CN113968138A - Vehicle antiskid method - Google Patents

Vehicle antiskid method Download PDF

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Publication number
CN113968138A
CN113968138A CN202111326325.5A CN202111326325A CN113968138A CN 113968138 A CN113968138 A CN 113968138A CN 202111326325 A CN202111326325 A CN 202111326325A CN 113968138 A CN113968138 A CN 113968138A
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CN
China
Prior art keywords
vehicle
signal
servo motor
wheel
speed signal
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Pending
Application number
CN202111326325.5A
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Chinese (zh)
Inventor
蒋晓冬
陶欢
刘威
王毅
鲁壮
张阳
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Wuhan Sapw Technology Co ltd
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Wuhan Sapw Technology Co ltd
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Priority to CN202111326325.5A priority Critical patent/CN113968138A/en
Publication of CN113968138A publication Critical patent/CN113968138A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/10—Indicating wheel slip ; Correction of wheel slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention relates to a vehicle antiskid method, which comprises the following steps: acquiring vehicle sensor signals; judging whether a service braking condition is met or not according to the sensor signal; and if so, controlling the servo motor to realize the snub brake operation according to the vehicle speed signal and the wheel speed signal in the sensor signals. The invention utilizes various vehicle sensor signals to effectively judge braking and control braking, and prevents the vehicle from skidding or sideslipping when emergency braking or wet and slippery road surface is carried out.

Description

Vehicle antiskid method
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle antiskid method.
Background
When the vehicle is braked suddenly or the road surface is slippery, the vehicle is likely to slip or sideslip. In the prior art, aiming at emergency braking, the emergency braking condition is not accurately judged, and the emergency braking is not timely and effectively controlled, so that the antiskid control is not efficient and accurate, and potential safety hazards are caused to the driving of vehicles. In summary, the conventional method cannot efficiently prevent the vehicle from skidding, and therefore, how to efficiently and accurately perform emergency treatment on the vehicle skidding is an urgent problem to be solved.
Disclosure of Invention
In view of the above, there is a need for an anti-skid method for a vehicle that overcomes the difficulties of the prior art in measuring the bound water saturation.
The invention provides a vehicle antiskid method, which comprises the following steps:
acquiring vehicle sensor signals;
judging whether a service braking condition is met or not according to the sensor signal;
and if so, controlling the servo motor to realize the snub brake operation according to the vehicle speed signal and the wheel speed signal in the sensor signals.
Further, the sensor signal includes a front parking signal, a rear parking signal, a vehicle speed signal, an acceleration signal and a length of a travel switch, and the determining whether the service braking condition is satisfied according to the sensor signal includes:
when the communication between the front vehicle signal and the rear vehicle signal of the vehicle is normal, if the front vehicle parking signal and the rear vehicle parking signal are not detected, entering a work preparation state;
and judging whether the service braking condition is met or not according to the vehicle speed signal, the acceleration signal and the length of the travel switch.
Further, the determining whether the service braking condition is satisfied according to the vehicle speed signal, the acceleration signal and the length of the travel switch includes:
if the vehicle speed signal is detected to be greater than a first preset speed and the front vehicle parking signal and the rear vehicle parking signal are not detected, judging whether the servo motor is at an initial position or not;
if the servo motor is at the initial position, judging whether the service braking condition is met or not according to the acceleration signal and the length of the travel switch;
and if the service braking condition is met, the whole vehicle enters service braking.
Further, the determining whether the service braking condition is satisfied according to the vehicle speed signal, the acceleration signal and the length of the travel switch further includes: and if the servo motor is not at the initial position, controlling the servo motor to return to the initial position.
Further, the service braking condition includes: the acceleration signal is greater than a first preset acceleration or the length of the travel switch is greater than a preset length.
Further, if the sensor signal meets the requirement, the servo motor is controlled to realize the snub brake operation according to the vehicle speed signal and the wheel speed signal in the sensor signal, and the snub brake operation method comprises the following steps:
when the vehicle speed signal is greater than a second preset speed, counting according to the vehicle speed signal and the wheel speed signal, and determining the wheel slip rate of the wheel on the corresponding side;
and controlling the servo motor to realize the snub brake operation on the corresponding side wheel according to the wheel slip rate.
Further, according to the wheel slip rate, control servo motor and realize the snub operation, include:
and if the wheel slip rate is greater than a preset percentage, controlling the servo motor of the corresponding side wheel to rotate back and forth at a preset rotation speed for a preset angle from an initial position.
Further, the vehicle sensor signal still includes the lateral acceleration signal, according to the wheel slip rate, control servo motor realizes the snub operation, still includes: and simultaneously detecting the transverse acceleration signal, and if the transverse acceleration signal is greater than a second preset acceleration, controlling the servo motor of the wheel on the corresponding side to realize the snubbing operation according to the positive value and the negative value of the transverse acceleration signal.
Further, according to the positive and negative values of the lateral acceleration signal, the servo motor controlling the wheel on the corresponding side is controlled to realize the inching and braking operation, and the method comprises the following steps:
if the transverse acceleration signal is a positive value, controlling the servo motor on the left side to realize snubbing on the wheel;
and if the transverse acceleration signal is a negative value, controlling the servo motor on the right side to realize inching braking on the wheel.
Further, the determining the wheel slip ratio of the corresponding side wheel according to the statistics of the vehicle speed signal and the wheel speed signal includes:
determining a speed difference value from a difference between the vehicle speed signal and the wheel speed signal;
determining the wheel slip ratio based on the quotient of the speed difference and the vehicle speed signal.
Compared with the prior art, the invention has the beneficial effects that: firstly, effectively acquiring a vehicle sensor signal; then, whether the vehicle meets a service braking condition is judged based on a vehicle sensor, so that whether the service braking state needs to be entered is judged, misjudgment and missed judgment are avoided, service braking is entered by mistake, and the implementation accuracy of the whole control method is ensured; and finally, if the service braking condition is met, dividing different vehicle speed signals and wheel speed signals into different control conditions, entering different control operations, performing spot braking control on different conditions in a targeted manner, efficiently, accurately and flexibly implementing anti-skid control, and ensuring the service safety.
Drawings
FIG. 1 is a schematic view of an embodiment of an application system of a vehicle anti-skid method provided by the present invention;
FIG. 2 is a schematic flow chart illustrating a vehicle anti-skid method according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating an embodiment of step S2 in FIG. 2 according to the present invention;
FIG. 4 is a flowchart illustrating an embodiment of step S22 in FIG. 3 according to the present invention;
FIG. 5 is a flowchart illustrating an embodiment of step S3 in FIG. 2 according to the present invention;
FIG. 6 is a schematic flow chart illustrating an embodiment of an inching brake operation according to positive and negative control of a lateral acceleration signal according to the present invention;
FIG. 7 is a schematic flow chart illustrating an embodiment of determining a wheel slip ratio according to the present invention;
fig. 8 is a schematic structural view of an embodiment of a vehicle antiskid device provided by the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Further, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Reference throughout this specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the described embodiments can be combined with other embodiments.
The invention provides a vehicle antiskid method, which is used for carrying out braking judgment and braking control based on various vehicle sensor signals and provides a new idea for further preventing the safety of vehicle running. The following are detailed below:
an embodiment of the present invention provides an application system of a vehicle anti-skid method, and fig. 1 is a schematic view of a scene of an embodiment of the application system of the vehicle anti-skid method provided by the present invention, and the system may include a server 100, where a vehicle anti-skid device, such as the server in fig. 1, is integrated in the server 100.
The server 100 in the embodiment of the present invention is mainly used for:
acquiring vehicle sensor signals;
judging whether a service braking condition is met or not according to the sensor signal;
and if so, controlling the servo motor to realize the snub brake operation according to the vehicle speed signal and the wheel speed signal in the sensor signals.
In this embodiment of the present invention, the server 100 may be an independent server, or may be a server network or a server cluster composed of servers, for example, the server 100 described in this embodiment of the present invention includes, but is not limited to, a computer, a network host, a single network server, a plurality of network server sets, or a cloud server composed of a plurality of servers. Among them, the Cloud server is constituted by a large number of computers or web servers based on Cloud Computing (Cloud Computing).
It is to be understood that the terminal 200 used in the embodiments of the present invention may be a device that includes both receiving and transmitting hardware, i.e., a device having receiving and transmitting hardware capable of performing two-way communication over a two-way communication link. Such a device may include: a cellular or other communication device having a single line display or a multi-line display or a cellular or other communication device without a multi-line display. The specific terminal 200 may be a desktop, a laptop, a web server, a Personal Digital Assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device, an embedded device, and the like, and the type of the terminal 200 is not limited in this embodiment.
Those skilled in the art can understand that the application environment shown in fig. 1 is only one application scenario of the present invention, and does not constitute a limitation on the application scenario of the present invention, and that other application environments may further include more or fewer terminals than those shown in fig. 1, for example, only 2 terminals are shown in fig. 1, and it is understood that the application system of the vehicle anti-skid method may further include one or more other terminals, which is not limited herein.
In addition, as shown in fig. 1, the system for applying the vehicle anti-skid method may further include a memory 200 for storing data such as vehicle sensor signals, service brake conditions, vehicle speed signals, wheel speed signals, and the like.
It should be noted that the scene diagram of the application system of the vehicle anti-skid method shown in fig. 1 is only an example, the application system and the scene of the vehicle anti-skid method described in the embodiment of the present invention are for more clearly illustrating the technical solution of the embodiment of the present invention, and do not form a limitation on the technical solution provided in the embodiment of the present invention, and it can be known by those skilled in the art that the technical solution provided in the embodiment of the present invention is also applicable to similar technical problems along with the evolution of the application system of the vehicle anti-skid method and the appearance of new service scenes.
An embodiment of the present invention provides a vehicle anti-skid method, and referring to fig. 2, fig. 2 is a schematic flowchart of an embodiment of the vehicle anti-skid method provided by the present invention, including steps S1 to S3, where:
in step S1, a vehicle sensor signal is acquired;
in step S2, determining whether a service braking condition is satisfied based on the sensor signal;
and in step S3, if the signals are satisfied, controlling the servo motor to realize the inching brake operation according to the vehicle speed signal and the wheel speed signal in the sensor signals.
In the embodiment of the invention, firstly, the vehicle sensor signal is effectively acquired; then, whether the vehicle meets a service braking condition is judged based on a vehicle sensor, so that whether the service braking state needs to be entered is judged, misjudgment and missed judgment are avoided, service braking is entered by mistake, and the implementation accuracy of the whole control method is ensured; and finally, if the service braking condition is met, dividing different vehicle speed signals and wheel speed signals into different control conditions, entering different control operations, performing spot braking control on different conditions in a targeted manner, efficiently, accurately and flexibly implementing anti-skid control, and ensuring the service safety.
The vehicle slip of the present invention is divided into two parts, namely, on one hand, preventing the vehicle from slipping and on the other hand, preventing the vehicle from sideslipping. The vehicle skid prevention is to judge the wheel slip rate to carry out emergency treatment; the vehicle sideslip prevention is to judge the lateral slip rate of the wheels to carry out emergency treatment. The vehicle speed sensor is responsible for collecting vehicle driving speed, the left wheel speed sensor is used for collecting left wheel speed signals, the right wheel speed sensor is used for collecting right wheel speed signals, the transverse acceleration sensor is used for collecting vehicle transverse acceleration signals, the left servo motor is used for controlling the left wheel to brake, the right servo motor is used for controlling the left wheel to brake, and the ECU is responsible for collecting vehicle signals and controlling the servo motor to work.
As a preferred embodiment, the sensor signals include a front parking signal, a rear parking signal, the vehicle speed signal, an acceleration signal, and a length of a travel switch, and when viewed in conjunction with fig. 3, fig. 3 is a schematic flow chart of an embodiment of step S2 in fig. 2 provided by the present invention, and includes steps S21 to S22, where:
in step S21, when the communication between the front vehicle signal and the rear vehicle signal of the vehicle is normal, if the front vehicle parking signal and the rear vehicle parking signal are not detected, entering a work preparation state;
in step S22, it is determined whether the service braking condition is satisfied based on the vehicle speed signal, the acceleration signal, and the length of the travel switch.
In the embodiment of the invention, when the communication between the front vehicle signal and the rear vehicle signal is normal, the ECU is enabled to enter a work preparation state after the parking signal is detected; and then, whether the service braking condition is met or not is judged by combining the sensing signals in multiple aspects.
As a preferred embodiment, referring to fig. 4, fig. 4 is a schematic flowchart of an embodiment of step S22 in fig. 3 provided by the present invention, and includes steps S221 to S223, where:
in step S221, if it is detected that the vehicle speed signal is greater than a first preset speed and the front vehicle parking signal and the rear vehicle parking signal are not detected, determining whether the servo motor is at an initial position;
in step S222, if the servo motor is at an initial position, determining whether the service braking condition is satisfied according to the acceleration signal and the length of the travel switch;
in step S223, if the service braking condition is satisfied, the entire vehicle enters service braking.
In the embodiment of the invention, when the servo motor is determined to be at the initial position, the acceleration signal and the length of the travel switch are combined, and whether the vehicle enters service braking or not is effectively judged. Wherein the first predetermined speed is preferably 0.2 m/s.
As a preferred embodiment, the determining whether the service braking condition is satisfied according to the vehicle speed signal, the acceleration signal and the length of the travel switch further includes: and if the servo motor is not at the initial position, controlling the servo motor to return to the initial position.
In the embodiment of the invention, before the braking judgment is carried out, the servo motor is ensured to be at the initial position.
As a preferred embodiment, the service braking condition includes: the acceleration signal is greater than a first preset acceleration or the length of the travel switch is greater than a preset length.
In the embodiment of the invention, the service braking condition is set, and whether the service braking is started or not is judged from multiple aspects. Wherein the first preset acceleration is preferably 0.1g, and the preset length is preferably 10 mm.
As a preferred embodiment, referring to fig. 5, fig. 5 is a schematic flowchart of an embodiment of step S3 in fig. 2 provided by the present invention, and includes steps S31 to S32, where:
in step S31, when the vehicle speed signal is greater than a second preset speed, performing statistics according to the vehicle speed signal and the wheel speed signal to determine a wheel slip ratio of the corresponding side wheel;
in step S32, the servo motor is controlled to perform an inching operation on the corresponding side wheel according to the wheel slip ratio.
In the embodiment of the invention, the vehicle is effectively prevented from skidding according to the wheel slip rate. Wherein the second preset speed is preferably 30 km/h.
As a preferred embodiment, step S32 specifically includes:
and if the wheel slip rate is greater than a preset percentage, controlling the servo motor of the corresponding side wheel to rotate back and forth at a preset rotation speed for a preset angle from an initial position.
In the embodiment of the invention, when the wheel slip rate is greater than the preset percentage, the control on the servo motor is utilized to effectively enter the brake control. Wherein the predetermined percentage is preferably 30%.
As a preferred embodiment, the vehicle sensor signal further includes a lateral acceleration signal, and the step S32 further includes: and simultaneously detecting the transverse acceleration signal, and if the transverse acceleration signal is greater than a second preset acceleration, controlling the servo motor of the wheel on the corresponding side to realize the snubbing operation according to the positive value and the negative value of the transverse acceleration signal.
In the embodiment of the invention, the transverse acceleration signal is utilized to effectively judge whether the vehicle sideslip needs to be prevented or not. Wherein the second preset acceleration is preferably 0.2 g.
As a preferred embodiment, referring to fig. 6, fig. 6 is a schematic flow chart of an embodiment of implementing an inching brake operation according to positive and negative values of a lateral acceleration signal, which is provided by the present invention, and includes steps S601 to S602, where:
in step S601, if the lateral acceleration signal is a positive value, controlling the left servo motor to implement a snub brake on the wheel;
in step S602, if the lateral acceleration signal is a negative value, the servo motor on the right side is controlled to implement an inching brake on the wheel.
In the embodiment of the invention, the wheels on different sides are controlled by using the positive and negative values of the transverse acceleration signal, so that the high-efficiency prevention of the vehicle sideslip is ensured.
As a preferred embodiment, referring to fig. 7, fig. 7 is a schematic flow chart of an embodiment of determining a wheel slip ratio provided by the present invention, and includes steps S701 to S702, where:
in step S701, determining a speed difference value from a difference between the vehicle speed signal and the wheel speed signal;
in step S702, the wheel slip ratio is determined based on the quotient of the speed difference and the vehicle speed signal.
In the embodiment of the invention, the vehicle speed signal and the wheel speed signal are used for effectively determining the wheel speed signal.
In one specific embodiment of the present invention, the wheel slip ratio is represented by the following formula:
δ＝(V1-VS)/V1*100％
where δ represents a wheel slip ratio, V1 represents a vehicle speed signal, and VS represents a wheel speed signal.
The technical solution of the present invention is better illustrated by a specific example below:
when the trailer power supply is switched on, the control system is powered on and started to collect signals of all sensors; when the rear vehicle is in signal communication with the front vehicle and is normal, if the parking signal of the front vehicle is not acquired, the ECU enters a work preparation state, if the vehicle speed is greater than 0.2m/s, the ECU judges whether the servo motor is in an initial position when the front vehicle and the rear vehicle have no parking signal, and if the front vehicle and the rear vehicle are not in the initial position, the servo motor is controlled to return to the initial position; if the servo motor is at the initial position, whether the signal of the acceleration sensor is greater than 0.1g or whether the length of the travel switch is greater than 10mm is continuously judged, if any one of the two conditions is met, the whole vehicle enters service braking, the braking force is determined by the rotation angle and the rotation speed of the servo motor, and the larger the acceleration is, the faster the rotation speed is, and the larger the braking force is; the larger the length of the traveling switch is, the larger the angle is, and the larger the braking force is;
further, when the vehicle speed is greater than 30km/h, the wheel slip rate is calculated through statistics of a vehicle speed sensor and a wheel speed sensor, if the slip rate is greater than 30%, the ECU controls the servo motor on the corresponding side to quickly realize point braking on the wheel, and the vehicle is guaranteed not to slip; ECU detects vehicle lateral acceleration simultaneously, if lateral acceleration is greater than 0.2g, if positive value is the result, then control left side servo motor and realize the point to the wheel fast and stop, if negative value is the result, then control right side servo motor and realize the point to the wheel fast and stop, guarantee that the vehicle does not take place to sideslip.
An embodiment of the present invention further provides a vehicle anti-skid device, and referring to fig. 8, fig. 8 is a schematic structural diagram of an embodiment of the vehicle anti-skid device provided in the present invention, where the vehicle anti-skid device 800 includes:
an acquisition unit 801 for acquiring vehicle sensor signals;
the processing unit 802 is configured to determine whether a service braking condition is met according to the sensor signal;
and the control unit 803 is used for controlling the servo motor to realize the snubbing operation according to the vehicle speed signal and the wheel speed signal in the sensor signals if the sensor signals are met.
The vehicle anti-skid device provided by the above embodiment of the present invention can be implemented by referring to the content specifically described for implementing the vehicle anti-skid method according to the present invention, and has similar beneficial effects to the vehicle anti-skid method described above, and will not be described again here.
Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the vehicle anti-skid method is implemented as described above.
Generally, computer instructions for carrying out the methods of the present invention may be carried using any combination of one or more computer-readable storage media. Non-transitory computer readable storage media may include any computer readable medium except for the signal itself, which is temporarily propagating.
A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages, and in particular may employ Python languages suitable for neural network computing and TensorFlow, PyTorch-based platform frameworks. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The embodiment of the invention also provides a computing device, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the vehicle antiskid method is realized.
According to the computer-readable storage medium and the computing device provided by the above embodiments of the present invention, the implementation can be realized by referring to the content specifically described for implementing the vehicle anti-skid method described above according to the present invention, and the beneficial effects similar to those of the vehicle anti-skid method described above are achieved, and are not described herein again.
The invention discloses a vehicle antiskid method, which comprises the following steps of firstly, effectively acquiring a vehicle sensor signal; then, whether the vehicle meets a service braking condition is judged based on a vehicle sensor, so that whether the service braking state needs to be entered is judged, misjudgment and missed judgment are avoided, service braking is entered by mistake, and the implementation accuracy of the whole control method is ensured; and finally, if the service braking condition is met, dividing different vehicle speed signals and wheel speed signals into different control conditions, entering different control operations, performing spot braking control on different conditions in a targeted manner, efficiently, accurately and flexibly implementing anti-skid control, and ensuring the service safety.
According to the technical scheme, various vehicle sensor signals are utilized to effectively perform braking judgment and braking control, and the phenomenon of skidding or sideslip of the vehicle during emergency braking or wet and slippery road surface is prevented.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims (10)

1. A method of antiskid for a vehicle, comprising:
acquiring vehicle sensor signals;
judging whether a service braking condition is met or not according to the sensor signal;
and if so, controlling the servo motor to realize the snub brake operation according to the vehicle speed signal and the wheel speed signal in the sensor signals.
2. The vehicle antiskid method of claim 1, wherein the sensor signals include a front vehicle parking signal, a rear vehicle parking signal, the vehicle speed signal, an acceleration signal, and a travel switch length, and the determining whether a service brake condition is satisfied according to the sensor signals comprises:
when the communication between the front vehicle signal and the rear vehicle signal of the vehicle is normal, if the front vehicle parking signal and the rear vehicle parking signal are not detected, entering a work preparation state;
and judging whether the service braking condition is met or not according to the vehicle speed signal, the acceleration signal and the length of the travel switch.
3. The vehicle antiskid method of claim 2, wherein the determining whether the service braking condition is satisfied based on the vehicle speed signal, the acceleration signal, and the travel switch length comprises:
if the vehicle speed signal is detected to be greater than a first preset speed and the front vehicle parking signal and the rear vehicle parking signal are not detected, judging whether the servo motor is at an initial position or not;
if the servo motor is at the initial position, judging whether the service braking condition is met or not according to the acceleration signal and the length of the travel switch;
and if the service braking condition is met, the whole vehicle enters service braking.
4. The vehicle antiskid method of claim 3, wherein the determining whether the service braking condition is satisfied according to the vehicle speed signal, the acceleration signal, and the travel switch length, further comprises: and if the servo motor is not at the initial position, controlling the servo motor to return to the initial position.
5. A vehicle anti-skid method as set forth in claim 3, wherein said service braking condition comprises: the acceleration signal is greater than a first preset acceleration or the length of the travel switch is greater than a preset length.
6. The vehicle antiskid method according to claim 1, wherein if the vehicle antiskid method is satisfied, controlling a servo motor to perform an inching brake operation according to a vehicle speed signal and a wheel speed signal in the sensor signals comprises:
when the vehicle speed signal is greater than a second preset speed, counting according to the vehicle speed signal and the wheel speed signal, and determining the wheel slip rate of the wheel on the corresponding side;
and controlling the servo motor to realize the snub brake operation on the corresponding side wheel according to the wheel slip rate.
7. The vehicle anti-skid method according to claim 6, wherein the controlling a servo motor to perform an inching brake operation according to the wheel slip ratio comprises:
and if the wheel slip rate is greater than a preset percentage, controlling the servo motor of the corresponding side wheel to rotate back and forth at a preset rotation speed for a preset angle from an initial position.
8. The vehicle antiskid method of claim 7, wherein the vehicle sensor signals further include a lateral acceleration signal, and wherein the controlling a servo motor to perform an inching brake operation according to the wheel slip ratio further comprises: and simultaneously detecting the transverse acceleration signal, and if the transverse acceleration signal is greater than a second preset acceleration, controlling the servo motor of the wheel on the corresponding side to realize the snubbing operation according to the positive value and the negative value of the transverse acceleration signal.
9. The vehicle antiskid method according to claim 8, wherein the controlling the servo motor of the corresponding side wheel to perform an inching operation according to the positive or negative value of the lateral acceleration signal includes:
if the transverse acceleration signal is a positive value, controlling the servo motor on the left side to realize snubbing on the wheel;
and if the transverse acceleration signal is a negative value, controlling the servo motor on the right side to realize inching braking on the wheel.
10. The vehicle antiskid method of claim 6, wherein the determining wheel slip rates of the respective side wheels from the statistics of the vehicle speed signal and the wheel speed signal comprises:
determining a speed difference value from a difference between the vehicle speed signal and the wheel speed signal;
determining the wheel slip ratio based on the quotient of the speed difference and the vehicle speed signal.
CN202111326325.5A 2021-11-10 2021-11-10 Vehicle antiskid method Pending CN113968138A (en)

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