CN111458157B - Test system and method for obtaining braking performance parameters of braking system - Google Patents
Test system and method for obtaining braking performance parameters of braking system Download PDFInfo
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- CN111458157B CN111458157B CN202010289765.7A CN202010289765A CN111458157B CN 111458157 B CN111458157 B CN 111458157B CN 202010289765 A CN202010289765 A CN 202010289765A CN 111458157 B CN111458157 B CN 111458157B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/14—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of gyroscopes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention discloses a test system and a method for obtaining braking performance parameters of a braking system, wherein the test system comprises an upper computer, 4 air pressure sensors, 4 wheel speed sensors, a GPS module, a gyroscope and a data acquisition device; the beneficial technical effects of the invention are as follows: the scheme can obtain the brake performance parameters of the corresponding brake system, and finally the brake control precision of the intelligent driving system can be improved.
Description
Technical Field
The invention relates to an intelligent driving technology of a heavy-duty car, in particular to a test system and a test method for obtaining braking performance parameters of a braking system.
Background
With the continuous expansion of application scenes, the requirement of the industry on the parking precision of the intelligent heavy truck is higher and higher; in order to further improve the parking precision of the intelligent heavy truck, the brake control parameters of the intelligent driving system of the heavy truck need to be researched and optimized, but corresponding research means is lacked in the prior art.
Disclosure of Invention
Aiming at the problems in the background art, the invention provides a test system for obtaining braking performance parameters of a braking system, which is innovative in that: the test system comprises an upper computer, 4 air pressure sensors, 4 wheel speed sensors, a GPS module, a gyroscope and a data acquisition device;
the gyroscope in the test system is arranged on the trailer, and the rest components in the test system are arranged on the tractor (the test object in the scheme is the whole vehicle formed by the tractor and the trailer);
the tractor is provided with an intelligent driving controller, an electric control braking system and a pneumatic braking system (the electric control braking system and the pneumatic braking system are both standard configurations on the existing heavy-duty car); the control part of the electric control brake system is electrically connected with the intelligent driving controller; the control part of the air braking system is electrically connected with the intelligent driving controller;
the upper computer is electrically connected with the intelligent driving controller, and the upper computer can control the electric control braking system and the air pressure braking system to perform braking operation through the intelligent driving controller;
the upper computer, the air pressure sensor, the wheel speed sensor, the GPS module, the gyroscope and the intelligent driving controller are all connected with the data acquisition device;
the 4 air pressure sensors are respectively used for detecting air pressure data of the 4 chambers; the 4 chambers are: two diaphragm air chambers corresponding to a front axle of the tractor and two diaphragm spring air chambers corresponding to a rear axle of the tractor; the data acquisition device can transmit the air pressure data acquired by the air pressure sensor to the upper computer in real time;
the 4 wheel speed sensors are respectively used for detecting the rotating speed data of 4 wheels; the 4 wheels are: two wheels corresponding to the front axle of the tractor and two wheels corresponding to the rear axle of the tractor; the data acquisition device can transmit the rotating speed data acquired by the wheel speed sensor to the upper computer in real time;
the gyroscope is used for acquiring acceleration data; the data acquisition device can transmit the acceleration data acquired by the gyroscope to the upper computer in real time;
the GPS module is used for acquiring position data of the tractor; the data acquisition device can transmit the position data acquired by the GPS module to the upper computer in real time;
when the intelligent driving controller controls the electric control braking system and the air pressure braking system to brake, the data acquisition device can sample the control instruction output by the intelligent driving controller and transmit the sampled data to the upper computer in real time.
The principle of the invention is as follows: when the heavy-duty automobile is assembled, the braking performance parameters of different heavy-duty automobile braking systems have differences due to the influences of factors such as hardware, an assembly process, assembly errors and the like, and the control precision of the automobile is deteriorated if uniform braking control parameters are adopted during intelligent driving, so that different braking control parameters need to be set for the intelligent driving systems of different heavy-duty automobiles; after the scheme of the invention is adopted, the braking performance parameters of the corresponding heavy-duty car braking system can be obtained through tests, and when the intelligent driving system is applied in the later period, the intelligent driving system performs braking control on the heavy-duty car according to the obtained braking performance parameters, so that the accuracy and the stability of the braking control can be effectively improved.
The upper computer, the air pressure sensor, the wheel speed sensor and the data acquisition device in the hardware only play a role during testing, and can be detached from the vehicle after the testing is finished; during subsequent application, an intelligent driving system is arranged on the vehicle (after the data acquisition device is detached, the GPS module and the gyroscope are both connected to the intelligent driving system), and the intelligent driving controller is controlled by the intelligent driving system; the intelligent driving controller has functions similar to those of the conventional ECU, and certainly has functions which are not possessed by the conventional ECU in order to be matched with a subsequently installed intelligent driving system.
Based on the scheme, the invention also provides a method for acquiring the braking performance parameters of the braking system, and the related hardware is as described above; the specific method comprises the following steps:
recording the target braking initial speed of the intelligent driving system of the heavy truck as A speed, wherein 0< A; the corresponding test speed is recorded as speed B, and B = A + 5; the unit of the speed A and the unit of the speed B are kilometers per hour; in the test process, the intelligent driving controller sends the vehicle information to the upper computer in real time; before the test is started, the tractor is in a stop state; after the test is started, the driver controls the tractor to accelerate; when the vehicle speed reaches the speed B, the upper computer sends a braking command to the intelligent driving controller; when a braking command is received, the intelligent driving controller controls the electric control braking system and the air pressure braking system to perform braking operation, and when the speed of the tractor is reduced to 0, the test operation is finished;
obtaining a braking distance parameter, a braking deceleration parameter, a delay time parameter, a pressure building time parameter, a braking overshoot parameter and a steady state error parameter according to data obtained in the test process;
the braking distance parameters are as follows: the distance traveled by the tractor in the process of reducing the speed of the tractor from the speed B to the speed A; the braking distance parameter is obtained by calculation according to the position data acquired by the GPS module;
the braking deceleration parameters are as follows: the average braking deceleration of the tractor when the speed of the tractor is reduced from the speed B to the speed A; calculating the average braking deceleration parameter according to the acceleration data acquired by the gyroscope and the rotating speed data acquired by the wheel speed sensor;
the delay time parameters are as follows: time from time t0 to time t 1; the time t0 is the time when the intelligent driving controller outputs a control command; the time t1 is the time when the air pressure data changes;
the pressure build-up time parameters are as follows: time from time t0 to time t 2; the time t2 is the time when the instantaneous braking deceleration received by the tractor reaches a set value;
the brake overshoot parameters are as follows: in the braking process, the difference value between the maximum braking deceleration borne by the tractor and a set value;
the steady state error parameters are: the difference between the set value and the steady state value of the instantaneous brake deceleration.
The beneficial technical effects of the invention are as follows: the scheme can obtain the brake performance parameters of the corresponding brake system, and finally the brake control precision of the intelligent driving system can be improved.
Drawings
FIG. 1 is a schematic diagram of a test system of the present invention;
FIG. 2 is a schematic diagram showing the relationship between the delay time parameter, the build-up time parameter, the brake overshoot parameter, and the steady state error parameter;
the names corresponding to each mark in the figure are respectively: the intelligent driving system comprises an upper computer 1, an intelligent driving controller 2, an electric control braking system 3, a pneumatic braking system 4, a pneumatic sensor 5, a wheel speed sensor 6, a GPS module 7, a gyroscope 8 and a data acquisition device 9.
Detailed Description
A test system for obtaining braking performance parameters of a braking system is innovative in that: the test system comprises an upper computer 1, 4 air pressure sensors 5, 4 wheel speed sensors 6, a GPS module 7, a gyroscope 8 and a data acquisition device 9;
a gyroscope 8 in the test system is arranged on the trailer, and other components in the test system are arranged on the tractor;
the tractor is provided with an intelligent driving controller 2, an electric control braking system 3 and a pneumatic braking system 4; the control part of the electric control brake system 3 is electrically connected with the intelligent driving controller 2; the control part of the air braking system 4 is electrically connected with the intelligent driving controller 2;
the upper computer 1 is electrically connected with the intelligent driving controller 2, and the upper computer 1 can control the electric control braking system 3 and the pneumatic braking system 4 to perform braking operation through the intelligent driving controller 2;
the upper computer 1, the air pressure sensor 5, the wheel speed sensor 6, the GPS module 7, the gyroscope 8 and the intelligent driving controller 2 are all connected with a data acquisition device 9;
the 4 air pressure sensors 5 are respectively used for detecting air pressure data of 4 chambers; the 4 chambers are: two diaphragm air chambers corresponding to a front axle of the tractor and two diaphragm spring air chambers corresponding to a rear axle of the tractor; the data acquisition device 9 can transmit the air pressure data acquired by the air pressure sensor 5 to the upper computer 1 in real time;
the 4 wheel speed sensors 6 are respectively used for detecting the rotating speed data of 4 wheels; the 4 wheels are: two wheels corresponding to the front axle of the tractor and two wheels corresponding to the rear axle of the tractor; the data acquisition device 9 can transmit the rotating speed data acquired by the wheel speed sensor 6 to the upper computer 1 in real time;
the gyroscope 8 is used for acquiring acceleration data; the data acquisition device 9 can transmit the acceleration data acquired by the gyroscope 8 to the upper computer 1 in real time;
the GPS module 7 is used for acquiring position data of the tractor; the data acquisition device 9 can transmit the position data acquired by the GPS module 7 to the upper computer 1 in real time;
when the intelligent driving controller 2 controls the electric control brake system 3 and the pneumatic brake system 4 to perform braking operation, the data acquisition device 9 can sample the control instruction output by the intelligent driving controller 2 and transmit the sampled data to the upper computer 1 in real time.
A method of obtaining a brake performance parameter of a brake system, the hardware involved comprising: the device comprises an upper computer 1, 4 air pressure sensors 5, 4 wheel speed sensors 6, a GPS module 7, a gyroscope 8 and a data acquisition device 9;
a gyroscope 8 in the test system is arranged on the trailer, and other components in the test system are arranged on the tractor;
the tractor is provided with an intelligent driving controller 2, an electric control braking system 3 and a pneumatic braking system 4; the control part of the electric control brake system 3 is electrically connected with the intelligent driving controller 2; the control part of the air braking system 4 is electrically connected with the intelligent driving controller 2;
the upper computer 1 is electrically connected with the intelligent driving controller 2, and the upper computer 1 can control the electric control braking system 3 and the pneumatic braking system 4 to perform braking operation through the intelligent driving controller 2;
the upper computer 1, the air pressure sensor 5, the wheel speed sensor 6, the GPS module 7, the gyroscope 8 and the intelligent driving controller 2 are all connected with a data acquisition device 9;
the 4 air pressure sensors 5 are respectively used for detecting air pressure data of 4 chambers; the 4 chambers are: two diaphragm air chambers corresponding to a front axle of the tractor and two diaphragm spring air chambers corresponding to a rear axle of the tractor; the data acquisition device 9 can transmit the air pressure data acquired by the air pressure sensor 5 to the upper computer 1 in real time;
the 4 wheel speed sensors 6 are respectively used for detecting the rotating speed data of 4 wheels; the 4 wheels are: two wheels corresponding to the front axle of the tractor and two wheels corresponding to the rear axle of the tractor; the data acquisition device 9 can transmit the rotating speed data acquired by the wheel speed sensor 6 to the upper computer 1 in real time;
the gyroscope 8 is used for acquiring acceleration data; the data acquisition device 9 can transmit the acceleration data acquired by the gyroscope 8 to the upper computer 1 in real time;
the GPS module 7 is used for acquiring position data of the tractor; the data acquisition device 9 can transmit the position data acquired by the GPS module 7 to the upper computer 1 in real time;
when the intelligent driving controller 2 controls the electric control brake system 3 and the pneumatic brake system 4 to perform brake operation, the data acquisition device 9 can sample a control instruction output by the intelligent driving controller 2 and transmit data obtained by sampling to the upper computer 1 in real time;
the innovation lies in that: the method comprises the following steps:
recording the target braking initial speed of the intelligent driving system of the heavy truck as A speed, wherein 0< A; the corresponding test speed is recorded as speed B, and B = A + 5; the unit of the speed A and the unit of the speed B are kilometers per hour; in the test process, the intelligent driving controller 2 sends the vehicle information to the upper computer 1 in real time; before the test is started, the tractor is in a stop state; after the test is started, the driver controls the tractor to accelerate; when the vehicle speed reaches the speed B (the driver synchronously stops operating), the upper computer 1 sends a braking command to the intelligent driving controller 2; when a braking command is received, the intelligent driving controller 2 controls the electric control braking system 3 and the pneumatic braking system 4 to perform braking operation, and when the speed of the tractor is reduced to 0, the test operation is finished;
obtaining a braking distance parameter, a braking deceleration parameter, a delay time parameter, a pressure building time parameter, a braking overshoot parameter and a steady state error parameter according to data obtained in the test process;
the braking distance parameters are as follows: the distance traveled by the tractor in the process of reducing the speed of the tractor from the speed B to the speed A; the braking distance parameter is obtained by calculation according to the position data acquired by the GPS module 7;
the braking deceleration parameters are as follows: the average braking deceleration of the tractor when the speed of the tractor is reduced from the speed B to the speed A; the average braking deceleration parameter is obtained by calculation according to the acceleration data acquired by the gyroscope 8 and the rotating speed data acquired by the wheel speed sensor 6;
the delay time parameters are as follows: time from time t0 to time t 1; the time t0 is the time when the intelligent driving controller 2 outputs the control command; the time t1 is the time when the air pressure data changes;
the pressure build-up time parameters are as follows: time from time t0 to time t 2; the time t2 is the time when the instantaneous braking deceleration received by the tractor reaches a set value;
the brake overshoot parameters are as follows: in the braking process, the difference value between the maximum braking deceleration borne by the tractor and a set value;
the steady state error parameters are: the difference between the set value and the steady state value of the instantaneous brake deceleration.
In specific implementation, the braking parameters of the vehicle in different speed states can be obtained by setting different speeds A and carrying out multiple tests.
Claims (1)
1. A method of obtaining a brake performance parameter of a brake system, the hardware involved comprising: the device comprises an upper computer (1), 4 air pressure sensors (5), 4 wheel speed sensors (6), a GPS module (7), a gyroscope (8) and a data acquisition device (9);
the gyroscope (8) is arranged on the trailer, and the rest components are arranged on the tractor;
the tractor is provided with an intelligent driving controller (2), an electric control braking system (3) and an air pressure braking system (4); the control part of the electric control brake system (3) is electrically connected with the intelligent driving controller (2); the control part of the air braking system (4) is electrically connected with the intelligent driving controller (2);
the upper computer (1) is electrically connected with the intelligent driving controller (2), and the upper computer (1) can control the electric control braking system (3) and the pneumatic braking system (4) to perform braking operation through the intelligent driving controller (2);
the upper computer (1), the air pressure sensor (5), the wheel speed sensor (6), the GPS module (7), the gyroscope (8) and the intelligent driving controller (2) are all connected with a data acquisition device (9);
the 4 air pressure sensors (5) are respectively used for detecting air pressure data of the 4 chambers; the 4 chambers are: two diaphragm air chambers corresponding to a front axle of the tractor and two diaphragm spring air chambers corresponding to a rear axle of the tractor; the data acquisition device (9) can transmit the air pressure data acquired by the air pressure sensor (5) to the upper computer (1) in real time;
the 4 wheel speed sensors (6) are respectively used for detecting the rotating speed data of 4 wheels; the 4 wheels are: two wheels corresponding to the front axle of the tractor and two wheels corresponding to the rear axle of the tractor; the data acquisition device (9) can transmit the rotating speed data acquired by the wheel speed sensor (6) to the upper computer (1) in real time;
the gyroscope (8) is used for acquiring acceleration data; the data acquisition device (9) can transmit the acceleration data acquired by the gyroscope (8) to the upper computer (1) in real time;
the GPS module (7) is used for acquiring position data of the tractor; the data acquisition device (9) can transmit the position data acquired by the GPS module (7) to the upper computer (1) in real time;
when the intelligent driving controller (2) controls the electric control brake system (3) and the pneumatic brake system (4) to brake, the data acquisition device (9) can sample a control instruction output by the intelligent driving controller (2) and transmit the sampled data to the upper computer (1) in real time;
the method is characterized in that: the method comprises the following steps:
recording the target braking initial speed of the intelligent driving system of the heavy truck as A speed, wherein 0< A; the corresponding test speed is recorded as speed B, and B = A + 5; the unit of the speed A and the unit of the speed B are kilometers per hour; in the test process, the intelligent driving controller (2) sends the vehicle information to the upper computer (1) in real time; before the test is started, the tractor is in a stop state; after the test is started, the driver controls the tractor to accelerate; when the vehicle speed reaches the speed B, the upper computer (1) sends a braking command to the intelligent driving controller (2); when a braking command is received, the intelligent driving controller (2) controls the electric control braking system (3) and the pneumatic braking system (4) to perform braking operation, and when the speed of the tractor is reduced to 0, the test operation is finished;
obtaining a braking distance parameter, a braking deceleration parameter, a delay time parameter, a pressure building time parameter, a braking overshoot parameter and a steady state error parameter according to data obtained in the test process;
the braking distance parameters are as follows: the distance traveled by the tractor in the process of reducing the speed of the tractor from the speed B to the speed A; the braking distance parameter is obtained by calculation according to the position data acquired by the GPS module (7);
the braking deceleration parameters are as follows: the average braking deceleration of the tractor when the speed of the tractor is reduced from the speed B to the speed A; the average braking deceleration parameter is obtained by calculation according to the acceleration data acquired by the gyroscope (8) and the rotating speed data acquired by the wheel speed sensor (6);
the delay time parameters are as follows: time from time t0 to time t 1; the time t0 is the time when the intelligent driving controller (2) outputs a control command; the time t1 is the time when the air pressure data changes;
the pressure build-up time parameters are as follows: time from time t0 to time t 2; the time t2 is the time when the instantaneous braking deceleration received by the tractor reaches a set value;
the brake overshoot parameters are as follows: in the braking process, the difference value between the maximum braking deceleration borne by the tractor and a set value;
the steady state error parameters are: the difference between the set value and the steady state value of the instantaneous brake deceleration.
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| CN202010289765.7A CN111458157B (en) | 2020-04-14 | 2020-04-14 | Test system and method for obtaining braking performance parameters of braking system |
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| CN202010289765.7A CN111458157B (en) | 2020-04-14 | 2020-04-14 | Test system and method for obtaining braking performance parameters of braking system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112698051B (en) * | 2021-03-23 | 2021-06-18 | 天津所托瑞安汽车科技有限公司 | Vehicle speed determination method and device, equipment and medium |
| CN116973131B (en) * | 2023-09-14 | 2023-12-08 | 山东梁山华宇集团汽车制造有限公司 | Test method and system for acquiring braking performance parameters of braking system |
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| CN110879154A (en) * | 2019-11-28 | 2020-03-13 | 安徽江淮汽车集团股份有限公司 | System and method for testing performance of automatic braking system |
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| DE102010026411A1 (en) * | 2010-07-07 | 2012-01-12 | Man Truck & Bus Ag | Method and device for carrying out a brake test on trailer and / or semitrailer vehicles |
| KR101728683B1 (en) * | 2015-12-18 | 2017-04-21 | 금호타이어 주식회사 | device for testing wet grip of tire |
| CN109187041B (en) * | 2018-07-19 | 2020-03-06 | 山东省科学院自动化研究所 | Unmanned vehicle universal platform and method for automatic driving test |
| CN110160801A (en) * | 2019-05-06 | 2019-08-23 | 中国汽车技术研究中心有限公司 | A kind of semitrailer air-pressure brake performance actual road test system |
| CN110785718B (en) * | 2019-09-29 | 2021-11-02 | 驭势科技（北京）有限公司 | Vehicle-mounted automatic driving test system and test method |
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|---|---|---|---|---|
| SU706268A1 (en) * | 1978-05-03 | 1979-12-30 | Московский Лесотехнический Институт | Stand for testing vehicle braking parameters |
| CN2925986Y (en) * | 2006-06-20 | 2007-07-25 | 吉林大学 | Stabilized electronic controlling system for medium-heavy automobile |
| CN104458296A (en) * | 2015-01-08 | 2015-03-25 | 青岛四方车辆研究所有限公司 | Detection system for city railway train braking performance |
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Address after: 401122 No.1, huanghuan North Road, Jinshan Avenue, northern New District, Yubei District, Chongqing Patentee after: SAIC Hongyan Automobile Co.,Ltd. Address before: 401122 No.1, huanghuan North Road, Jinshan Avenue, northern New District, Yubei District, Chongqing Patentee before: SAIC-IVECO HONGYAN commercial Vehicle Co.,Ltd. |
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