CN109283130B - Road adhesion coefficient testing device and testing method - Google Patents
Road adhesion coefficient testing device and testing method Download PDFInfo
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- CN109283130B CN109283130B CN201811249698.5A CN201811249698A CN109283130B CN 109283130 B CN109283130 B CN 109283130B CN 201811249698 A CN201811249698 A CN 201811249698A CN 109283130 B CN109283130 B CN 109283130B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N19/00—Investigating materials by mechanical methods
- G01N19/04—Measuring adhesive force between materials, e.g. of sealing tape, of coating
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- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a road adhesion coefficient testing device and a testing method, wherein the testing device comprises a bracket assembly, wheels, a braking component and a testing component, wherein the bracket assembly is used for being connected with an automobile, the wheels can be rotated and arranged on the bracket assembly, the braking component is used for driving the wheels to brake, the testing component is used for testing wheel speed signals of the wheels, the braking component comprises an electric brake assembly and a brake disc, the brake disc is fixedly arranged on the wheels, the electric brake assembly is connected with the bracket assembly, the electric brake assembly comprises a brake friction plate and an operating component, the brake friction plate can be slidably arranged, and the operating component can drive the brake friction plate to slide to be contacted with the brake disc. The road surface adhesion coefficient testing device is simple and reliable in structure, low in cost and capable of providing accurate road surface adhesion coefficients in real time.
Description
Technical Field
The invention relates to the technical field of intelligent driving of automobiles, in particular to a road adhesion coefficient testing device and a road adhesion coefficient testing method.
Background
With the development of the intellectualization of automobiles, various driving assistance systems and automatic driving systems are increasingly applied. From the safety point of view, the magnitude of the road adhesion coefficient is important information required by various active safety control systems, and is an important reference basis for active control of driving, braking and steering of the automobile. The active safety control of the automobile requires intervention on the motion of the automobile, wherein the longitudinal control of the automobile requires adjustment on the acting force between the wheels and the road surface, and the force transmission between the wheels and the road surface is limited by the adhesion coefficient of the road surface. Thus, the merits of the active safety control strategy for automobiles are largely dependent on whether the current road adhesion coefficient is sufficiently known. If the road adhesion coefficient can be accurately identified in real time, the automobile active safety control system can accurately adjust the corresponding control strategy, and the control effect on the road with the adhesion coefficient changed can be improved.
Most of the existing road adhesion coefficient tests require a large number of sensor devices such as brake cylinder pressure sensors, and the cost is high; once one sensor fails, the sensor cannot test the adhesion coefficient, and has poor reliability; the test method is complex, the calculation efficiency is low, and the method is unfavorable for providing real-time and rapid results for the active safety control system of the vehicle, and the dynamic characteristics of the control system may be slow.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an improved road adhesion coefficient testing device.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the utility model provides a road surface adhesion coefficient testing arrangement, is including being used for with the support assembly that the car is connected, can rotate and set up wheel on the support assembly, be used for driving the brake subassembly of wheel braking and be used for testing the test subassembly of the wheel speed signal of wheel, the brake subassembly includes electric brake assembly and brake disc, the brake disc is fixed to be set up on the wheel, electric brake assembly with the support assembly is connected, electric brake assembly includes braking friction disc and the operating part that can set up with sliding, operating part can drive braking friction disc slip with the brake disc contacts.
Preferably, the test assembly comprises a wheel speed sensor fixedly arranged on the bracket assembly and a gear fixedly arranged on the wheel, wherein the gear is coaxially arranged with the wheel, and the sensing end of the wheel speed sensor faces to the gear and is provided with a gap with the tooth top of the gear.
Preferably, the operating member comprises a motor and a ball screw mechanism, the ball screw mechanism comprises a screw and a nut which are matched with each other, the brake friction plate is arranged between the nut and the brake disc, and the motor rotates to enable the nut to move so as to drive the brake friction plate to move towards the brake disc and contact with the brake disc.
Further, the electric brake assembly further comprises a brake caliper body slidably arranged on the bracket assembly, and the brake friction plate is further arranged between the brake caliper body and the brake disc, and when the brake caliper body slides, the brake friction plate is driven to slide towards the brake disc and is contacted with the brake disc.
Further, the operation part further comprises a limiting part, the motor is used for driving the screw rod to rotate in a rotating mode, and the limiting part is arranged on the screw nut and used for limiting the screw nut to rotate along with the screw rod.
Preferably, the test device further comprises a drive assembly for urging the wheel into contact with the ground, the drive assembly comprising a resilient member disposed on the bracket assembly.
Further, the driving assembly further comprises a shock absorber, the shock absorber is fixedly arranged on the support assembly, and one end portion of the elastic piece is fixedly arranged on the shock absorber.
Preferably, the electric brake assembly further comprises a fixed bracket fixedly connected with the bracket assembly, and the brake friction plate can be slidably arranged on the fixed bracket.
Further, the fixing support is provided with a protruding portion, the braking friction plate is provided with a clamping groove matched with the protruding portion, the protruding portion is clamped in the clamping groove, and the clamping groove can be arranged in a sliding mode relative to the protruding portion.
The invention also provides a pavement adhesion coefficient testing method, which adopts the testing device according to any one of the above to test, and comprises the following steps:
(1) The testing device is arranged on the target vehicle, and a group of braking moments of the target vehicle are calibrated according to the braking requirements of the road surfaces with different attachment coefficients;
(2) Applying the braking moment obtained in the step (1), and calibrating the corresponding angular acceleration change threshold value of the target vehicle when braking on the road surfaces with different road adhesion coefficients;
(3) Applying the braking moment obtained in the step (1), and collecting, calculating and analyzing an angular acceleration change value of the target vehicle when braking on an actual driving road surface;
(4) And (3) comparing the angular acceleration change value in the step (3) with the angular acceleration change threshold value marked in the step (2), and calculating to obtain the road surface adhesion coefficient.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages: the road surface adhesion coefficient testing device disclosed by the invention is simple and reliable in structure and low in cost, and can provide accurate road surface adhesion coefficients in real time.
Drawings
FIG. 1 is a schematic diagram of a road adhesion coefficient testing device according to the present invention;
FIG. 2 is a schematic illustration of the electric brake assembly of the present invention;
FIG. 3 is a schematic view of the structure of the brake pad of the present invention when connected to a stationary bracket;
FIG. 4 is a flow chart of the road adhesion coefficient test method of the present invention;
fig. 5 is a schematic diagram of a method for acquiring angular acceleration of a wheel according to the present invention.
Wherein: 1. a bracket assembly; 11. a connection part; 2. a wheel; 3. an electric brake assembly; 301. a fixed bracket; 301a, a convex portion; 302. a housing; 303. a brake caliper body; 304. a brake pad; 304a, a clamping groove; 305. a motor; 305a, a rotor; 306. a screw rod; 307. a nut; 308. a rotating bracket; 309. a limiting piece; 310. a thrust bearing; 4. a brake disc; 51. a wheel speed sensor; 52. a gear; 61. an elastic member; 62. a shock absorber.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the road adhesion coefficient testing device of the present invention comprises a bracket assembly 1 for connecting with an automobile, wheels 2 rotatably provided on the bracket assembly 1, a brake assembly for driving the wheels 2 to brake, and a testing assembly for testing wheel speed signals of the wheels 2, the brake assembly comprising an electric brake assembly 3 and a brake disc 4, the brake disc 4 being fixedly provided on the wheels 2, the electric brake assembly 3 being connected with the bracket assembly 1.
When the test device is used for testing the road adhesion coefficient, the bracket assembly 1 can be fixedly connected at a plurality of positions at the bottom of the automobile. The bracket assembly 1 has a connection 11 to the vehicle.
As shown in fig. 2, the electric brake assembly 3 includes a fixed bracket 301, a housing 302, a brake caliper body 303, a brake friction plate 304, and an operating member, wherein the fixed bracket 301 is fixedly connected with the bracket assembly 1, the brake caliper body 303 is fixedly connected with the housing 302 and slidably disposed with respect to the fixed bracket 301, the brake friction plate 304 is slidably disposed on the fixed bracket 301, and the operating member is capable of driving the brake friction plate 304 to slide so as to be in contact with the brake disc 4.
Specifically, the operation member includes a motor 305 and a ball screw mechanism provided in the housing 302, the ball screw mechanism including a screw 306 and a nut 307 which are mutually engaged, and a rotor 305a of the motor 305 is fixedly connected to the screw 306 through a rotating bracket 308. Brake pads 304 are provided on opposite sides of the brake disc 4, respectively, wherein the brake pad 304 on one side is located between the nut 307 and the brake disc 4 and the brake pad 304 on the other side is located between the caliper body 303 and the brake disc 4. When no braking torque is applied to the wheel 2, a gap is provided between the brake pads 304 on both sides and the brake disk 4.
The brake friction plates 304 on the two sides are connected with the fixing bracket 301 in the following manner: the fixing bracket 301 is provided with a convex portion 301a, the brake friction plate 304 is provided with a clamping groove 304a matched with the convex portion 301a, the convex portion 301a is clamped in the clamping groove 304a, and relative sliding can occur between the convex portion 301a and the clamping groove, as shown in fig. 3.
When the motor 305 is started, the rotor 305a of the motor 305 rotates, the screw 306 is driven to synchronously rotate by the rotating bracket 308, the limiting piece 309 is arranged on the screw 307, and meanwhile, the limiting piece 309 is arranged on the shell 302, and the screw 307 cannot rotate along with the screw 306 due to the effect of the limiting piece 309, so that the rotation of the screw 306 is converted into the axial movement of the screw 307 by the ball screw mechanism, the screw 307 axially moves a certain distance and then drives the brake friction plate 304 on one side to slide towards the direction close to the brake disc 4 until the gap between the brake friction plate 304 and the brake disc 4 is eliminated, and the brake friction plate 304 and the brake disc 4 are directly contacted, so that the clamping on one side of the brake disc 4 is completed and the clamping force is generated. At this time, the axial reaction force of the clamping force sequentially passes through the ball screw mechanism, the thrust bearing 310 and the housing 302 and finally acts on the caliper body 303, so that the caliper body 303 axially slides relative to the fixed bracket 301, and further the other side of the brake friction plate 304 is pushed to move and contact with the brake disc 4, thereby completing the clamping of the other side of the brake disc 4 and generating a clamping force. In this way, the clamping force is applied to both sides of the brake disc 4, and the clamping force generates a braking friction torque on the wheel 2 because the brake disc 4 is fixedly connected to the wheel 2. When the drive current level of the motor 305 is changed, it is possible to apply different braking friction moments to the brake disc 4.
The test assembly comprises a wheel speed sensor 51 fixedly arranged on the bracket assembly 1 and a gear 52 fixedly arranged on the wheel 2, wherein the gear 52 is coaxially arranged with the wheel 2, and the sensing end of the wheel speed sensor 51 is arranged towards the gear 52 and has a certain gap with the tooth top of the gear 52. When the wheel 2 rotates, the gear 52 is driven to rotate synchronously, and the wheel speed sensor 51 detects the angular velocity of the wheel when the wheel rotates by reading the number of teeth rotated when the gear 52 rotates.
The testing device further comprises a drive assembly for driving the wheel 2 into contact with the ground at all times. In this embodiment, the driving component includes an elastic member 61 disposed on the bracket assembly 1, specifically, a first rod 63 and a second rod 64 are disposed on the bracket assembly 1, the first rod 63 can slide relative to the second rod 64, the elastic member 61 adopts a spring, the spring is sleeved on the first rod 63, two ends of the spring are fixedly disposed on the first rod 63 and the second rod 64, and the pretightening force of the spring is transmitted to the wheel 2 through the bracket assembly 1, so as to ensure reliable contact between the wheel 2 and the ground.
The drive assembly further includes a damper 62, the damper 62 being fixedly disposed on the first rod 63, one end of the spring being fixedly disposed on the damper 62. By providing the shock absorber 62, vibration in the test process can be reduced, and discomfort caused by vibration in the test process to a person in the vehicle can be avoided while the test accuracy is improved.
The test device further includes a controller to which the motor 305 and the wheel speed sensor 51 are electrically connected through signal lines, respectively.
For the dynamic analysis of the wheel 2 of the test device, the mathematical model of the wheel 2 in the braked state can be expressed as:
wherein:
omega-wheel angular velocity;
T b -a braking torque;
j-moment of inertia of the wheel and its components;
alpha-wheel angular acceleration;
r is the power radius of the wheel;
mu-the coefficient of static friction between the tire and the road surface;
F N the reaction force of the ground against the wheel is negligible compared to the force exerted by the elastic element on the wheel 2.
The adhesion coefficient phi is the ratio of the adhesion force to the pressure in the normal direction of the wheel, i.e. perpendicular to the road surface. In the rough calculation, it can be seen as the static friction coefficient μ between the tire and the road surface. In the above, F N Both J, R are fixed constants, so that when a certain braking torque T is applied to the wheel 2 b In this case, only the angular acceleration of the wheel 2 and the attachment coefficient phi are unknown, and it is apparent that there is a one-to-one correspondence between the two. The test device of the invention can thus be used to measure the angular acceleration of the wheel 2The speed change results in the road adhesion coefficient phi at this time. The specific test method is as follows, and the test flow chart is shown in fig. 4.
(1) Calibrating a set of braking torques of a target vehicle
The test device is arranged on a target vehicle, the real vehicle is tested on the road surfaces with different attachment coefficients, different braking torques are applied to the wheels 2 at different vehicle speeds, road surface conditions with different attachment coefficients are comprehensively considered, a group of braking torques are calibrated, the value of the braking torque at the calibrated position comprises the value and duration of the braking torque, and the target vehicle can realize normal speed reduction running under the action of the group of braking torques and does not cause comfort of vehicle driving.
(2) Threshold value for calibrating angular acceleration change corresponding to road adhesion coefficient phi
Calibrating the road surfaces with different attachment coefficients, applying the braking torque obtained in the step (1) to the wheel 2, testing the angular velocity signal value of the wheel 2 by a wheel speed sensor 51 in a real vehicle, transmitting the angular velocity signal value to a controller, statistically analyzing the angular acceleration change condition of the wheel 2 by the controller, and calibrating and setting a threshold value corresponding to the angular accelerationThe adhesion coefficient values of the respective road surfaces are corresponding and the result is stored in the controller as shown in fig. 5.
(3) Collecting the angular acceleration change value of the wheel during braking on the actual road surface
On an actual driving road surface, applying the braking force distance of the step (1) to the wheel 2 every 10min, recording the loading starting time t1 and the unloading time t2, acquiring the angular velocity of the wheel 2 in real time through a wheel speed sensor 51 as shown in fig. 5, sending the angular velocity to a controller, and counting and finding the angular acceleration alpha of the wheel 2 within the period of time t 1-t 3 through the controller min 。
(4) Calculating road adhesion coefficient phi of actual running road surface
As shown in FIG. 5, the real angular acceleration α obtained in step (3) is measured min Threshold of angular acceleration from calibration in step (2)Value ofOne-to-one comparison is performed, a certain error range is set, and a nearest +.>The corresponding road surface adhesion coefficient phi is used as the road surface adhesion coefficient of the actual driving road surface at the moment and is output to the controller, so that a reference basis is provided for other control systems.
Thus, the road adhesion coefficient test is completed, the road adhesion coefficient test device does not use an expensive brake pressure measuring element, only has one wheel speed sensor with lower cost, and is simple, reliable and low in cost; the testing device can be fixed at a plurality of positions of the automobile, and has good universality; moreover, the testing device is simple and efficient, and can realize real-time transmission.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and to implement the same, but are not intended to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.
Claims (7)
1. The utility model provides a road adhesion coefficient testing arrangement which characterized in that: the electric brake comprises a support assembly, wheels, a brake assembly and a test assembly, wherein the wheels are used for being connected with an automobile, the wheels can be rotated and arranged on the support assembly, the brake assembly is used for driving the wheels to brake, the test assembly is used for testing wheel speed signals of the wheels, the test assembly comprises a wheel speed sensor fixedly arranged on the support assembly and a gear fixedly arranged on the wheels, the gear and the wheels are coaxially arranged, the sensing end of the wheel speed sensor faces the gear and is provided with a gap between tooth tops of the gear, the brake assembly comprises an electric brake assembly and a brake disc, the brake disc is fixedly arranged on the wheels, the electric brake assembly is connected with the support assembly, the electric brake assembly comprises a brake friction plate and an operating part, the brake friction plate can be slidably arranged, the operating part can drive the brake friction plate to be in contact with the brake disc, the operating part comprises a motor and a ball screw mechanism, the ball screw mechanism comprises a screw and a screw nut, the brake friction plate is arranged between the screw nut and the motor brake disc, when the motor brake disc rotates, the brake disc is arranged between the screw nut and the motor brake disc, and the brake disc is in contact with the brake disc, and the brake disc can further slide against the brake disc, and the brake disc is arranged between the brake disc and the brake assembly.
2. The road surface adhesion coefficient testing device according to claim 1, wherein: the operation part further comprises a limiting part, the motor is used for driving the screw rod to rotate in a rotating mode, and the limiting part is arranged on the screw nut and used for limiting the screw nut to rotate along with the screw rod.
3. The road surface adhesion coefficient testing device according to claim 1, wherein: the test device further includes a drive assembly for driving the wheel into contact with the ground, the drive assembly including a resilient member disposed on the bracket assembly.
4. The road surface adhesion coefficient testing device according to claim 3, wherein: the driving assembly further comprises a shock absorber, the shock absorber is fixedly arranged on the support assembly, and one end portion of the elastic piece is fixedly arranged on the shock absorber.
5. The road surface adhesion coefficient testing device according to claim 1, wherein: the electric brake assembly further comprises a fixed support fixedly connected with the support assembly, and the brake friction plate can be slidably arranged on the fixed support.
6. The road surface adhesion coefficient testing device according to claim 5, wherein: the fixing support is provided with a convex part, the braking friction plate is provided with a clamping groove matched with the convex part, the convex part is clamped in the clamping groove, and the clamping groove can be arranged in a sliding manner relative to the convex part.
7. A pavement adhesion coefficient testing method is characterized in that: the test using the test device according to any one of claims 1 to 6, wherein the test method comprises:
(1) The testing device is arranged on the target vehicle, and a group of braking moments of the target vehicle are calibrated according to the braking requirements of the road surfaces with different attachment coefficients;
(2) Applying the braking moment obtained in the step (1), and calibrating the corresponding angular acceleration change threshold value of the target vehicle when braking on the road surfaces with different road adhesion coefficients;
(3) Applying the braking moment obtained in the step (1), and collecting, calculating and analyzing an angular acceleration change value of the target vehicle when braking on an actual driving road surface;
(4) And (3) comparing the angular acceleration change value in the step (3) with the angular acceleration change threshold value marked in the step (2), and calculating to obtain the road surface adhesion coefficient.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811249698.5A CN109283130B (en) | 2018-10-25 | 2018-10-25 | Road adhesion coefficient testing device and testing method |
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| CN201811249698.5A CN109283130B (en) | 2018-10-25 | 2018-10-25 | Road adhesion coefficient testing device and testing method |
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| CN109283130B true CN109283130B (en) | 2024-03-08 |
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Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010014564A1 (en) * | 2010-04-10 | 2011-10-13 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Apparatus and method for determining a road friction coefficient for a vehicle |
| RU2626581C1 (en) * | 2016-08-23 | 2017-07-28 | Общество с ограниченной ответственностью "Опытно-конструкторское предприятие "ВЕКТОР" | Method of determining coupling frame of wheel with surface and device for its implementation |
-
2018
- 2018-10-25 CN CN201811249698.5A patent/CN109283130B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2408134A1 (en) * | 1977-11-08 | 1979-06-01 | G P Izysk | Coefficient of adhesion measuring device - uses sensitive elements located between single-axle trailer frame and free end of pole |
| CN102004039A (en) * | 2010-10-25 | 2011-04-06 | 江苏大学 | Test jack horse and test method of electric vehicle electromagnetic and frictional brake integrated system |
| CN204116204U (en) * | 2014-08-13 | 2015-01-21 | 长沙市路盛仪器设备有限公司 | A kind of coefficient of road adhesion measurement mechanism |
| CN209247606U (en) * | 2018-10-25 | 2019-08-13 | 清华大学苏州汽车研究院（相城） | A kind of coefficient of road adhesion test device |
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| Title |
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| 基于ABS制动过程特征参数的路面附着识别;丁能根 等;《燕山大学学报》;第37卷(第2期);第164-169页 * |
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