CN113740073A - Detection method and device for wheel type vehicle during slope parking and vehicle sliding - Google Patents
Detection method and device for wheel type vehicle during slope parking and vehicle sliding Download PDFInfo
- Publication number
- CN113740073A CN113740073A CN202110952746.2A CN202110952746A CN113740073A CN 113740073 A CN113740073 A CN 113740073A CN 202110952746 A CN202110952746 A CN 202110952746A CN 113740073 A CN113740073 A CN 113740073A
- Authority
- CN
- China
- Prior art keywords
- slope
- vehicle
- parking
- wheel
- parked
- Prior art date
- 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.)
- Granted
Links
Images
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a method and a device for detecting whether a wheeled vehicle is parked on a slope or not. The detection method for the wheel type vehicle to slide on the slope comprises the following steps: firstly, carrying out test preparation on a wheeled vehicle before detection; parking the wheeled vehicle according to a national standard method; before releasing the brake pedal, resetting the instrument and initializing the angle; fourthly, loosening the brake to start slope parking and recording data; and fifthly, calculating the slope slipping distance according to the data recorded in the fourth step so as to judge the slope slipping form. The detection device comprises a connecting disc, a slip ring, a vertical fixing plate, a vertical sliding rod and an acquisition processor; the parking wheel and the non-parking wheel are connected with the slip ring through the connecting disc; a sensor is arranged on the slip ring; the vertical sliding rod is in sliding fit with the vertical fixing plate; the sensor is connected with the acquisition processor; the processor is connected with the display. The invention can judge the slope sliding form of the vehicle and calculate the corresponding vehicle sliding distance, and can be applied to the fields of limit parking tests, parking performance detection, chassis electric control calibration and the like.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and a device for detecting whether a wheeled vehicle is parked on a slope or sliding.
Background
At present, the automobile products in the market are kept in a large quantity, and the slope-holding function is used very frequently by users in daily driving, particularly in mountainous areas. When the vehicle is parked on a slope with different slopes and attachment conditions, vehicle collision and even personnel injury can be caused if the vehicle slides. The driving safety can be seriously threatened by the unqualified parking brake performance of the vehicle. It is very important to develop a safe and intelligent vehicle parking system.
In the development and detection stage of the parking performance of the vehicle and the calibration stage of the electronic control of the chassis such as slope assistance, slope-parking tests under various working conditions are required to be carried out so as to fully cover the use condition of a user and verify the slope-parking capability of the vehicle. Typical passenger car hill holding engineering targets 30% grade ramps, and off-road and other specialty vehicles may be 40% or higher. Automobile manufacturers verify and test that ramps for slope parking are cement pavements, split pavements, low-adhesion pavements and the like. The parking performance of a vehicle is affected by various factors such as brake temperature, performance deterioration of friction plates, parking brake performance, road adhesion and the like. Therefore, the parking working conditions of the vehicle are complex and various, and the factors influencing the parking performance are more.
In a limit slope test of a vehicle and a slope test of a complex road surface, slope slipping often occurs, the suspension stroke of a general off-road vehicle is long, and when the service brake is released after parking (the service brake wheel provides brake force to the vehicle and the parking brake wheel provides brake force), the passenger has the illusion that the vehicle slips down along with the obvious telescopic change of the front and rear suspensions of the vehicle.
A test method for the slope performance of a vehicle refers to 7.3.19 pieces of parking brake performance in GB 21670-2008 passenger vehicle brake system technical requirements and test methods by general automobile manufacturers, namely, the vehicle drives into a test slope after test preparation, the vehicle is stopped on the slope by driving brake, then the vehicle is parked, the vehicle sliding condition is checked within more than 5min, and the uphill slope and the downhill slope need to be detected. The slope slipping after the parking is performed has two forms, namely the slope slipping caused by dragging of the parking wheel (insufficient adhesive force of the parking wheel) and the slope slipping caused by rotation of the parking wheel (insufficient braking force of a parking brake), and sometimes the two forms exist simultaneously.
When the vehicle is analyzed for the problem of slope slipping, if the vehicle is in a dragging and slipping mode, the attachment condition of the parked wheel needs to be improved, such as the performance or the mass center position of the tire is improved; if the brake is in a rotary form, the braking force of the parking brake, such as the clamping force of the brake caliper, needs to be increased. Only by accurately judging the slope slipping form, research and development work can be pertinently carried out.
In the electronic control calibration stage of the chassis of the vehicle, such as the calibration work of the uphill starting assist (HHC) function, a detection device is needed, the parking state of the vehicle under each working condition is parameterized and is recorded in a time domain data form, so that the subsequent analysis and improvement are facilitated.
Therefore, in slope test of vehicles and electronic chassis calibration, an auxiliary system capable of automatically detecting, accurately distinguishing and measuring a slope slip is particularly needed, and research and application of a similar function system are not available at present.
Disclosure of Invention
The invention provides a method and a device for detecting whether a wheeled vehicle is parked on a slope or not, which are also suitable for simulating slope parking through a traction test and detecting the performance by analyzing the actual requirements in parking performance tests and chassis electronic control calibration work and summarizing the problem of slope sliding on the basis of slope parking tests of a large number of vehicle types. The market blank of the auxiliary system capable of automatically detecting, accurately distinguishing and measuring the slope slip at present is filled.
The technical scheme of the invention is described as follows by combining the attached drawings:
a detection method for detecting whether a wheeled vehicle is parked on a slope or not comprises the following steps:
firstly, carrying out test preparation on a wheeled vehicle before detection;
step two, parking the wheeled vehicle according to a national standard method;
before releasing the brake pedal, resetting the instrument and initializing the angle;
step four, loosening the brake to start slope parking and recording data; the data includes the turning angle alpha of the non-stationary wheels above 5 minutes on the uphill and downhill slopes of the vehicleIs not[i]Rolling radius R of non-parking wheelIs not[i]Angle of rotation alpha of parking wheelStanding still[i]Rolling radius R of parking wheelStanding still[i]；
And step five, calculating the slope slipping distance according to the data recorded in the step four, and judging the slope slipping form.
The specific method of the first step is as follows:
the test vehicle is full of tire pressure, and wheeled vehicle slope-parking and vehicle-sliding detection devices are mounted on the parking wheels and the non-parking wheels and are connected with the display.
The specific method of the second step is as follows:
the method comprises the following steps that a vehicle drives into a test ramp, the vehicle is stopped on the ramp through service braking, and then the vehicle is parked; when the vehicle is parked, the gear P can be engaged in neutral or forward gear.
And the step five, the landslide forms comprise a slip form landslide, a dragging slip form landslide and a mixed form landslide in which a slip form and a dragging slip form occur simultaneously.
The concrete method of the step five is as follows:
1) taking the rotation angle alpha of the non-parking wheel in the recorded dataIs not[i]Maximum value of (1), is noted as αIs not(ii) a Calculating the rolling radius R of a non-stationary wheelIs not[i]Mean value to obtain RIs not(ii) a Angle of rotation alpha of parking wheelStanding still[i]Maximum value of (1), is noted as αStanding still(ii) a Calculating the rolling radius R of the parked wheelStanding still[i]Mean value to obtain RStanding still；
2) Setting threshold value V of rotation angle of parked wheel and non-parked wheelStanding still、VIs not；
3) Calculating the slope sliding distance S of the vehicle in a mixed form of slip, drag and slideSlide slopeSliding distance S in the form of draggingDrag and slideSlip type slope distance SSliding rotor；
SDrag and slide＝SSlide slope-SSliding rotor；
4) If α isStanding still＞VStanding stillJudging the slope to be a slip form slope;
if SDrag and slideIf the slope is greater than 0, judging that the slope slides in a dragging and sliding mode;
if α isStanding still＞VStanding stillAnd SDrag and slideIf the slope is more than 0, the slope is judged to be a sliding slope and a sliding slope in a mixed mode of sliding, rolling and supporting
A wheel type vehicle detection device for detecting whether the vehicle runs on a slope or not is used for realizing a detection method for detecting whether the vehicle runs on a slope or not, and comprises a detection device for detecting whether the vehicle runs on a slope or not arranged on a parking wheel or not and a detection device for detecting whether the vehicle runs on a slope or not arranged on a non-parking wheel or not; the detection device for the vehicle sliding on the slope comprises a connecting disc 1, a slip ring 2, a vertical fixing plate 3, a vertical sliding rod 4 and an acquisition processor 5; the parking wheel and the non-parking wheel are connected with the slip ring 2 through the connecting disc 1; a sensor 6 is arranged on the slip ring 2; the vertical sliding rod 4 is in sliding fit with the vertical fixing plate 3; the sensor 6 is connected with the acquisition processor 5; the processor 5 is connected to a display 7.
The sensor 6 includes a height sensor and an angle sensor.
The vertical sliding rod 4 is arranged at the center of the wheel and is provided with a shell for fixing the angle sensor, and the axis of the angle sensor is fixed on the sliding ring 2 and rotates synchronously with the wheel.
The invention has the beneficial effects that:
1) the detection method for the wheel type vehicle to stay on the slope and slide can judge the form of the vehicle sliding on the slope and calculate the corresponding sliding distance;
2) the method and the device for detecting whether the wheeled vehicle is parked on the slope or not can be widely applied to general wheeled vehicles, and the safety of a limit slope parking test is greatly improved;
3) the result of the slope sliding distance measured by the wheel type vehicle slope parking and sliding detection method and device is accurate, and errors of manual measurement and interference of suspension compression can be eliminated; the time domain data of the parking state parameters can be synchronously analyzed with other calibration parameters of the vehicle;
4) the invention is a method for testing actual roads at the whole vehicle level, and the test device is simple and convenient to operate and automatic in measurement.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flowchart of a method for detecting whether a wheeled vehicle is parked on a slope or rolling away according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a method for detecting whether a wheeled vehicle is parked on a slope or not according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a force variation of a wheel along a slope when parking in a method for detecting whether a wheeled vehicle is parked on a slope or not according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a wheel-type vehicle hill-holding and rolling-down detection apparatus according to a second embodiment of the present invention;
in the figure:
1. a connecting disc; 2. a slip ring; 3. a vertical fixing plate; 4. a vertical sliding rod; 5. an acquisition processor; 6. a sensor; 7. a display.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1, a method for detecting whether a wheeled vehicle is parked on a slope or slipping comprises the following steps:
firstly, carrying out test preparation on a wheeled vehicle before detection; the method specifically comprises the following steps:
the test vehicle is loaded according to the full-load design load, is adjusted to be full-load tire pressure, and wheel type vehicle slope-parking and vehicle-sliding detection devices are arranged on the parking wheels and the non-parking wheels and are connected with the display 7.
Step two, parking the wheeled vehicle according to a national standard method;
the specific method of the second step is as follows:
the detection rule refers to 7.3.19 parking brake performance test methods in GB 21670-2008 technical requirements and test methods for passenger vehicle brake systems, namely, a vehicle drives into a test ramp, stops on the ramp through service brake, and then is parked; when the vehicle is parked, the gear P can be engaged in neutral or forward gear.
Before releasing the brake pedal, resetting the instrument and initializing the angle;
step four, loosening the brake to start slope parking and recording data; the data includes the turning angle alpha of the non-stationary wheels above 5 minutes on the uphill and downhill slopes of the vehicleIs not[i]Rolling radius R of non-parking wheelIs not[i]Angle of rotation alpha of parking wheelStanding still[i]Rolling radius R of parking wheelStanding still[i]；
And step five, calculating the slope slipping distance according to the data recorded in the step four, and judging the slope slipping form.
Referring to fig. 2, the slope slipping mode includes two modes, namely, dragging and sliding (insufficient adhesion of the parking wheel and relative road surface movement) of the parking wheel and rotating and slipping (insufficient braking force of the parking brake and relative brake movement) of the parking wheel, and sometimes the two modes exist simultaneously, namely, three slope slipping modes exist: the two forms of dragging and sliding slope and rotating slope exist simultaneously.
The schematic diagram of the small car parking on the slope is shown in fig. 2, which illustrates the parking process of the downhill. The following describes a calculation method for determining a slope slipping form according to the present invention, taking such a wheeled vehicle as an example.
1) Taking non-parked wheels from recorded dataAngle of rotation alphaIs not[i]Maximum value of (1), is noted as αIs notIn degrees; calculating the rolling radius R of a non-stationary wheelIs not[i]Mean value to obtain RIs notIn the unit of m; angle of rotation alpha of parking wheelStanding still[i]Maximum value of (1), is noted as αStanding stillIn degrees; calculating the rolling radius R of the parked wheelStanding still[i]Mean value to obtain RStanding stillIn the unit of m;
2) when the vehicle is parked on the slope, the stress of the wheels along the slope is changed, as shown in fig. 3, which causes the factors of tire deformation, suspension displacement, vehicle body bow effect and the like, and the threshold value V of the rotation angle of the parked wheel and the non-parked wheel is set by combining different hill-holding engineering targets of the wheeled vehicleStanding still、VIs notPassenger vehicle advice VStanding still、VIs notAre all less than 10 degrees;
3) calculating the slope sliding distance S of the vehicle in a mixed form of slip, drag and slideSlide slopeSliding distance S in the form of draggingDrag and slideSlip type slope distance SSliding rotor；
SDrag and slide＝SSlide slope-SSliding rotor；
4) If α isStanding still＞VStanding stillJudging the slope to be a slip form slope;
if SDrag and slideIf the slope is greater than 0, judging that the slope slides in a dragging and sliding mode;
if α isStanding still＞VStanding stillAnd SDrag and slideIf the slope is more than 0, the slope is judged to be a slope with a mixed slip and support slip form.
Example two
Referring to fig. 4, a wheeled vehicle detection device for detecting whether a wheeled vehicle is parked on a slope or not is used for realizing a detection method for detecting whether a wheeled vehicle is parked on a slope or not, and comprises a detection device for detecting whether a vehicle is parked on a slope or not and a detection device for detecting whether a vehicle is parked on a slope or not; the detection device for the vehicle sliding on the slope comprises a connecting disc 1, a sliding ring 2, a vertical fixing plate 3, a vertical sliding rod 4 and an acquisition processor 5.
The parking wheel and the non-parking wheel are connected with the slip ring 2 through the connecting disc 1; a sensor 6 is arranged on the slip ring 2; the vertical sliding rod 4 is in sliding fit with the vertical fixing plate 3; the sensor 6 is connected with the acquisition processor 5; the processor 5 is connected to a display 7. The vertical fixing plate 3 is fixed on the vehicle body so that the vertical sliding rod 4 is substantially perpendicular to the ground. The connecting disc 1 can be rectangular or polygonal in shape, the external dimension can be changed to adapt to various tire shapes, the fixing and installation are convenient, and the material can be aluminum alloy, steel and the like.
One end of the vertical sliding rod 4 fixes the initial position of the angle sensor, the vertical sliding rod 4 fixes the shell of the angle sensor at one section of the center of the wheel, and the axis of the angle sensor is fixed on the slip ring and rotates synchronously with the wheel.
The vertical sliding rod 4 can be properly changed according to the height difference of the vehicle body and the wheel center, and the material can be aluminum alloy, steel and the like.
The sensor 6 includes a height sensor and an angle sensor.
The height sensor is used for measuring the rolling radius, namely R, of a parking wheel and a non-parking wheelStanding still[i]And RIs not[i](ii) a When the vehicle is parked on a slope, the axle load is transferred, so that the rolling radius of the wheels of the front axle and the rear axle is changed.
The angle sensor is used for measuring the rotation angle alpha of a parking wheel and a non-parking wheelStanding still[i]And alphaIs not[i](ii) a The telescopic vertical fixing plate 3 and the vertical sliding rod 4 of the suspension frame slide relatively in the parking test.
The acquisition processor 5 is used to record the R transmitted by the height sensor and the angle sensorStanding still[i]、RIs not[i]、αStanding still[i]And alphaIs not[i]And calculating the slope sliding distance S of the vehicle in a mixed form of vehicle sliding and supporting slidingSlide slopeSliding distance S in the form of draggingDrag and slideSlip type slope distance SSliding rotorAnd outputs the result to the display 7.
In conclusion, the invention can judge the occurrence form of vehicle sliding on the slope and calculate the corresponding vehicle sliding distance, the result of the vehicle sliding distance is accurate, and the errors of manual measurement and the interference of suspension compression can be eliminated; and the device is widely suitable for general wheeled vehicles, and the safety of the limit slope-retaining test is greatly improved.
Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the scope of the present invention is not limited to the specific details of the above embodiments, and any person skilled in the art can substitute or change the technical solution of the present invention and its inventive concept within the technical scope of the present invention, and these simple modifications belong to the scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (8)
1. A detection method for detecting whether a wheeled vehicle is parked on a slope or not is characterized by comprising the following steps:
firstly, carrying out test preparation on a wheeled vehicle before detection;
step two, parking the wheeled vehicle according to a national standard method;
before releasing the brake pedal, resetting the instrument and initializing the angle;
step four, loosening the brake to start slope parking and recording data; the data includes the turning angle alpha of the non-stationary wheels above 5 minutes on the uphill and downhill slopes of the vehicleIs not[i]Rolling radius R of non-parking wheelIs not[i]Angle of rotation alpha of parking wheelStanding still[i]Rolling radius R of parking wheelStanding still[i]；
And step five, calculating the slope slipping distance according to the data recorded in the step four, and judging the slope slipping form.
2. The method for detecting whether the wheeled vehicle is parked on the slope and rolling away according to claim 1, wherein the specific method of the first step is as follows:
the test vehicle is full of tire pressure, and wheeled vehicle slope-parking and vehicle-sliding detection devices are mounted on the parking wheels and the non-parking wheels and are connected with the display.
3. The method for detecting whether the wheeled vehicle is parked on the slope and rolling away according to claim 1, wherein the specific method of the second step is as follows:
the method comprises the following steps that a vehicle drives into a test ramp, the vehicle is stopped on the ramp through service braking, and then the vehicle is parked; when the vehicle is parked, the gear P can be engaged in neutral or forward gear.
4. The method as claimed in claim 1, wherein the step five of landslide pattern comprises a slip pattern landslide, a trail slip pattern landslide and a hybrid pattern landslide in which a slip pattern and a trail slip pattern occur simultaneously.
5. The method for detecting whether the wheeled vehicle is parked on the slope and rolling away according to claim 4, wherein the concrete method of the fifth step is as follows:
1) taking the rotation angle alpha of the non-parking wheel in the recorded dataIs not[i]Maximum value of (1), is noted as αIs not(ii) a Calculating the rolling radius R of a non-stationary wheelIs not[i]Mean value to obtain RIs not(ii) a Angle of rotation alpha of parking wheelStanding still[i]Maximum value of (1), is noted as αStanding still(ii) a Calculating the rolling radius R of the parked wheelStanding still[i]Mean value to obtain RStanding still；
2) Setting threshold value V of rotation angle of parked wheel and non-parked wheelStanding still、VIs not；
3)Calculating the slope sliding distance S of the vehicle in a mixed form of slip, drag and slideSlide slopeSliding distance S in the form of draggingDrag and slideSlip type slope distance SSliding rotor；
SDrag and slide＝SSlide slope-SSliding rotor；
4) If α isStanding still＞VStanding stillJudging the slope to be a slip form slope;
if SDrag and slideIf the slope is greater than 0, judging that the slope slides in a dragging and sliding mode;
if α isStanding still＞VStanding stillAnd SDrag and slideIf the slope is more than 0, the slope is judged to be a slope with a mixed slip and support slip form.
6. A wheel type vehicle detection device for detecting whether a wheel type vehicle is parked on a slope or not is used for realizing a detection method for detecting whether the wheel type vehicle is parked on the slope or not, and is characterized by comprising a detection device for detecting whether the wheel type vehicle is parked on the slope or not and a detection device for detecting whether the wheel type vehicle is parked on the slope or not; the detection device for the vehicle sliding on the slope comprises a connecting disc (1), a sliding ring (2), a vertical fixing plate (3), a vertical sliding rod (4) and an acquisition processor (5); the parking wheel and the non-parking wheel are connected with the slip ring (2) through the connecting disc (1); a sensor (6) is arranged on the slip ring (2); the vertical sliding rod (4) is in sliding fit with the vertical fixing plate (3); the sensor (6) is connected with the acquisition processor (5); the processor (5) is connected with the display (7).
7. A wheeled vehicle uphill-rolling detection device according to claim 6, wherein the sensor (6) comprises a height sensor and an angle sensor.
8. A wheeled vehicle uphill and downhill detection device as claimed in claim 7, wherein the vertical sliding rod (4) is a housing for fixing an angle sensor at the center of the wheel, and the axis of the angle sensor is fixed on the sliding ring (2) and rotates synchronously with the wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110952746.2A CN113740073B (en) | 2021-08-19 | 2021-08-19 | Method and device for detecting sliding of wheeled vehicle on slope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110952746.2A CN113740073B (en) | 2021-08-19 | 2021-08-19 | Method and device for detecting sliding of wheeled vehicle on slope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113740073A true CN113740073A (en) | 2021-12-03 |
| CN113740073B CN113740073B (en) | 2023-09-26 |
Family
ID=78731762
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110952746.2A Active CN113740073B (en) | 2021-08-19 | 2021-08-19 | Method and device for detecting sliding of wheeled vehicle on slope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113740073B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115352457A (en) * | 2022-09-02 | 2022-11-18 | 潍柴动力股份有限公司 | Method for determining vehicle slip state, device thereof, processor and MCU |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE9700312D0 (en) * | 1996-02-03 | 1997-01-31 | Bosch Gmbh Robert | Method and apparatus for testing the braking system of a vehicle |
| JPH10260113A (en) * | 1997-03-17 | 1998-09-29 | Honda Motor Co Ltd | Inspection apparatus for braking force of wheel in vehicle |
| DE102007048811A1 (en) * | 2007-10-10 | 2009-04-16 | Continental Teves Ag & Co. Ohg | Method for controlling rolling away of vehicle, involves developing and maintaining retaining brake pressure in brake cylinder at wheel of vehicle, where retaining brake pressure is developed after specific time |
| WO2012019408A1 (en) * | 2010-08-13 | 2012-02-16 | 芜湖伯特利汽车安全系统有限公司 | Electronic parking brake system, assistant starting method thereof for motor vehicle |
| CN204286814U (en) * | 2014-12-15 | 2015-04-22 | 北汽福田汽车股份有限公司 | A kind of parking Detecting data |
| CN205352712U (en) * | 2016-02-26 | 2016-06-29 | 安徽农业大学 | Passenger car parking capability test device on commentaries on classics hub test bench |
| CN107063714A (en) * | 2017-04-28 | 2017-08-18 | 重庆长安汽车股份有限公司 | A kind of pure electric automobile P keeps off halting mechanism endurance test method |
| CN107340140A (en) * | 2016-11-15 | 2017-11-10 | 安徽江淮汽车集团股份有限公司 | Passenger car parking performance test methods and test system |
| CN206725234U (en) * | 2017-05-19 | 2017-12-08 | 北京新能源汽车股份有限公司 | A kind of vehicle anti-slide distance measurement tools |
| CN108896319A (en) * | 2018-07-02 | 2018-11-27 | 上汽通用汽车有限公司 | Vehicle test method, storage medium and the system of uphill starting miscellaneous function |
| CN112319439A (en) * | 2020-10-23 | 2021-02-05 | 中电海康集团有限公司 | GPS-based automatic braking method and system for slope slipping |
| CN113103881A (en) * | 2021-05-11 | 2021-07-13 | 清华大学苏州汽车研究院（吴江） | Self-adaptive driving anti-skid control method and system for electric automobile |
| CN113267347A (en) * | 2021-05-17 | 2021-08-17 | 阳光电源股份有限公司 | Method, device and system for testing slope-parking auxiliary function of electric automobile |
-
2021
- 2021-08-19 CN CN202110952746.2A patent/CN113740073B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE9700312D0 (en) * | 1996-02-03 | 1997-01-31 | Bosch Gmbh Robert | Method and apparatus for testing the braking system of a vehicle |
| JPH10260113A (en) * | 1997-03-17 | 1998-09-29 | Honda Motor Co Ltd | Inspection apparatus for braking force of wheel in vehicle |
| DE102007048811A1 (en) * | 2007-10-10 | 2009-04-16 | Continental Teves Ag & Co. Ohg | Method for controlling rolling away of vehicle, involves developing and maintaining retaining brake pressure in brake cylinder at wheel of vehicle, where retaining brake pressure is developed after specific time |
| WO2012019408A1 (en) * | 2010-08-13 | 2012-02-16 | 芜湖伯特利汽车安全系统有限公司 | Electronic parking brake system, assistant starting method thereof for motor vehicle |
| CN204286814U (en) * | 2014-12-15 | 2015-04-22 | 北汽福田汽车股份有限公司 | A kind of parking Detecting data |
| CN205352712U (en) * | 2016-02-26 | 2016-06-29 | 安徽农业大学 | Passenger car parking capability test device on commentaries on classics hub test bench |
| CN107340140A (en) * | 2016-11-15 | 2017-11-10 | 安徽江淮汽车集团股份有限公司 | Passenger car parking performance test methods and test system |
| CN107063714A (en) * | 2017-04-28 | 2017-08-18 | 重庆长安汽车股份有限公司 | A kind of pure electric automobile P keeps off halting mechanism endurance test method |
| CN206725234U (en) * | 2017-05-19 | 2017-12-08 | 北京新能源汽车股份有限公司 | A kind of vehicle anti-slide distance measurement tools |
| CN108896319A (en) * | 2018-07-02 | 2018-11-27 | 上汽通用汽车有限公司 | Vehicle test method, storage medium and the system of uphill starting miscellaneous function |
| CN112319439A (en) * | 2020-10-23 | 2021-02-05 | 中电海康集团有限公司 | GPS-based automatic braking method and system for slope slipping |
| CN113103881A (en) * | 2021-05-11 | 2021-07-13 | 清华大学苏州汽车研究院（吴江） | Self-adaptive driving anti-skid control method and system for electric automobile |
| CN113267347A (en) * | 2021-05-17 | 2021-08-17 | 阳光电源股份有限公司 | Method, device and system for testing slope-parking auxiliary function of electric automobile |
Non-Patent Citations (3)
| Title |
|---|
| 文孝霞;杜子学;许舟洲;李云川;杨震;: "基于降低走行轮偏磨损的单轨车辆结构参数优化研究", 现代制造工程, no. 12 * |
| 王河清: "斜坡道溜车事故原因分析及防范措施", 有色设备, no. 01 * |
| 白泽文;程景艳;陈海;杨永健;曹广新;: "装备EPB专用制动器车型在挡驻车性能分析与提升", 汽车零部件, no. 06 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115352457A (en) * | 2022-09-02 | 2022-11-18 | 潍柴动力股份有限公司 | Method for determining vehicle slip state, device thereof, processor and MCU |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113740073B (en) | 2023-09-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4048176B2 (en) | Method for calculating the mass of a motor vehicle taking into account different driving situations | |
| US7493805B2 (en) | Apparatus and method for testing the performance of a vehicle | |
| FI120061B (en) | A method for collecting information about road surface slippage | |
| CN109080636A (en) | Commerial vehicle uphill starting auxiliary control method based on real-time quality identification | |
| CN111537241A (en) | Vehicle braking performance evaluation method | |
| CN106918459B (en) | Truck overload judgment method | |
| US7987705B2 (en) | Method for estimating a tire performance during a braking situation | |
| CN113740073B (en) | Method and device for detecting sliding of wheeled vehicle on slope | |
| FR2980573A1 (en) | METHOD FOR ESTIMATING THE ROLLING RESISTANCE OF A VEHICLE WHEEL | |
| CN106052934B (en) | A kind of running state of the vehicle parameter indirect measurement system and scaling method | |
| US4893242A (en) | Vehicle brake test system | |
| Fontaras et al. | An experimental methodology for measuring of aerodynamic resistances of heavy duty vehicles in the framework of european CO 2 emissions monitoring scheme | |
| US7110872B2 (en) | Method and device for detecting the complete stop of a vehicle | |
| CN201152816Y (en) | Apparatus for high speed braking efficiency detection in drum type | |
| Reed et al. | Vehicular response to emergency braking | |
| JP2003534975A (en) | Method and apparatus for determining response pressure of vehicle brake | |
| Cliff et al. | Yaw Testing of an Instrumented Vehicle with and without Braking | |
| JPS645224Y2 (en) | ||
| Wiessalla et al. | Using generic tyre parameters for low friction surfaces in full vehicle simulations | |
| CN206002325U (en) | A kind of ramp abs braking testing stand | |
| Muthoriq et al. | Enhancement of a roller brake tester for modelling the tire | |
| Drosescu et al. | Experimental methods to investigate the performance of the braking system using GPS and IMU equipment | |
| JP4215566B2 (en) | Tire slip measurement method | |
| JP3101681B2 (en) | Vehicle braking performance diagnostic device | |
| CN117030287B (en) | Method for measuring running resistance and inertia of vehicle and chassis dynamometer system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |