CN107351822A - A kind of method for protecting of four-wheel electric motor car - Google Patents
A kind of method for protecting of four-wheel electric motor car Download PDFInfo
- Publication number
- CN107351822A CN107351822A CN201710560040.5A CN201710560040A CN107351822A CN 107351822 A CN107351822 A CN 107351822A CN 201710560040 A CN201710560040 A CN 201710560040A CN 107351822 A CN107351822 A CN 107351822A
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- Prior art keywords
- pedal
- acceleration
- electronics
- ultrasonic sensor
- speed
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
Abstract
The invention provides a kind of method for protecting of four-wheel electric motor car, comprise the following steps：The position of S1, in real time detection pedal, speed v1 is detected in real time and calculates the real time acceleration a of vehicle, whole strokes of pedal are divided into mechanical brake area, speed-change area and electric brake area from low to high, S2, the first ultrasonic sensor of control send one section of ultrasonic wave, start simultaneously at timing, time is t, and the first ultrasonic sensor closes echo detecting, and the second ultrasonic sensor enters echo detecting state；The method for protecting of this four-wheel electric motor car detects by ultrasonic sensor to front obstacle, the brake system of vehicle is rationally controlled according to states such as the distance of obstacle distance vehicle, the position of pedal, speed, acceleration, has effectively ensured vehicle and the safety of driver.
Description
Technical field
The present invention relates to four-wheel electric motor car technical field, more particularly to a kind of method for protecting of four-wheel electric motor car.
Background technology
The constantly soaring of car ownership has triggered a series of problems.Most of automobile burning gasoline, diesel oil, natural gas etc.
Fossil fuel, the reserves of fossil fuel are limited on the earth, enormous amount and ever-increasing automobile quantity makes energy crisis
Getting worse.General 1500kg of weight of orthodox car or so, payload only have 100kg or so, and most of energy waste exists
In invalid load, serious energy waste is caused.In addition, orthodox car is bulky, general automobile floor space about 10 is flat
Square rice, the problem of growth of automobile quantity causes traffic congestion and parking stall anxiety, are increasingly severe.
In recent years, electric car is welcome by more and more consumers.Electric car price is lower than orthodox car, for electronic
The expense of car charging is also lower than the expense of automobile fuel filler；Electric car is flexibly compact, in Non-motorized vehicle lane running, is not generally encountered with
Traffic jam, it is also easier to find parking stall；Electric car does not have exhaust emissions, does not pollute the environment.
Publication No. CN104554199A, publication date are that 2015.4.29 Chinese patent discloses a kind of electric vehicle
Single pedal speed control system, including speed control pedal, pedal position sensor, speed control, brake valve and reset bullet
Spring；Startup, at the uniform velocity acceleration, traveling, deceleration and the braking procedure of electric vehicle are only realized with a pedal；Pedal travel is divided into two
Individual region, superposed region are speed regulatory region, are braking area positioned at the region of bottom, when pedal is positioned at braking area, step on
Plate is directly acted on pedal force on brake valve by connecting rod, and when pedal is located at speed regulatory region, pedal separates with brake valve.Step on
Plate initial position is located at the top of speed regulatory region, and when jamming on pedal with pin, pedal is gradually to the movement of braking area, when complete pine
When opening pedal, pedal returns to initial position.The single pedal speed control system of this electric vehicle is stepped on a speed control
Plate replaces the throttle and brake pedal of conventional truck control, and speed control is automatically performed according to the operation being applied on pedal and opened
Dynamic, motor speed regulation and braking, reduce the complexity for driving electric vehicle, have prevented the possibility of maloperation, are easy to fast
Speed grasps driving technology.
And Publication No. CN106627173A, publication date provide a kind of four-wheel electric for 2017.05.10 Chinese patent
The intelligent control method of car, the pedal of the four-wheel electric motor car of control is also single pedal, and by the formation of pedal from low to high according to
Secondary to be divided into mechanical brake area, speed-change area and electric brake area, the stroke that can be specifically 0 ~ 10% is mechanical brake area, 10 ~
90% stroke is speed-change area, and 90 ~ 100% stroke is electric brake area, and pedal is connected with liquid braking device, and liquid braking device is made
Stopped for machinery, when pedal is located at mechanical brake area, liquid braking device braking disc；Speed-change area is fast to provide power and holding
The region of degree, electric brake area are to start the region that electronics is stopped, and it is that the output of vehicle control device controlled motor controller is anti-that electronics, which is stopped,
To electric current, motor is allowed to produce and tire rolling torque of magnetic force in opposite direction, braking tire.Because this electric car does not have hand
Stop, so easy car slipping during the parking of ramp, is stopped using electromagnetism in of the invention and substitute parking brake, electromagnetism is stopped on motor shaft, adopted
Powered with 48v, the power supply source that electromagnetism is stopped is controlled by vehicle control device；Under "on" position, electromagnetism, which is stopped, to be unclamped, and vehicle wheeled, is broken
Under electricity condition, electromagnetism, which is stopped, pins motor shaft, and vehicle can not travel.This four-wheel electric motor car is than electronic disclosed in above chapter patent
Car is safer when in use.Current this four-wheel electric motor car largely comes into operation, especially in each scenic spot, but
Used the visitor of this vehicle to reflect, in visit, driven due to notice it is difficult to all concentrate on vehicle, it is most
Notice may be concentrated on sight spot, so when barrier occurs in front, may not be one may immediately notice, equidistant obstacle
Just it is aware of when thing is close or has knocked, it is difficult to react in time, and the single pedal design that uses of vehicle is for the
, it is necessary to which much problems are not present in certain adaptation process, normal driving for the visitor of this vehicle of first use, but in appearance
It is difficult to make correct operation in flurried, therefore, in order to further improve this four-wheel electric when stating such emergency
The security performance of car, the present invention are made that further improvement.
The content of the invention
The technical problem to be solved in the present invention is：For existing four-wheel electric motor car for Chinese herbaceous peony barrier not from safety
From the aspect of control vehicle means, security incident can occur when driver attention does not concentrate, in order to further improve car
Security performance, the invention provides a kind of method for protecting of four-wheel electric motor car to solve the above problems.
The technical solution adopted for the present invention to solve the technical problems is：A kind of method for protecting of four-wheel electric motor car,
Comprise the following steps：
The position of S1, in real time detection pedal, speed v1 is detected in real time and calculates the real time acceleration a of vehicle, by the whole of pedal
Stroke is divided into mechanical brake area, speed-change area and electric brake area from low to high,
S2, the first ultrasonic sensor of control send one section of ultrasonic wave, start simultaneously at timing, time t, the first supersonic sensing
Device closes echo detecting, and the second ultrasonic sensor enters echo detecting state；
S3, when time t is equal to safety time t0, the second ultrasonic sensor is still not detected by echo, then stops timing, control
First ultrasonic sensor enters echo detecting state, and the second ultrasonic sensor closes echo detecting, controls the second ultrasonic wave
Sensor sends one section of ultrasonic wave, starts simultaneously at timing, time t；When time t is equal to safety time t0, the first ultrasonic wave
Sensor is still not detected by echo, then return to step S2；
S4, in step s 2 when the second ultrasonic sensor detects echo, or the first ultrasonic sensor in step s3
When detecting echo, stop timing, time t is less than safety time t0, calculates the distance between barrier and car body s；
S5, the return to step S2 when distance s is more than safe distance s0, enter step when distance s is less than or equal to safe distance s0
S6；
S6, safe acceleration a0 calculated according to distance s and speed v1；
When the position of pedal is in mechanical brake area, if real time acceleration a is more than or equal to safe acceleration a0, start electronics
Stop, otherwise do not start；
When the position of pedal is in speed-change area, startup electronics is stopped；
When the position of pedal is in electric brake area, startup electronics is stopped.
Preferably, in step s 6, when the position of pedal is in speed-change area, adjusting electronics according to safe acceleration a0 stops
Power output, electronics is stopped and give the acceleration of vehicle and be less than safe acceleration a0.
Preferably, in step s 6, when the position of pedal is in speed-change area, if the peak power output that electronics is stopped is given
The acceleration of vehicle is given then to send alarm still above equal to safe acceleration a0, remind user to step on pedal to mechanical brake
Area.
Preferably, in step s 6, when the position of pedal is in electric brake area, if real time acceleration a is less than peace
Full acceleration a0, then the power output of electronics brake is controlled according to the position of pedal, electronics is otherwise adjusted according to safe acceleration a0
The power output of brake.
Preferably, in step s 6, when the position of pedal is in electric brake area, it is necessary to be adjusted according to safe acceleration a0
During the power output that economize on electricity is stopped, if the peak power output that electronics is stopped gives the acceleration of vehicle still above equal to safety
Acceleration a0, then alarm is sent, remind user to step on pedal to mechanical brake area.
The invention has the advantages that the method for protecting of this four-wheel electric motor car relies on ultrasonic sensor to front
Barrier is detected, and is rationally controlled according to states such as the distance of obstacle distance vehicle, the position of pedal, speed, acceleration
The brake system of vehicle processed, vehicle and the safety of driver are effectively ensured.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is a kind of flow chart of the optimum embodiment of the method for protecting of four-wheel electric motor car of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " axial direction ",
The orientation or position relationship of the instructions such as " radial direction ", " circumference " are based on orientation shown in the drawings or position relationship, merely to just
In the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating or implying relatively important
Property.In the description of the invention, it is necessary to which explanation, unless otherwise clearly defined and limited, term " connected ", " connection " should
It is interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or is integrally connected；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary.For the common of this area
For technical staff, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.In addition, in description of the invention
In, unless otherwise indicated, " multiple " are meant that two or more.
Any process or method described otherwise above description in flow chart or herein is construed as, and represents to include
Module, fragment or the portion of the code of the executable instruction of one or more the step of being used to realize specific logical function or process
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discuss suitable
Sequence, including according to involved function by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
As shown in figure 1, the invention provides a kind of method for protecting of four-wheel electric motor car, comprise the following steps：
The position of S1, in real time detection pedal, is fixed with a magnet on pedal, one is provided with the range of the magnetic line of force of magnet
Hall sensor, when the position of pedal changes, magnetic field can also change caused by magnet, vehicle control device and Hall
The data can that sensor is connected and detected by Hall sensor calculates the position of pedal, detects speed v1 in real time
And the real time acceleration a of vehicle is calculated, the motor of electric car is brshless DC motor, carries Hall sensor, and it is with vehicle control
Device connection processed, the rotating speed of the rotor detected is transmitted to vehicle control device, vehicle control device can and calculates speed,
Can be to calculate real time acceleration according to the time of speed and record；Whole strokes of pedal are divided into machine from low to high
Tool brake area, speed-change area and electric brake area；
The head interval of vehicle is provided with the first ultrasonic sensor and the second ultrasonic sensor, their transducer both facing to
Front；First ultrasonic sensor and the second ultrasonic sensor are connected by CAN communication bus with PIC single chip microcomputer, PIC monolithics
Machine is connected with vehicle control device, control main body of the PIC single chip microcomputer as the first ultrasonic sensor and the second ultrasonic sensor,
By the data transfer collected into vehicle control device, vehicle control device is controlled to brake system；
S2, the first ultrasonic sensor of control send one section of ultrasonic wave, start simultaneously at timing, time t, the first supersonic sensing
Device closes echo detecting, and the second ultrasonic sensor enters echo detecting state；
S3, when time t is equal to safety time t0, the second ultrasonic sensor is still not detected by echo, then stops timing, control
First ultrasonic sensor enters echo detecting state, and the second ultrasonic sensor closes echo detecting, controls the second ultrasonic wave
Sensor sends one section of ultrasonic wave, starts simultaneously at timing, time t；When time t is equal to safety time t0, the first ultrasonic wave
Sensor is still not detected by echo, then return to step S2；Two ultrasonic sensor alternate emission ultrasonic waves and detection echo, keep away
Exempt from MIMO and produce the problem of interfering with each other, improve accuracy of detection；
S4, in step s 2 when the second ultrasonic sensor detects echo, or the first ultrasonic sensor in step s3
When detecting echo, stop timing, now time t is less than safety time t0, and velocity of wave is multiplied by time t again divided by 2 obtain distance
s；
S5, the return to step S2 when distance s is more than safe distance s0, enter step when distance s is less than or equal to safe distance s0
S6；Safe distance s0 is preset value, when the distance between vehicle and barrier are more than s0, illustrates also far, car between them
Temporarily safety；
S6, safe acceleration a0=- (v1 calculated according to distance s and speed v12/2s)；
When the position of pedal is in mechanical brake area, now real time acceleration a is negative value, if real time acceleration a is more than or equal to
Safe acceleration a0, illustrate to be not enough to allow vehicle before barrier is knocked to stop with present degree of deceleration, then start electronics
Stop, otherwise do not start；
When the position of pedal is in speed-change area, illustrate that vehicle can travel always before barrier is knocked, stopped so starting electronics,
The power output of electronics brake is adjusted according to safe acceleration a0, electronics brake is given the acceleration of vehicle and is less than safe acceleration
a0；If the acceleration that the peak power output that electronics is stopped gives vehicle sends police still above equal to safe acceleration a0
Report, user is reminded to step on pedal to mechanical brake area；If vehicle is allowed to be stopped before barrier is knocked by electronics brake can
Come, it is not necessary to remind user to remove pedal, this can cause user more alarmed, and the operation for single pedal is also unfamiliar
For people, them are easily made to do the operation to make mistake；
When the position of pedal is in electric brake area, startup electronics is stopped；Because pedal will start electricity when being in electric brake area
Son is stopped, and electronics, which is stopped, controls the power output of electronics brake according to the position of pedal, now if real time acceleration a is less than safety and accelerated
A0 is spent, then present situation is kept, but if real time acceleration a is more than or equal to safe acceleration a0, then according to safe acceleration a0
Adjust the power output that electronics is stopped；If the peak power output that electronics is stopped gives the acceleration of vehicle still above equal to safety
Acceleration a0, then alarm is sent, remind user to step on pedal to mechanical brake area.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of the term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.
Claims (5)
1. a kind of method for protecting of four-wheel electric motor car, it is characterised in that comprise the following steps：
The position of S1, in real time detection pedal, speed v1 is detected in real time and calculates the real time acceleration a of vehicle, by the whole of pedal
Stroke is divided into mechanical brake area, speed-change area and electric brake area from low to high,
S2, the first ultrasonic sensor of control send one section of ultrasonic wave, start simultaneously at timing, time t, the first supersonic sensing
Device closes echo detecting, and the second ultrasonic sensor enters echo detecting state；
S3, when time t is equal to safety time t0, the second ultrasonic sensor is still not detected by echo, then stops timing, control
First ultrasonic sensor enters echo detecting state, and the second ultrasonic sensor closes echo detecting, controls the second ultrasonic wave
Sensor sends one section of ultrasonic wave, starts simultaneously at timing, time t；When time t is equal to safety time t0, the first ultrasonic wave
Sensor is still not detected by echo, then return to step S2；
S4, in step s 2 when the second ultrasonic sensor detects echo, or the first ultrasonic sensor in step s3
When detecting echo, stop timing, time t is less than safety time t0, calculates the distance between barrier and car body s；
S5, the return to step S2 when distance s is more than safe distance s0, enter step when distance s is less than or equal to safe distance s0
S6；
S6, safe acceleration a0 calculated according to distance s and speed v1；
When the position of pedal is in mechanical brake area, if real time acceleration a is more than or equal to safe acceleration a0, start electronics
Stop, otherwise do not start；
When the position of pedal is in speed-change area, startup electronics is stopped；
When the position of pedal is in electric brake area, startup electronics is stopped.
2. the method for protecting of four-wheel electric motor car as claimed in claim 1, it is characterised in that：In step s 6, pedal is worked as
Position be in speed-change area, the power output that electronics stops is adjusted according to safe acceleration a0, electronics is stopped and gives the acceleration of vehicle
Degree is less than safe acceleration a0.
3. the method for protecting of four-wheel electric motor car as claimed in claim 2, it is characterised in that：In step s 6, pedal is worked as
Position be in speed-change area, if electronics stop peak power output give the acceleration of vehicle still above equal to safe acceleration
A0 is spent, then sends alarm, reminds user to step on pedal to mechanical brake area.
4. the method for protecting of four-wheel electric motor car as claimed in claim 1, it is characterised in that：In step s 6, pedal is worked as
Position be in electric brake area, if real time acceleration a is less than safe acceleration a0, according to the position of pedal control electronics
The power output of brake, the power output of electronics brake is otherwise adjusted according to safe acceleration a0.
5. the method for protecting of four-wheel electric motor car as claimed in claim 4, it is characterised in that：In step s 6, pedal is worked as
Position be in electric brake area, it is necessary to according to safe acceleration a0 adjust electronics stop power output when, if electronics stop
Peak power output gives the acceleration of vehicle still above equal to safe acceleration a0, then sends alarm, remind user to step on
Plate is stepped on to mechanical brake area.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710560040.5A CN107351822B (en) | 2017-07-11 | 2017-07-11 | A kind of method for protecting of four-wheel electric motor car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710560040.5A CN107351822B (en) | 2017-07-11 | 2017-07-11 | A kind of method for protecting of four-wheel electric motor car |
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| Publication Number | Publication Date |
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| CN107351822A true CN107351822A (en) | 2017-11-17 |
| CN107351822B CN107351822B (en) | 2019-10-25 |
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| WO2016063527A1 (en) * | 2014-10-22 | 2016-04-28 | 株式会社デンソー | Ultrasonic-type object detecting apparatus |
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| CN106627173A (en) * | 2016-12-22 | 2017-05-10 | 江苏萝卜交通科技有限公司 | Intelligent control method of four-wheel electric vehicle |
| CN106627577A (en) * | 2016-12-22 | 2017-05-10 | 江苏萝卜交通科技有限公司 | Automatic cruise control method for electric vehicle |
| CN106740847A (en) * | 2016-12-22 | 2017-05-31 | 江苏萝卜交通科技有限公司 | The self adaptation of four-wheel electric motor car is with car method |
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2017
- 2017-07-11 CN CN201710560040.5A patent/CN107351822B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006168497A (en) * | 2004-12-15 | 2006-06-29 | Toyota Motor Corp | Traveling controller for vehicle |
| CN103465887A (en) * | 2013-09-23 | 2013-12-25 | 孙宏水 | Vehicle rear-end collision preventing device and control method thereof |
| WO2016063527A1 (en) * | 2014-10-22 | 2016-04-28 | 株式会社デンソー | Ultrasonic-type object detecting apparatus |
| JP2016141232A (en) * | 2015-01-30 | 2016-08-08 | 株式会社アドヴィックス | Vehicle control device |
| CN106627173A (en) * | 2016-12-22 | 2017-05-10 | 江苏萝卜交通科技有限公司 | Intelligent control method of four-wheel electric vehicle |
| CN106627577A (en) * | 2016-12-22 | 2017-05-10 | 江苏萝卜交通科技有限公司 | Automatic cruise control method for electric vehicle |
| CN106740847A (en) * | 2016-12-22 | 2017-05-31 | 江苏萝卜交通科技有限公司 | The self adaptation of four-wheel electric motor car is with car method |
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| CN107351822B (en) | 2019-10-25 |
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Application publication date: 20171117 Assignee: JIANGSU ROBOY TRAFFIC TECHNOLOGY CO.,LTD. Assignor: CHANGZHOU INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE OF ZHEJIANG University Contract record no.: X2023980036850 Denomination of invention: A Safety Guarantee Method for Four Wheel Electric Vehicles Granted publication date: 20191025 License type: Common License Record date: 20230625 |
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