CN113740073B - Method and device for detecting sliding of wheeled vehicle on slope - Google Patents
Method and device for detecting sliding of wheeled vehicle on slope Download PDFInfo
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- CN113740073B CN113740073B CN202110952746.2A CN202110952746A CN113740073B CN 113740073 B CN113740073 B CN 113740073B CN 202110952746 A CN202110952746 A CN 202110952746A CN 113740073 B CN113740073 B CN 113740073B
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention relates to a method and a device for detecting the sliding of a wheeled vehicle on a slope. The method for detecting the sliding of the wheeled vehicle on the slope comprises the following steps: 1. preparing a wheeled vehicle for testing before detection; 2. parking the wheeled vehicle according to a national standard method; 3. before a brake pedal is released, the instrument is cleared, and the angle is initialized; 4. stopping the vehicle when the brake is released, and recording data; 5. and calculating the landslide distance according to the four recorded data so as to judge the landslide 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; the slip ring is provided with a sensor; 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 form of the vehicle sliding slope and calculate the corresponding sliding distance, and can be applied to the fields of limit parking test, 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 the sliding of a wheeled vehicle on a slope.
Background
The automobile products in the current market have huge holding quantity, and the user can use the hill-holding function very frequently in daily driving, especially in mountainous areas. Parking on ramps with different gradients and attached conditions may cause collision of the vehicle and even injury of personnel if sliding occurs. The unqualified parking brake performance of the vehicle can seriously threaten the driving safety. It is important to develop a safe and intelligent vehicle parking system.
In the development and detection stage of parking performance of a vehicle, in the calibration stage of electric control of a chassis such as slope assistance and the like, a slope parking test under various working conditions is 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. Engineering of a typical passenger vehicle on a grade is aimed at a 30% grade, and off-road vehicles and other specialty vehicles may be 40% or higher. The ramp for the automobile manufacturer to verify and test the parking slope comprises a cement road surface, a split road surface, a low-attachment road surface and the like. The parking performance of a vehicle is affected by various factors such as brake temperature, deterioration of friction plate performance, parking brake performance, road surface adhesion, etc. The parking working conditions of the vehicle are complex and various, and factors affecting the parking performance are more.
In a limit hill-holding test of a vehicle and a hill-holding test of a complex road surface, a hill-holding condition often occurs, but a general off-road vehicle suspension has a longer stroke, and when a service brake is released after parking is used (the vehicle is provided with a braking force by a service brake wheel and becomes a parking brake wheel to provide the braking force), the vehicle is provided with obvious telescopic changes of front and rear suspensions of the vehicle, so that a rider has the illusion of the vehicle sliding.
According to the test method for the parking performance of the vehicle, generally, automobile manufacturers refer to 7.3.19 parking brake performance in GB 21670-2008 technical requirements for passenger vehicle brake systems and test methods, namely, after the vehicle is subjected to test preparation, the vehicle enters a test ramp, is stopped on the ramp through service brake, parking is used, the sliding condition of the vehicle is checked in more than 5 minutes, and both the ascending slope and the descending slope are required to be detected. The parking wheel is in a sliding mode after parking, and the parking wheel is in a sliding mode (the parking wheel has insufficient adhesive force) and the parking wheel is in a rotating sliding mode (the parking brake has insufficient braking force), so that the two modes sometimes exist simultaneously.
When the landslide problem of the vehicle is analyzed, if a dragging type exists, the attachment condition of the wheels of the parking vehicle needs to be improved, such as the performance of the tire or the position of the mass center is improved; if there is a rotation, the braking force of the parking brake, such as the clamping force of the brake caliper, needs to be increased. Only if the form of the sliding slope is accurately judged, the research and development work can be developed in a targeted manner.
In the electrically controlled calibration stage of the chassis of the vehicle, such as calibration work of an uphill starting assist (HHC) function, a detection device is needed, the parking state of the vehicle under each working condition is parameterized and recorded in a time domain data form, so that the subsequent analysis and improvement are facilitated.
Therefore, in the vehicle parking test and chassis electric control calibration work, an auxiliary system capable of automatically detecting, accurately distinguishing and measuring the landslide is particularly needed, and no research and application of similar functional systems exist at present.
Disclosure of Invention
The invention provides a method and a device for detecting the parking and sliding of a wheeled vehicle, which are also suitable for simulating the parking of a ramp through a traction test and performing performance detection by analyzing the actual requirements in parking performance tests and chassis electric control calibration work and summarizing the problem of sliding on the basis of the parking tests of a large number of vehicle types. Fills the market gap of the auxiliary system capable of automatically detecting, accurately distinguishing and measuring the landslide at present.
The technical scheme of the invention is as follows in combination with the accompanying drawings:
a method for detecting the sliding of a wheeled vehicle on a slope comprises the following steps:
step one, performing test preparation on a wheeled vehicle before detection;
secondly, parking the wheeled vehicle according to a national standard method;
step three, before the brake pedal is released, resetting the instrument, and initializing the angle;
step four, stopping the vehicle when the brake is released, and recording data; the data includes the rotation angle alpha of the non-stationary wheels of the vehicle on an uphill slope and a downhill slope for more than 5 minutes Non-ferrous metal [i]Rolling radius R of non-parking wheel Non-ferrous metal [i]Rotation angle alpha of parking wheel Residence is carried out [i]Rolling radius R of parking wheel Residence is carried out [i]；
And fifthly, calculating the landslide distance according to the data recorded in the step four so as to judge the landslide form.
The specific method of the first step is as follows:
the test vehicle is full of tire pressure, and the wheel type vehicle parking slide detection device is arranged on the parking wheel and the non-parking wheel and is connected with the display.
The specific method of the second step is as follows:
the vehicle is driven into a test ramp, the vehicle is stopped on the ramp by service braking, and then parking is used; the vehicle can be in neutral gear or forward gear when parking, and can not be engaged in P gear.
And in the fifth step, the sliding mode comprises a sliding mode, a dragging sliding mode and a mixed mode sliding mode with the sliding mode and the dragging sliding mode.
The specific method of the fifth step is as follows:
1) Taking the rotation angle alpha of the non-parking wheel in the recorded data Non-ferrous metal [i]The maximum value of (a) is denoted as alpha Non-ferrous metal The method comprises the steps of carrying out a first treatment on the surface of the Calculating rolling radius R of non-parking wheel Non-ferrous metal [i]Average value R Non-ferrous metal The method comprises the steps of carrying out a first treatment on the surface of the Taking the rotation angle alpha of the parking wheel Residence is carried out [i]The maximum value of (a) is denoted as alpha Residence is carried out The method comprises the steps of carrying out a first treatment on the surface of the Calculating the rolling radius R of a parking wheel Residence is carried out [i]Average value R Residence is carried out ；
2) Setting a threshold V of a wheel parking and non-parking wheel rotation angle Residence is carried out 、V Non-ferrous metal ；
3) Calculating a sliding distance S of a vehicle in a sliding and dragging hybrid form Slide slope Slide distance S in the form of drag Drag and slide Slip distance S Slip and turn ；
S Drag and slide ＝S Slide slope -S Slip and turn ；
4) If alpha is Residence is carried out ＞V Residence is carried out Judging that the vehicle is sliding in a sliding mode;
if S Drag and slide If the value is more than 0, judging that the slope is a sliding slope in a dragging and sliding mode;
if alpha is Residence is carried out ＞V Residence is carried out And S is Drag and slide If the value is more than 0, the sliding slope in the form of sliding and supporting sliding mixture is judged
The wheel type vehicle parking and sliding detection device is used for realizing a wheel type vehicle parking and sliding detection method and comprises a parking and sliding detection device arranged on parking wheels and a parking and sliding detection device arranged on non-parking wheels; the device for detecting the sliding of the parked 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; the slip ring 2 is provided with a sensor 6; 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 section of shell for fixing an angle sensor, and the axle center of the angle sensor is fixed on the slip ring 2 and rotates synchronously with the wheel.
The beneficial effects of the invention are as follows:
1) The method for detecting the sliding of the wheeled vehicle on the parking slope can judge the occurrence form of the sliding of the vehicle and calculate the corresponding sliding distance;
2) The method and the device for detecting the slope-parking and sliding of the wheeled vehicle can be widely applied to general wheeled vehicles, and greatly improve the safety of limit slope-parking tests;
3) The method and the device for detecting the riding and sliding of the wheeled vehicle have the advantages that the result of the sliding distance measured by the method and the 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 relates to a method for testing an actual road at a whole vehicle level, which has the advantages of simple and convenient operation of a test device and automatic measurement.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for detecting a wheel-type vehicle sliding on a slope in accordance with a first embodiment of the present invention;
fig. 2 is a schematic diagram of a wheel-type vehicle parking in a method for detecting a wheel-type vehicle parking slide according to a first embodiment of the present invention;
fig. 3 is a schematic diagram showing a change of stress of wheels along a ramp direction when a wheel is parked in a method for detecting a parking and sliding of a wheeled vehicle according to a first embodiment of the present invention;
fig. 4 is a schematic structural diagram of a device for detecting a wheel-type vehicle sliding on a slope in the 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 following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, a method for detecting a wheel-type vehicle parking slide, comprising the steps of:
step one, performing test preparation on a wheeled vehicle before detection; the method comprises the following steps:
the test vehicle is loaded according to the full-load design load, is adjusted to be full-load tire pressure, is provided with a wheel type vehicle parking slide detection device on the parking wheel and the non-parking wheel, and is connected with a display 7.
Secondly, 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 of passenger vehicle brake systems, namely, a vehicle is driven into a test ramp, the vehicle is stopped on the ramp by service brake, and then parking is used; the vehicle can be in neutral gear or forward gear when parking, and can not be engaged in P gear.
Step three, before the brake pedal is released, resetting the instrument, and initializing the angle;
step four, stopping the vehicle when the brake is released, and recording data; the data includes the rotation angle alpha of the non-stationary wheels of the vehicle on an uphill slope and a downhill slope for more than 5 minutes Non-ferrous metal [i]Rolling radius R of non-parking wheel Non-ferrous metal [i]Rotation angle alpha of parking wheel Residence is carried out [i]Rolling radius R of parking wheel Residence is carried out [i]；
And fifthly, calculating the landslide distance according to the data recorded in the step four so as to judge the landslide form.
Referring to fig. 2, the slip form includes two types of slip (the parking wheel has insufficient adhesion and moves relative to the road surface) generated by the parking wheel and rotational slip (the parking brake has insufficient braking force and the wheel moves relative to the brake) generated by the parking wheel, and sometimes the two types of slip form exist simultaneously, namely three types of slip form: the two modes of dragging and sliding slope and rotating and sliding slope exist simultaneously.
A schematic diagram of a car parking is shown in fig. 2, which illustrates a parking process on a downhill slope. The calculation method for determining the landslide form according to the present invention will be described below by taking such a wheeled vehicle as an example.
1) Taking the rotation angle alpha of the non-parking wheel in the recorded data Non-ferrous metal [i]The maximum value of (a) is denoted as alpha Non-ferrous metal The unit is DEG; calculating rolling radius R of non-parking wheel Non-ferrous metal [i]Average value R Non-ferrous metal The unit is m; taking the rotation angle alpha of the parking wheel Residence is carried out [i]The maximum value of (a) is denoted as alpha Residence is carried out The unit is DEG; calculating the rolling radius R of a parking wheel Residence is carried out [i]Average value R Residence is carried out The unit is m;
2) Because the stress of the wheels changes along the direction of the ramp when the vehicle parks on the ramp, as shown in fig. 3, the factors such as tire deformation, suspension displacement, car body bow effect and the like are caused, and the threshold V of the wheel parking and non-parking wheel rotation angles is set by combining the parking engineering targets of different wheeled vehicles Residence is carried out 、V Non-ferrous metal Passenger vehicle recommendation V Residence is carried out 、V Non-ferrous metal Are all less than 10 degrees;
3) Calculating a sliding distance S of a vehicle in a sliding and dragging hybrid form Slide slope Slide distance S in the form of drag Drag and slide Slip distance S Slip and turn ；
S Drag and slide ＝S Slide slope -S Slip and turn ；
4) If alpha is Residence is carried out ＞V Residence is carried out Judging that the vehicle is sliding in a sliding mode;
if S Drag and slide If the value is more than 0, judging that the slope is a sliding slope in a dragging and sliding mode;
if alpha is Residence is carried out ＞V Residence is carried out And S is Drag and slide And if the ratio is more than 0, judging that the sliding slope in the sliding and supporting combined mode is formed.
Example two
Referring to fig. 4, a device for detecting a wheel-type vehicle parking slide, for implementing a method for detecting a wheel-type vehicle parking slide, includes a parking slide detecting device disposed on a parking wheel and a parking slide detecting device disposed on a non-parking wheel; the device for detecting the sliding of the parked 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; the slip ring 2 is provided with a sensor 6; 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 to the vehicle body such that the vertical sliding rod 4 is substantially perpendicular to the ground. The shape of the connecting disc 1 can be rectangular or polygonal, the external dimension can be changed to adapt to various tire shapes, the fixed installation is convenient, and the material can be aluminum alloy, steel and the like.
The initial position of the angle sensor is fixed at one end of the vertical sliding rod 4, the vertical sliding rod 4 is fixed at the center of the wheel by a section of shell of the angle sensor, 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 rolling radius of the parked and non-parked wheels, namely R Residence is carried out [i]And R is Non-ferrous metal [i]The method comprises the steps of carrying out a first treatment on the surface of the The axle load is transferred when the vehicle is on a slope, so that the rolling radius of the wheels of the front axle and the rear axle can be changed.
The angle sensor is used for measuring the rotation angle of the parking wheel and the non-parking wheel, namely alpha Residence is carried out [i]And alpha Non-ferrous metal [i]The method comprises the steps of carrying out a first treatment on the surface of the The telescopic vertical fixing plate 3 and the vertical sliding rod 4 of the suspension slide relatively in the parking test.
The acquisition processor 5 is used for recording R transmitted by the height sensor and the angle sensor Residence is carried out [i]、R Non-ferrous metal [i]、α Residence is carried out [i]And alpha Non-ferrous metal [i]And calculating the sliding slope distance S of the vehicle in a sliding and supporting sliding mixed mode Slide slope Slide distance S in the form of drag Drag and slide Slip distance S Slip and turn And outputs the result to the display 7.
In summary, the invention can judge the form of the occurrence of the vehicle sliding slope, calculate the corresponding sliding distance, the result of the sliding distance is accurate, and the errors of manual measurement and the interference of suspension compression can be eliminated; and the safety of limit slope-stopping tests is greatly improved.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the scope of the present invention is not limited to the specific details of the above embodiments, and within the scope of the technical concept of the present invention, any person skilled in the art may apply equivalent substitutions or alterations to the technical solution according to the present invention and the inventive concept thereof within the scope of the technical concept of the present invention, and these simple modifications are all within the scope of the present invention.
In addition, the specific features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described further.
Moreover, any combination of the various embodiments of the invention can be made without departing from the spirit of the invention, which should also be considered as disclosed herein.
Claims (5)
1. The method for detecting the sliding of the wheeled vehicle on the slope is characterized by comprising the following steps of:
step one, performing test preparation on a wheeled vehicle before detection;
secondly, parking the wheeled vehicle according to a national standard method, namely, driving the vehicle into a test ramp, stopping the vehicle on the ramp through service braking, and then using parking; when the vehicle is parked, the vehicle is in neutral gear or forward gear and cannot be hung into the P gear;
step three, before the brake pedal is released, resetting the instrument, and initializing the angle;
step four, stopping the vehicle when the brake is released, and recording data; the data includes the rotation angle alpha of the non-stationary wheels of the vehicle on an uphill slope and a downhill slope for more than 5 minutes Non-ferrous metal [i]Rolling radius R of non-parking wheel Non-ferrous metal [i]Rotation angle alpha of parking wheel Residence is carried out [i]Rolling radius R of parking wheel Residence is carried out [i]；
Step five, calculating a landslide distance according to the data recorded in the step four so as to judge a landslide form;
the sliding mode in the fifth step comprises sliding mode sliding, dragging sliding mode sliding and mixing mode sliding with sliding mode and dragging sliding mode simultaneously;
the specific method of the fifth step is as follows:
1) Taking the rotation angle alpha of the non-parking wheel in the recorded data Non-ferrous metal [i]The maximum value of (a) is denoted as alpha Non-ferrous metal The method comprises the steps of carrying out a first treatment on the surface of the Calculating rolling radius R of non-parking wheel Non-ferrous metal [i]Average value R Non-ferrous metal The method comprises the steps of carrying out a first treatment on the surface of the Taking the rotation angle alpha of the parking wheel Residence is carried out [i]The maximum value of (a) is denoted as alpha Residence is carried out The method comprises the steps of carrying out a first treatment on the surface of the Calculating the rolling radius R of a parking wheel Residence is carried out [i]Average value R Residence is carried out ；
2) Setting a threshold V of a wheel parking and non-parking wheel rotation angle Residence is carried out 、V Non-ferrous metal ；
3) Calculating a sliding distance S of a vehicle in a sliding and dragging hybrid form Slide slope Slide distance S in the form of drag Drag and slide Slip distance S Slip and turn ；
S Drag and slide ＝S Slide slope -S Slip and turn ；
4) If alpha is Residence is carried out ＞V Residence is carried out Judging that the vehicle is sliding in a sliding mode;
if S Drag and slide If the value is more than 0, judging that the slope is a sliding slope in a dragging and sliding mode;
if alpha is Residence is carried out ＞V Residence is carried out And S is Drag and slide And if the ratio is more than 0, judging that the sliding slope in the sliding and supporting combined mode is formed.
2. The method for detecting the sliding of the wheeled vehicle on the slope according to claim 1, wherein the specific method of the first step is as follows:
the test vehicle is full of tire pressure, and the wheel type vehicle parking slide detection device is arranged on the parking wheel and the non-parking wheel and is connected with the display.
3. A detection device for realizing the method for detecting the parking slide of the wheeled vehicle according to claim 1, which is characterized by comprising a parking slide detection device arranged on a parking wheel and a parking slide detection device arranged on a non-parking wheel; the device for detecting the sliding of the parked car 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 with the display (7).
4. A detection device according to claim 3, characterized in that the sensor (6) comprises a height sensor and an angle sensor.
5. A detection device according to claim 3, characterized in that the vertical sliding rod (4) is fixed to the housing of the angle sensor at the centre of the wheel, the axis of the angle sensor being fixed to the slip ring (2) and rotating in synchronism with the wheel.
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