CN110962985B - Anti-lock brake control method and system - Google Patents
Anti-lock brake control method and system Download PDFInfo
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- CN110962985B CN110962985B CN201910475520.0A CN201910475520A CN110962985B CN 110962985 B CN110962985 B CN 110962985B CN 201910475520 A CN201910475520 A CN 201910475520A CN 110962985 B CN110962985 B CN 110962985B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L3/00—Brake-actuating mechanisms; Arrangements thereof
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Abstract
An anti-lock brake control method for a bicycle comprises judging whether a brake of the bicycle is actuated by a driver by an arithmetic unit; sensing a wheel speed of the bicycle with a first sensor when it is determined that the brake is actuated by the driver; judging whether to execute a brake procedure or not according to the wheel speed and a first set value by using the operation unit, wherein the brake procedure comprises obtaining the deceleration of the bicycle body of the bicycle, and executing brake judgment according to the deceleration of the bicycle body and the set value of the deceleration by using the operation unit; after executing a brake braking program, judging whether the brake is released by a driver by using an arithmetic unit; when the brake is not released by the driver, the operation unit judges whether to execute the brake procedure again according to the speed of the bicycle and a second set value. The invention mainly detects the current deceleration of the bicycle body, and then judges to execute brake release or brake hold, thereby improving the safety of the bicycle and reducing unnecessary system electric energy loss.
Description
Technical Field
The invention relates to a bicycle braking method and system, in particular to an anti-lock brake control method and system for a bicycle.
Background
With more and more attention paid to sports and leisure activities by modern people, the bicycle industry is developing vigorously. In order to improve the riding safety of bicycles, some bicycles on the market today adopt an anti-lock brake system (ABS), which mainly utilizes a fixed actuation interval to release a brake, i.e. a retractable snubbing function of a brake pad, so as to avoid wheel skidding caused by brake lock, thereby causing a driving accident.
However, such brake systems may slip the bicycle at regular intervals and may consume too much power. Accordingly, there is a need in the related art for a braking system that ensures that the wheels of a bicycle do not slip and that does not dissipate excessive energy.
Disclosure of Invention
The present invention provides an anti-lock brake control method and system for overcoming the disadvantages of the prior art, which mainly detects the current deceleration of a bicycle body to determine whether to release or hold the brake, thereby improving the safety of the bicycle and reducing unnecessary power consumption of the system.
The technical problem to be solved by the invention is realized by the following technical scheme:
according to an embodiment of the present invention, an anti-lock brake control method for a bicycle is disclosed, the anti-lock brake control method comprises the following steps: the arithmetic unit is used for judging whether the brake of the bicycle is actuated by the driver. When it is determined that the brake is actuated by the driver, a wheel speed of the bicycle is sensed with the first sensor. The operation unit is used for judging whether to execute a brake procedure according to the wheel speed and a first set value, wherein the brake procedure comprises obtaining the deceleration of the bicycle body, and the operation unit is used for executing brake judgment according to the deceleration of the bicycle body and the deceleration set value, and the brake judgment comprises a brake releasing instruction and a brake maintaining instruction. After the brake braking program is executed, whether the brake is released by the driver is judged by the arithmetic unit. When the brake is not released by the driver, the operation unit judges whether to execute the brake procedure again according to the speed of the bicycle and the second set value.
The determining whether to execute the braking procedure according to the wheel speed and the first set value by the operation unit includes: when the arithmetic unit judges that the wheel speed is less than or equal to the first set value, the arithmetic unit executes the braking procedure, wherein in the braking procedure, a second sensor measures the deceleration of the vehicle body.
The brake judgment executed by the arithmetic unit according to the deceleration of the vehicle body and the deceleration set value comprises: when the deceleration of the vehicle body exceeds the set deceleration value, the arithmetic unit sends out the brake releasing instruction; and when the deceleration of the vehicle body does not exceed the set deceleration value, the arithmetic unit sends out the brake maintaining instruction.
The step of judging whether to execute the braking procedure again by the operation unit according to the speed of the bicycle and the second set value comprises the step of returning to execute the braking procedure again when judging that the speed of the bicycle is greater than the second set value.
According to an embodiment of the present invention, an anti-lock brake control system for a bicycle is disclosed, the anti-lock brake control system includes an arithmetic unit, a first sensor and a second sensor. The arithmetic unit is used for judging whether the brake of the bicycle is actuated or released by a driver and executing a brake braking program. The first sensor is electrically connected with the operation unit and used for sensing the wheel speed of the bicycle when the brake is actuated, so that the operation unit judges whether the wheel speed is less than or equal to a first set value to determine whether to execute a brake procedure. The second sensor is electrically connected with the operation unit and is used for sensing the deceleration of the bicycle body in the braking procedure when the wheel speed is less than or equal to the first set value, so that the operation unit judges that the braking judgment is executed when the deceleration of the bicycle body exceeds the set deceleration value. The operation unit is further used for judging whether the brake is released by the driver after the brake program is executed so as to further judge whether the speed of the bicycle is less than or equal to a second set value, and accordingly, whether the brake program is executed again is determined.
The operation unit is further used for executing the brake procedure again when the brake is judged not to be released by the driver and the speed of the bicycle is larger than the second set value.
The brake judgment includes a brake release command and a brake hold command.
The first sensor is a wheel speed sensor and the second sensor is an accelerometer.
In summary, in the anti-lock brake control method and system provided by the present invention, it is mainly determined whether the wheel speed is decreased to a set value, then the current deceleration of the vehicle body is detected by a sensor (e.g. an accelerometer), so that the computing unit determines whether the brake should be controlled to release the brake state or continue to maintain the brake state, and finally determines whether the vehicle speed is less than or equal to another set value, thereby determining whether to execute the brake control again. Therefore, the flexibility of wheel anti-lock braking of the bicycle can be effectively improved, the driving safety is improved, and unnecessary system electric energy loss is reduced.
The above description of the present invention and the following description of the embodiments are provided to illustrate and explain the spirit and principles of the present invention and to provide further explanation of the scope of the present invention.
Drawings
FIG. 1 is a functional block diagram of an anti-lock brake control system for a bicycle according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for controlling an anti-lock brake of a bicycle according to an embodiment of the present invention;
fig. 3 is a detailed method flowchart of an anti-lock brake control method for a bicycle according to an embodiment of the present invention.
[ description of reference ]
1 anti-lock brake control system
10 arithmetic unit
11 first sensor
12 second sensor
Detailed Description
The detailed features and advantages of the present invention are described in detail in the following embodiments, which are sufficient for one skilled in the art to understand the technical contents of the present invention and to implement the present invention, and the related objects and advantages of the present invention can be easily understood by those skilled in the art from the disclosure, the protection scope and the drawings of the present specification. The following examples further illustrate aspects of the invention in detail, but are not intended to limit the scope of the invention in any way.
Referring to fig. 1, fig. 1 is a functional block diagram of an anti-lock brake control system for a bicycle according to an embodiment of the present invention. As shown in fig. 1, the anti-lock brake control system 1 includes an arithmetic unit 10, a first sensor 11, and a second sensor 12. In practice, the anti-lock brake control system 1 can be mounted on the bicycle body and linked with the brake (not shown) of the bicycle, and the internal computing unit 10 is electrically connected with the first sensor 11 and the second sensor 12. In practice, the arithmetic unit 10 is mainly used to determine whether the brake of the bicycle is actuated by the driver. In more detail, the arithmetic unit 10 can mainly obtain an actuating signal of the handle pressed by the operator through a reed switch installed on the brake handle to determine whether the brake of the bicycle is actuated by the driver. In addition, if the bicycle is equipped with an oil braking system, the operation unit 10 can obtain the aforementioned actuation signal to determine the actuation signal mainly by means of a pressure switch arranged in the oil braking circuit. When the operation unit 10 determines that the driver actuates the brake of the bicycle, the first sensor 11 senses the wheel speed of the bicycle and transmits the wheel speed back to the operation unit 10, so that the operation unit 10 can determine whether the wheel speed is less than or equal to a first set value to determine whether to execute a braking procedure.
In one example, when the computing unit 10 determines that the wheel speed is less than or equal to the first set value, it determines to execute a braking process. In the braking process, the second sensor 12 senses the deceleration of the bicycle body and transmits the deceleration back to the operation unit 10. At this time, the operation unit 10 may perform a braking determination according to the deceleration of the vehicle body and a deceleration set value, wherein the braking determination includes a braking release command and a braking hold command.
Specifically, when the arithmetic unit 10 determines that the vehicle body decelerates beyond the deceleration set value, the executed brake is determined as a brake release command. On the contrary, when the arithmetic unit 10 determines that the vehicle body deceleration does not exceed the deceleration set value, the executed brake is determined as the brake hold command. More specifically, in the braking procedure, if it is determined that the deceleration of the bicycle body exceeds the deceleration set value, which represents that the deceleration degree of the bicycle is too large, the operation unit 10 will issue a braking release command to control the brake of the bicycle to release the braking state. Conversely, if it is determined that the deceleration of the bicycle body does not exceed the deceleration set value, which means that the deceleration degree of the bicycle is not too great, the computing unit 10 will issue a brake maintaining command to control the brake of the bicycle to continue to maintain the braking state. In another example, when the operation unit 10 determines that the wheel speed is greater than the first set value, it indicates that the bicycle is not approaching a slipping state, and therefore the operation unit 10 determines again whether the brake is actuated by the driver.
After the braking procedure is executed, the operation unit 10 determines whether the brake is released by the driver, so as to further determine whether the speed of the bicycle is less than or equal to the second set value, and accordingly determine whether to execute the braking procedure again. In detail, in one embodiment, when the operation unit 10 determines that the brake is not released by the driver, it is further determined whether the current speed of the bicycle is less than or equal to the second set value. The current vehicle speed can be obtained by the calculation unit 10 through conversion according to the current wheel speed, or can be obtained by directly measuring the vehicle body speed through another sensor. If the current vehicle speed is greater than the second set value, the operation unit 10 will execute the aforementioned braking procedure again. In practice, the computing unit 10 can be a processor with computing/determining functions, the first sensor 11 is a wheel speed sensor for sensing the rotation speed of a wheel (e.g. a front wheel) of the bicycle, and the second sensor 12 is an accelerometer (or called a gravity sensor) for sensing the acceleration of the bicycle body.
Referring to fig. 2, fig. 2 is a flowchart of a method for controlling an anti-lock brake of a bicycle according to an embodiment of the present invention. The anti-lock brake control method may be performed by the anti-lock brake control system 1 of fig. 1. As shown in fig. 2, in step S201, the arithmetic unit 10 determines whether the brake of the bicycle is actuated by the driver. In step S203, when it is determined that the brake is actuated by the driver, the first sensor 11 senses the wheel speed of the bicycle. In step S205, the operation unit 10 determines whether to execute a braking procedure according to the wheel speed and the first set value. Specifically, the computing unit 10 compares the wheel speed with a first set value and determines whether to execute a braking process according to the comparison result. In the braking procedure, the system obtains a body deceleration of the bicycle and executes a braking judgment according to the body deceleration and a deceleration set value. The flow steps of the braking procedure are further described in the following paragraphs, and are not repeated herein.
Next, in step S207, after the braking process is executed, the operation unit 10 determines whether the brake is released by the driver. In step S209, when it is determined that the brake is not released by the driver, the operation unit 10 determines whether to execute the braking procedure again according to the speed of the bicycle and the second setting value. That is, the operation unit 10 compares the vehicle speed with the second set value and determines whether to execute the braking process again according to the comparison result. If the speed of the bicycle is greater than the second set value, which indicates that the speed of the bicycle has not fallen below the safety value, the operation unit 10 will execute the aforementioned braking procedure again to avoid the bicycle slipping. On the contrary, if the speed of the bicycle is less than or equal to the second set value, it represents that the speed of the bicycle has dropped below the safety value and no slipping occurs, and at this time, the method flow of the anti-lock brake control method can be directly ended.
The invention determines whether to execute the braking procedure or not by comparing the wheel speed with the set value, when the wheel speed is lower than or equal to the set value, the bicycle is close to the slipping state, therefore, the system is triggered to execute the braking procedure, and the braking is judged according to the deceleration of the bicycle in time, namely, the braking is judged to be released or the braking state is continuously maintained. Therefore, the bicycle wheel can be effectively prevented from being locked and slipping, and the control mode can overcome the excessive electric energy consumption caused by the existing point release brake mechanism.
Referring to fig. 3, fig. 3 is a detailed method flowchart of an anti-lock brake control method for a bicycle according to an embodiment of the present invention. The anti-lock brake control method may be performed by the anti-lock brake control system 1 of fig. 1. Steps S301 and S303 of fig. 3 are similar to those shown in steps S201 and S203 of fig. 2. In step S301, the operation unit 10 determines whether the brake of the bicycle is actuated by the driver. When it is determined that the brake of the bicycle is actuated by the driver, in step S303, the wheel speed of the bicycle is sensed by the first sensor 11.
The step of determining whether to execute the braking process by the computing unit 10 according to the wheel speed and the first set value in step S205 of fig. 2 includes step S305 of fig. 3, where the computing unit 10 determines whether the wheel speed of the bicycle is less than or equal to the first set value. When the operation unit 10 determines that the wheel speed is less than or equal to the first set value, the operation unit 10 executes a braking process, as shown in step S307. The brake braking process shown in step S307 includes steps S3071 to S3074.
In step S3071, the vehicle body deceleration is measured by the second sensor 12. In step S3072, the arithmetic unit 10 determines whether or not the vehicle body deceleration exceeds a deceleration set value. If the deceleration of the vehicle body exceeds the deceleration set value, the arithmetic unit 10 issues a brake release command to control the brake to release the braking state in step S3073. If the deceleration of the vehicle body does not exceed the set deceleration value, the operation unit 10 issues a brake hold command to control the brake to continue to hold the braking state in step S3074.
Similar to step S207 of fig. 2, after the braking process is completed, in step S309 of fig. 3, the operation unit 10 determines whether the brake is released by the driver. In step S311, the speed of the bicycle is measured. In practice, the speed of the bicycle can be obtained by calculating the wheel speed measured by the first sensor 11 through the calculating unit 10, or by directly measuring the wheel speed by another speed sensor. The step S313 of FIG. 3 is included in the step S209 of FIG. 2, wherein the determining by the computing unit 10 whether to execute the brake application again according to the speed of the bicycle and the second set value by the computing unit 10 determines whether the speed of the bicycle is less than or equal to the second set value by the computing unit 10. When the bicycle speed is determined to be greater than the second set value, the operation unit 10 executes the braking process again. Otherwise, the method flow of the anti-lock brake control method is directly ended.
In summary, in the anti-lock brake control method and system provided by the present invention, it is mainly determined whether the wheel speed is decreased to a set value, then the current deceleration of the vehicle body is detected by a sensor (e.g. an accelerometer), so that the computing unit determines whether the brake should be controlled to release the brake state or continue to maintain the brake state, and finally determines whether the vehicle speed is less than or equal to another set value, thereby determining whether to execute the brake control again. Therefore, the flexibility of wheel anti-lock braking of the bicycle can be effectively improved, the driving safety is improved, and unnecessary system electric energy loss is reduced.
Claims (3)
1. An anti-lock brake control method is suitable for a bicycle, and is characterized by comprising the following steps:
judging whether a brake of the bicycle is actuated by a driver by an arithmetic unit;
when the brake is judged to be actuated by a driver, a first sensor is used for sensing the wheel speed of the bicycle;
the operation unit is used for judging whether to execute a brake procedure according to the wheel speed and a first set value, wherein when the operation unit judges that the wheel speed is less than or equal to the first set value, the operation unit is used for executing the brake procedure, and the brake procedure comprises the following steps:
measuring a body deceleration of the bicycle with a second sensor; and
executing a brake judgment by the arithmetic unit according to the deceleration of the vehicle body and a deceleration set value, wherein the brake judgment comprises a brake release instruction and a brake holding instruction, and when the deceleration of the vehicle body exceeds the deceleration set value, the arithmetic unit sends the brake release instruction; when the deceleration of the vehicle body does not exceed the set deceleration value, the arithmetic unit sends out the brake holding instruction;
after the brake braking program is executed, the arithmetic unit is used for judging whether the brake is released by a driver; and
when the brake is not released by the driver, the operation unit judges whether to execute the brake program again according to a speed of the bicycle and a second set value, and when the speed is larger than the second set value, the step of executing the brake program again is returned.
2. The utility model provides an anti-lock brake control system, is applicable to a bicycle, its characterized in that, this anti-lock brake control system contains:
the computing unit is used for judging that a brake of the bicycle is actuated or released by a driver and executing a brake program;
the first sensor is used for sensing a wheel speed of the bicycle when the brake is actuated, so that the arithmetic unit judges whether the wheel speed is less than or equal to a first set value to determine whether to execute the brake program; and
the second sensor is used for sensing the deceleration of a bicycle body of the bicycle in the brake procedure when the wheel speed is less than or equal to the first set value, so that the operation unit executes a brake judgment according to the deceleration of the bicycle body and a deceleration set value, the brake judgment comprises a brake release instruction and a brake holding instruction, and when the deceleration of the bicycle body exceeds the deceleration set value, the operation unit sends the brake release instruction; and when the deceleration of the vehicle body does not exceed the set deceleration value, the arithmetic unit sends out the brake holding instruction;
when the operation unit judges that the wheel speed is less than or equal to the first set value, the operation unit executes the brake program, the operation unit is further used for judging whether the brake is released by a driver after the brake program is executed so as to further judge whether the wheel speed of the bicycle is less than or equal to a second set value, and accordingly whether the brake program is executed again is determined, and when the brake is not released by the driver and the wheel speed of the bicycle is larger than the second set value, the operation unit executes the brake program again.
3. The anti-lock brake control system as recited in claim 2, wherein the first sensor is a wheel speed sensor and the second sensor is an accelerometer.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW107134315A TWI663093B (en) | 2018-09-28 | 2018-09-28 | Control mehotd for anti-lock braking and anti-lock braking control system |
| TW107134315 | 2018-09-28 |
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| Publication Number | Publication Date |
|---|---|
| CN110962985A CN110962985A (en) | 2020-04-07 |
| CN110962985B true CN110962985B (en) | 2021-03-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910475520.0A Active CN110962985B (en) | 2018-09-28 | 2019-06-03 | Anti-lock brake control method and system |
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| TW (1) | TWI663093B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI707799B (en) * | 2020-03-27 | 2020-10-21 | 彥豪金屬工業股份有限公司 | Control method for bicycle anti-lock brake device and anti-lock brake assembly for bicycle |
| DE102021127198B3 (en) | 2021-10-20 | 2023-02-23 | Joy Industrial (Shenzhen) Co., Ltd. | Method of operating a bicycle anti-lock system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001347981A (en) * | 2000-06-08 | 2001-12-18 | Yukihiro Kitazawa | Automatic bicycle brake |
| CN102120446A (en) * | 2011-03-02 | 2011-07-13 | 重庆邮电大学 | Vehicle ABS control method suitable for various road conditions |
| CN102343900A (en) * | 2010-07-28 | 2012-02-08 | 罗伯特·博世有限公司 | Brake device with active brake force limit and double-wheel vehicle equipped therewith |
| JP2014008886A (en) * | 2012-06-29 | 2014-01-20 | Advics Co Ltd | Vehicle stability control device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6209144B2 (en) * | 2014-09-16 | 2017-10-04 | 本田技研工業株式会社 | Vehicle control system |
| JP6420199B2 (en) * | 2015-04-28 | 2018-11-07 | 株式会社シマノ | Bicycle equipment |
| JP6692313B2 (en) * | 2017-03-14 | 2020-05-13 | 日信工業株式会社 | Brake control device for bar handle vehicle |
-
2018
- 2018-09-28 TW TW107134315A patent/TWI663093B/en active
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2019
- 2019-06-03 CN CN201910475520.0A patent/CN110962985B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001347981A (en) * | 2000-06-08 | 2001-12-18 | Yukihiro Kitazawa | Automatic bicycle brake |
| CN102343900A (en) * | 2010-07-28 | 2012-02-08 | 罗伯特·博世有限公司 | Brake device with active brake force limit and double-wheel vehicle equipped therewith |
| CN102120446A (en) * | 2011-03-02 | 2011-07-13 | 重庆邮电大学 | Vehicle ABS control method suitable for various road conditions |
| JP2014008886A (en) * | 2012-06-29 | 2014-01-20 | Advics Co Ltd | Vehicle stability control device |
Also Published As
| Publication number | Publication date |
|---|---|
| TW202012239A (en) | 2020-04-01 |
| CN110962985A (en) | 2020-04-07 |
| TWI663093B (en) | 2019-06-21 |
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