal acquisition module
When numerical value becomes zero, throttle signal and GES have been detected whether；
Instruction module is kept, for can't detect throttle signal and GES when the uphill starting judge module
When, second system for keeping instruction to make the deceleration of electrons module holding produce vehicle is sent to the deceleration of electrons module
Kinetic moment is to prevent that vehicle from slipping to ramp bottom；
Start to walk instruction module, for when the uphill starting judge module has detected throttle signal and GES,
Sending starting instruction to the deceleration of electrons module makes second braking moment that the deceleration of electrons module is produced to vehicle
Zero is gradually decreased as to drive vehicle to move to set direction.
Preferably, the deceleration of electrons module is electric stabilizing system or anti-blocking brake system or Anti-slip regulation system
System.
Preferably, the control system also includes：
Signals of vehicles acquisition module, for obtaining car door signal, belt signal, throttle signal, GES, gear letter
Number, the first braking moment signal of the signal of weight sensor, the signal of ramp sensor and torque sensor；
Signal transacting and output module, for receive and handle the signals of vehicles acquisition module the car door signal,
The belt signal, the throttle signal, the GES, the shift signal, the signal of the weight sensor, institute
State the signal of ramp sensor and the first braking moment signal of the torque sensor and be sent to display module and shown
Show.
Preferably, the control system also includes：
Condition judgment module is walked without hill start, for when it is zero to detect the grade signal, identification vehicle to be currently at
State is walked without hill start；
Descending start to walk condition judgment module, for when detect the grade signal be not zero, the braking moment signal
It is not zero and when the service brake signal is not zero, identification vehicle is currently at descending starting state；
Go up a slope starting condition judgment module, for when detect the grade signal be not zero, the braking moment signal
It is not zero and when the service brake signal is zero, identification vehicle is currently at upward slope starting state；
Reversing go up a slope starting condition judgment module, for when detect the grade signal be not zero, the braking moment
Signal is not zero and the signal of the shift sensor is the signal that reverses gear, and identification vehicle is currently at reversing upward slope starting shape
State；
Uphill starting status processing module, for the uphill starting recognized state to be shown by the display module
Show.
Preferably, the control system also includes：
Parking brake pull-up judgement and prompting module, for when it is zero to detect the grade signal, if first system
The numerical value of kinetic moment is also zero, then judges the non-pull-up of the current parking brake of vehicle and send the first prompting letter by the display module
Number；
Parking brake tense judge module, for when detect the grade signal be not zero and first braking moment number
When value is also not zero, obtain the current vehicle load of vehicle by weight sensor, and according to the current hill grade of the vehicle with
And current vehicle load calculates the braking moment threshold value required for hand-braking, and by the numerical value of first braking moment and institute
Braking moment threshold value is stated to be compared；
Parking brake does not tense prompting module, is less than the braking moment threshold value for the numerical value when first braking moment
When, judge that the current parking brake of vehicle does not tense and sends the second alerting signal by the display module.
Compared to prior art, the beneficial effects of the present invention are：The invention provides a kind of starting of car ramp is anti-slip
The control method and control system of car, method include whether detection vehicle is in starting state；Starting is in when detecting vehicle
During state, the current hill grade of vehicle is obtained by Slope Transducer, the current vehicle load of vehicle is obtained by weight sensor
And obtained by the torque sensor that is arranged on the brake support frame of vehicle as hand-braking to the produced by vehicle
One braking moment；Calculate anti-according to the current hill grade of the vehicle, the current vehicle load and first braking moment
The second braking moment needed for car slipping, and make the deceleration of electrons module to vehicle to the anti-slip instruction of deceleration of electrons module transmission
Braking produces second braking moment；Wherein, second braking moment is less than first braking moment；When detecting
When the numerical value for stating the first braking moment becomes zero, throttle signal and GES have been detected whether；When having can't detect throttle letter
During number with GES, sent to the deceleration of electrons module and keep the instruction to make the deceleration of electrons module keep producing vehicle
Second braking moment to prevent that vehicle from slipping to ramp bottom；When having detected throttle signal with GES, to
The deceleration of electrons module send second braking moment that starting instruction makes the deceleration of electrons module produce vehicle by
Gradually it is reduced to zero to drive vehicle to move to set direction.Different from traditional control method, the car ramp of the present embodiment is started to walk
Anti-slip control method automatic identification car ramp starting state, and by deceleration of electrons module to the further braking of vehicle,
Do not occur during guarantee car ramp starting smooth.
Brief description of the drawings
Fig. 1 is a kind of schematic flow sheet of the anti-slip control method of car ramp starting of the invention provided；
Fig. 2 is a kind of structured flowchart of the anti-slip control system of car ramp starting of the invention provided.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Referring to Fig. 1, it is a kind of schematic flow sheet of the anti-slip control method of car ramp starting that the present invention is provided,
Including：
Whether S11, detection vehicle is in starting state；
S12, when detecting vehicle in starting state, obtains the current hill grade of vehicle by Slope Transducer, passes through
Weight sensor obtains the current vehicle load of vehicle and the moment sensing by being arranged on the brake support frame of vehicle
Device is obtained as hand-braking to the first braking moment produced by vehicle；
S13, calculates anti-according to the current hill grade of the vehicle, the current vehicle load and first braking moment
The second braking moment needed for car slipping, and make the deceleration of electrons module to vehicle to the anti-slip instruction of deceleration of electrons module transmission
Braking produces second braking moment；Wherein, second braking moment is less than first braking moment；
S14, when the numerical value for detecting first braking moment becomes zero, has detected whether that throttle signal is believed with speed
Number；
S15, when can't detect throttle signal with GES, sending holding instruction to the deceleration of electrons module makes
The deceleration of electrons module keeps second braking moment produced to vehicle to prevent that vehicle from slipping to ramp bottom；
S16, when having detected throttle signal with GES, sending starting instruction to the deceleration of electrons module makes institute
Second braking moment that deceleration of electrons module produces vehicle is stated to be gradually decreased as zero to drive vehicle to transport to set direction
It is dynamic.
When vehicle is without hill start step, upward slope starting and descending starting, the set direction is vehicle start direction of advance；
When vehicle goes up a slope starting for reversing, the set direction is vehicle backing direction of retreat.
In step s 12, the Slope Transducer can be car body obliqueness sensor, and the weight sensor can be pressure
Power formula sensor and the torque sensor can be the braking moment sensor designed using the measuring principle of strain bridge；
The braking moment sensor is arranged on vehicle brake brake support rack, when vehicle is in parked state, disk brake
Disc type braking tong clamp, braking moment undertakes by brake support rack completely, and the braking moment sensor can be with direct measurement
Go out braking moment.
In the present embodiment, the deceleration of electrons module is electric stabilizing system (ESP) or anti-blocking brake system
Or Anti-slip regulation system (ASR) (ABS).
Electric stabilizing system (ESP) installed in the brake system of four wheels by controlling longitudinal brake force, so as to car
Braked, produce second braking moment；
Anti-blocking brake system (ABS) carries out brake pressure regulation by wheel electronic-controlled installation to wheel, so that right
Vehicle is braked, and produces second braking moment；
Anti-slip regulation system (ASR) is braked by TCS to driving wheel, so as to vehicle system
It is dynamic, produce second braking moment.
As to further improvement of this embodiment, methods described also includes：
Obtain car door signal, belt signal, throttle signal, GES, shift signal, the letter of the weight sensor
Number, the first braking moment signal of the signal of the ramp sensor and the torque sensor, and be sent to display module
Shown.
As to further improvement of this embodiment, methods described also includes：
When it is zero to detect the grade signal, identification vehicle is currently at no hill start step state；
When detecting, the grade signal is not zero, the braking moment signal is not zero and the service brake signal is not
When zero, identification vehicle is currently at descending starting state；
When detecting, the grade signal is not zero, the braking moment signal is not zero and the service brake signal is zero
When, identification vehicle is currently at upward slope starting state；
When detecting, the grade signal is not zero, the braking moment signal is not zero and the shift sensor
Signal is the signal that reverses gear, and identification vehicle is currently at reversing upward slope starting state；
The uphill starting state recognized is shown by the display module.
In the present embodiment, the display module is HUD.
In step s 12, detect vehicle be in starting state when, can also further automatic identification Current vehicle it is current
Residing specific starting state, is no hill start step state, descending starting state, upward slope starting state and the upper ramp shaped of reversing respectively
State, and shown by the display module, to aid in driver to judge uphill starting situation.
As to further improvement of this embodiment, methods described also includes：
When it is zero to detect the grade signal, if the numerical value of first braking moment is also zero, car is judged
The current non-pull-up of parking brake simultaneously sends the first alerting signal by the display module；
It is not zero and when the numerical value of first braking moment is also not zero when detecting the grade signal, passes through weight
Sensor obtains the current vehicle load of vehicle, and current hill grade and current vehicle load calculating parking brake according to the vehicle
Braking moment threshold value required for braking, and the numerical value of first braking moment is compared with the braking moment threshold value
Compared with；
When the numerical value of first braking moment is less than the braking moment threshold value, judge that the current parking brake of vehicle is not tensed
And the second alerting signal is sent by the display module.
The structured flowchart of anti-slip control system, institute as shown in Fig. 2 a kind of car ramp that its present invention is provided is started to walk
The system of stating is arranged on controlled vehicle, including：
Starting detection module 11, for detecting whether vehicle is in starting state；
Sensor signal acquisition module 12, under the starting state, working as vehicle to be obtained by Slope Transducer
The preceding gradient, by weight sensor obtain vehicle current vehicle load and by being arranged on the brake support frame of vehicle
Torque sensor obtain as hand-braking to the first braking moment produced by vehicle；
Electric control braking output module 13, for the current hill grade according to the vehicle, the current vehicle load and institute
Stating the first braking moment and calculate anti-slip the second required braking moment, and send anti-slip instruction to deceleration of electrons module makes institute
State deceleration of electrons module and second braking moment is produced to vehicle braking；Wherein, second braking moment is less than described the
One braking moment；
Uphill starting judge module 14, for detecting first brake force when the sensor signal acquisition module 12
When the numerical value of square becomes zero, throttle signal and GES have been detected whether；
Instruction module 15 is kept, for believing when the uphill starting judge module 14 can't detect throttle signal with speed
Number when, keep instruction to make that the deceleration of electrons module keeps producing vehicle described second is sent to the deceleration of electrons module
Braking moment is to prevent that vehicle from slipping to ramp bottom；
Starting instruction module 16, for having detected throttle signal and GES when the uphill starting judge module 14
When, sending starting instruction to the deceleration of electrons module makes second brake force that the deceleration of electrons module is produced to vehicle
Square is gradually decreased as zero to drive vehicle to move to set direction.
When vehicle is without hill start step, upward slope starting and descending starting, the set direction is vehicle start direction of advance；
When vehicle goes up a slope starting for reversing, the set direction is vehicle backing direction of retreat.
In the present embodiment, the deceleration of electrons module is electric stabilizing system (ESP) or anti-blocking brake system
Or Anti-slip regulation system (ASR) (ABS).
As to further improvement of this embodiment, the control system also includes：
Signals of vehicles acquisition module, for obtaining car door signal, belt signal, throttle signal, GES, gear letter
Number, the first braking moment signal of the signal of weight sensor, the signal of ramp sensor and torque sensor；
Signal transacting and output module, for receive and handle the signals of vehicles acquisition module the car door signal,
The belt signal, the throttle signal, the GES, the shift signal, the signal of the weight sensor, institute
State the signal of ramp sensor and the first braking moment signal of the torque sensor and be sent to display module and shown
Show.
As to further improvement of this embodiment, the display module is HUD.The HUD will
The data that the signal transacting is exported with output module are converted to the image information of display signals of vehicles, and image information passes through vehicle
Windshield project in the main visual field of driver, the sight of driver need not deviate road surface so that driving procedure pacify
Full property is higher.
The present invention operation principle be：
Driver opens car door, fastens seat belts, and starts after engine, and starting detection module 11 is obtained by signals of vehicles
The car door signal of module acquisition, belt signal, detect vehicle and are in starting state；Sensor signal acquisition module 12 leads to
Slope Transducer is crossed to obtain the current hill grade of vehicle, obtain the current vehicle load of vehicle by weight sensor and by setting
The torque sensor put on the brake support frame of vehicle is obtained as hand-braking to the first braking moment produced by vehicle
And by the signal transmission of acquisition to the electric control braking output module 13, electric control braking output module 13 is worked as according to the vehicle
The preceding gradient, the current vehicle load and anti-slip the second required braking moment of first braking moment calculating, and to
Deceleration of electrons module, which sends anti-slip instruction, makes the deceleration of electrons module produce second braking moment to vehicle braking；
Wherein, second braking moment meets second braking moment less than first braking moment and in hand
Stop in the case of putting down completely, i.e., when the first braking moment is wholly absent, ensure that vehicle when going up a slope starting not to the tailstock
Slipped behind direction or when descending is started to walk not toward slipping before headstock direction.
When the numerical value that the sensor signal acquisition module 12 detects first braking moment becomes zero, simultaneously will
Signal is sent to uphill starting judge module 14, and the uphill starting judge module 14 starts to have detected whether throttle signal and car
Fast signal；The uphill starting judge module 14 is electrically connected with keeping instruction module 15 and starting instruction module 16 respectively；
When the uphill starting judge module 14 can't detect while when having throttle signal and GES, and now parking brake
It has been put down that, there are two kinds of situations：Throttle signal does not occur, and GES is occurred without and initial stage, car occurs in throttle signal
Fast signal is occurred without, and illustrates that vehicle is not fully prepared starting；
The uphill starting judge module 14 is handled signal and processing data is sent into the holding instruction mould
Block 15, the holding instruction module 15 sends holding instruction to the deceleration of electrons module makes the deceleration of electrons module pass through control
The motionless four-wheel or brake to vehicle of motor processed keeps second braking moment to prevent that vehicle from slipping to ramp bottom；
When and only throttle signal occur after, GES also occurs, and illustrates that vehicle has possessed starting power, the ramp
When starting judge module 14 has detected throttle signal and GES, the uphill starting judge module 14 to signal at
Manage and processing data is sent to the starting instruction module 16, the starting instruction module 16 is sent out to the deceleration of electrons module
Sending starting instruction makes the deceleration of electrons module be rotated by controlled motor to described in four-wheel or the brake generation of vehicle
Second braking moment is gradually decreased as zero, to drive vehicle to be moved to set direction.
When vehicle is without hill start step, upward slope starting and descending starting, the set direction is vehicle start direction of advance；
When vehicle goes up a slope starting for reversing, the set direction is vehicle backing direction of retreat.
As to further improvement of this embodiment, the control system also includes：
Condition judgment module is walked without hill start, for when it is zero to detect the grade signal, identification vehicle to be currently at
State is walked without hill start；
Descending start to walk condition judgment module, for when detect the grade signal be not zero, the braking moment signal
It is not zero and when the service brake signal is not zero, identification vehicle is currently at descending starting state；
Go up a slope starting condition judgment module, for when detect the grade signal be not zero, the braking moment signal
It is not zero and when the service brake signal is zero, identification vehicle is currently at upward slope starting state；
Reversing go up a slope starting condition judgment module, for when detect the grade signal be not zero, the braking moment
Signal is not zero and the signal of the shift sensor is the signal that reverses gear, and identification vehicle is currently at reversing upward slope starting shape
State；
Uphill starting status processing module, for the uphill starting recognized state to be shown by the display module
Show.
Different from traditional control method, the car ramp of the present embodiment is started to walk anti-slip control method automatic identification vehicle
Uphill starting state, and by deceleration of electrons module to the further braking of vehicle, it is ensured that car ramp does not occur smooth when starting to walk.
As to further improvement of this embodiment, the control system also includes：
Parking brake pull-up judgement and prompting module, for when it is zero to detect the grade signal, if first system
The numerical value of kinetic moment is also zero, then judges the non-pull-up of the current parking brake of vehicle and send the first prompting letter by the display module
Number；
Parking brake tense judge module, for when detect the grade signal be not zero and first braking moment number
When value is also not zero, obtain the current vehicle load of vehicle by weight sensor, and according to the current hill grade of the vehicle with
And current vehicle load calculates the braking moment threshold value required for hand-braking, and by the numerical value of first braking moment and institute
Braking moment threshold value is stated to be compared；
Parking brake does not tense prompting module, is less than the braking moment threshold value for the numerical value when first braking moment
When, judge that the current parking brake of vehicle does not tense and sends the second alerting signal by the display module.
Operation principle is：No slope parking is carried out during driver drives vehicle, still descending stops for parking of going up a slope, driver
Should all there is pull-up parking brake and tense the motor habit of parking brake, to ensure that vehicle is in emergency state；Or driver exists
Got on the bus after opening car door without slope road surface, upward slope road surface or descending road surface, vehicle needs to be worked as according to residing hill gradient and vehicle
Whether preceding weight detecting vehicle is in a safe condition, and particularly vehicle is on abrupt slope, and vehicle is caused due to carrying more passenger
Vehicle weight is excessive, from the braking moment produced by parking brake it is impossible to ensure that vehicle toward during the lower slider of slope, it is necessary to remind driver
Parking brake is further tensed to ensure safety.
As to further improvement of this embodiment, the display module is HUD.
As to further improvement of this embodiment, the Slope Transducer can be car body obliqueness sensor, described heavy
Quantity sensor can be pressure type sensor and the torque sensor can be measuring principle design using strain bridge
Braking moment sensor.
Compared to prior art, the beneficial effects of the present invention are：The invention provides a kind of starting of car ramp is anti-slip
The control method and control system of car, method include whether detection vehicle is in starting state；Starting is in when detecting vehicle
During state, the current hill grade of vehicle is obtained by Slope Transducer, the current vehicle load of vehicle is obtained by weight sensor
And obtained by the torque sensor that is arranged on the brake support frame of vehicle as hand-braking to the produced by vehicle
One braking moment；Calculate anti-according to the current hill grade of the vehicle, the current vehicle load and first braking moment
The second braking moment needed for car slipping, and make the deceleration of electrons module to vehicle to the anti-slip instruction of deceleration of electrons module transmission
Braking produces second braking moment；Wherein, second braking moment is less than first braking moment；When detecting
When the numerical value for stating the first braking moment becomes zero, throttle signal and GES have been detected whether；When having can't detect throttle letter
During number with GES, sent to the deceleration of electrons module and keep the instruction to make the deceleration of electrons module keep producing vehicle
Second braking moment to prevent that vehicle from slipping to ramp bottom；When having detected throttle signal with GES, to
The deceleration of electrons module send second braking moment that starting instruction makes the deceleration of electrons module produce vehicle by
Gradually it is reduced to zero to drive vehicle to move to set direction.Different from traditional control method, the car ramp of the present embodiment is started to walk
Anti-slip control method automatic identification car ramp starting state, and by deceleration of electrons module to the further braking of vehicle,
Do not occur during guarantee car ramp starting smooth.
One of ordinary skill in the art will appreciate that realize all or part of flow in above-described embodiment method, being can be with
The hardware of correlation is instructed to complete by computer program, described program can be stored in a computer read/write memory medium
In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (RandomAccess
Memory, RAM) etc..
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
- The anti-slip control method 1. a kind of car ramp is started to walk, it is characterised in that including：Detect whether vehicle is in starting state；When detecting vehicle in starting state, the current hill grade of vehicle is obtained by Slope Transducer, sensed by weight Device obtain vehicle current vehicle load and by the torque sensor that is arranged on the brake support frame of vehicle obtain by Hand-braking is to the first braking moment produced by vehicle；According to needed for the calculating of the current hill grade of the vehicle, the current vehicle load and first braking moment is anti-slip The second braking moment, and to deceleration of electrons module send it is anti-slip instruction make the deceleration of electrons module to vehicle brake produce Second braking moment；Wherein, second braking moment is less than first braking moment；When the numerical value for detecting first braking moment becomes zero, throttle signal and GES have been detected whether；When can't detect throttle signal with GES, sending holding instruction to the deceleration of electrons module makes the electronics Brake module keeps second braking moment produced to vehicle to prevent that vehicle from slipping to ramp bottom；When having detected throttle signal with GES, sending starting instruction to the deceleration of electrons module makes the electronics system Second braking moment that dynamic model block is produced to vehicle is gradually decreased as zero to drive vehicle to move to set direction.
- The anti-slip control method 2. car ramp as claimed in claim 1 is started to walk, it is characterised in that the deceleration of electrons module For electric stabilizing system or anti-blocking brake system or Anti-slip regulation system.
- The anti-slip control method 3. car ramp as claimed in claim 1 is started to walk, it is characterised in that methods described also includes：Obtain car door signal, belt signal, throttle signal, GES, shift signal, the signal of the weight sensor, The signal of the ramp sensor and the first braking moment signal of the torque sensor, and it is sent to display module progress Display.
- The anti-slip control method 4. car ramp as claimed in claim 3 is started to walk, it is characterised in that methods described also includes：When it is zero to detect the grade signal, identification vehicle is currently at no hill start step state；When detecting, the grade signal is not zero, the braking moment signal is not zero and the service brake signal is not zero When, identification vehicle is currently at descending starting state；When detecting, the grade signal is not zero, the braking moment signal is not zero and when the service brake signal is zero, Identification vehicle is currently at upward slope starting state；When detect the grade signal be not zero, the braking moment signal be not zero and the shift sensor signal For the signal that reverses gear, identification vehicle is currently at reversing upward slope starting state；The uphill starting state recognized is shown by the display module.
- The anti-slip control method 5. car ramp as claimed in claim 1 is started to walk, it is characterised in that methods described also includes：When it is zero to detect the grade signal, if the numerical value of first braking moment is also zero, judge that vehicle is worked as The preceding non-pull-up of parking brake simultaneously sends the first alerting signal by the display module；It is not zero and when the numerical value of first braking moment is also not zero, is sensed by weight when detecting the grade signal Device obtains the current vehicle load of vehicle, and current hill grade and current vehicle load calculating hand-braking according to the vehicle Required braking moment threshold value, and the numerical value of first braking moment is compared with the braking moment threshold value；When the numerical value of first braking moment is less than the braking moment threshold value, judge that the current parking brake of vehicle is not tensed and led to Cross the display module and send the second alerting signal.
- The anti-slip control system 6. a kind of car ramp is started to walk, is arranged on controlled vehicle, it is characterised in that including：Starting detection module, for detecting whether vehicle is in starting state；Sensor signal acquisition module, under the starting state, by Slope Transducer obtain vehicle current hill grade, Pass through the current vehicle load of weight sensor acquisition vehicle and the torque by being arranged on the brake support frame of vehicle Sensor is obtained as hand-braking to the first braking moment produced by vehicle；Electric control braking output module, for the current hill grade according to the vehicle, the current vehicle load and described first Braking moment calculates anti-slip the second required braking moment, and makes the electronics to the anti-slip instruction of deceleration of electrons module transmission Brake module produces second braking moment to vehicle braking；Wherein, second braking moment is less than the described first braking Torque；Uphill starting judge module, the numerical value for detecting first braking moment when the sensor signal acquisition module When becoming zero, throttle signal and GES have been detected whether；Instruction module is kept, for when the uphill starting judge module can't detect throttle signal and GES, to The deceleration of electrons module sends second brake force for keeping instruction to make the deceleration of electrons module holding produce vehicle Square is to prevent that vehicle from slipping to ramp bottom；Starting instruction module, for when the uphill starting judge module has detected throttle signal with GES, to institute State the transmission starting of deceleration of electrons module and instruct second braking moment for making the deceleration of electrons module produce vehicle gradually It is reduced to zero to drive vehicle to move to set direction.
- The anti-slip control system 7. car ramp as claimed in claim 6 is started to walk, it is characterised in that the deceleration of electrons module For electric stabilizing system or anti-blocking brake system or Anti-slip regulation system.
- The anti-slip control system 8. car ramp as claimed in claim 6 is started to walk, it is characterised in that the control system is also wrapped Include：Signals of vehicles acquisition module, for obtain car door signal, belt signal, throttle signal, GES, shift signal, First braking moment signal of the signal of weight sensor, the signal of ramp sensor and torque sensor；Signal transacting and output module, the car door signal, described for receiving and handling the signals of vehicles acquisition module Belt signal, the throttle signal, the GES, the shift signal, the signal of the weight sensor, the slope First braking moment signal of the signal of road sensor and the torque sensor is simultaneously sent to display module and shown.
- The anti-slip control system 9. car ramp as claimed in claim 8 is started to walk, it is characterised in that the control system is also wrapped Include：Condition judgment module is walked without hill start, for when it is zero to detect the grade signal, identification vehicle to be currently at no slope Starting state；Descending starting condition judgment module, for the grade signal to be not zero, the braking moment signal is not when detecting Zero and service brake signal when being not zero, identification vehicle is currently at descending starting state；Upward slope starting condition judgment module, for the grade signal to be not zero, the braking moment signal is not when detecting Zero and service brake signal when being zero, identification vehicle is currently at upward slope starting state；Reversing go up a slope starting condition judgment module, for when detect the grade signal be not zero, the braking moment signal It is not zeroAnd the signal of the shift sensor is the signal that reverses gear, identification vehicle is currently at reversing upward slope starting state；Uphill starting status processing module, for the uphill starting recognized state to be shown by the display module.
- The anti-slip control system 10. car ramp as claimed in claim 6 is started to walk, it is characterised in that the control system is also Including：Parking brake pull-up judgement and prompting module, for when it is zero to detect the grade signal, if first brake force The numerical value of square is also zero, then judges the non-pull-up of the current parking brake of vehicle and send the first alerting signal by the display module；Parking brake tense judge module, for when detect the grade signal be not zero and first braking moment numerical value When being not zero, the current vehicle load of vehicle is obtained by weight sensor, and current hill grade according to the vehicle and work as Preceding vehicle load calculates the braking moment threshold value required for hand-braking, and by the numerical value of first braking moment and the system Kinetic moment threshold value is compared；Parking brake does not tense prompting module, for when the numerical value of first braking moment is less than the braking moment threshold value, sentencing The disconnected current parking brake of vehicle does not tense and sends the second alerting signal by the display module.
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| CN108819797A (en) * | 2018-07-06 | 2018-11-16 | 爱驰汽车有限公司 | The anti-method and device slipped by slope of control car ramp starting |
| CN109017794A (en) * | 2018-08-30 | 2018-12-18 | 华南理工大学 | A kind of ramp auxiliary system and its control method based on electro-hydraulic brake |
| CN109278750A (en) * | 2018-09-06 | 2019-01-29 | 南京理工大学 | Pure electric automobile uphill starting auxiliary control method |
| CN109552331A (en) * | 2018-12-28 | 2019-04-02 | 重庆长安汽车股份有限公司 | A kind of vehicle start householder method and system |
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