CN115158258B - Anti-skid method, system, device and nonvolatile storage medium - Google Patents
Anti-skid method, system, device and nonvolatile storage medium Download PDFInfo
- Publication number
- CN115158258B CN115158258B CN202210826087.2A CN202210826087A CN115158258B CN 115158258 B CN115158258 B CN 115158258B CN 202210826087 A CN202210826087 A CN 202210826087A CN 115158258 B CN115158258 B CN 115158258B
- Authority
- CN
- China
- Prior art keywords
- spraying
- duration
- control signal
- vehicle
- flow
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 78
- 238000003860 storage Methods 0.000 title claims abstract description 20
- 238000005507 spraying Methods 0.000 claims abstract description 293
- 239000012748 slip agent Substances 0.000 claims abstract description 78
- 230000008569 process Effects 0.000 claims abstract description 27
- 239000007921 spray Substances 0.000 claims description 41
- 239000003795 chemical substances by application Substances 0.000 claims description 26
- 239000007788 liquid Substances 0.000 claims description 23
- 230000003993 interaction Effects 0.000 claims description 11
- 230000010485 coping Effects 0.000 abstract description 13
- 238000005516 engineering process Methods 0.000 abstract description 7
- 238000004590 computer program Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 7
- 230000000087 stabilizing effect Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 244000043261 Hevea brasiliensis Species 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 239000000443 aerosol Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 229920003052 natural elastomer Polymers 0.000 description 1
- 229920001194 natural rubber Polymers 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 201000010041 presbyopia Diseases 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000005060 rubber Substances 0.000 description 1
- 229920002545 silicone oil Polymers 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 229920003051 synthetic elastomer Polymers 0.000 description 1
- 239000005061 synthetic rubber Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses an anti-skid method, an anti-skid system, an anti-skid device and a non-volatile storage medium. Wherein the method comprises the following steps: acquiring running state information of a target tire in the running process of a vehicle; judging whether the state of the vehicle is a braking state or not and whether the vehicle starts a braking spraying mode or not according to the running state information; if the state of the vehicle is a braking state and the vehicle starts a braking spraying mode, a first control signal corresponding to the braking state is obtained, wherein the first control signal comprises a first spraying duration and a first spraying flow of the anti-slip agent sprayed to the target tire; and sending a first control signal to spraying equipment corresponding to the target tire, wherein the first control signal is used for spraying the anti-slip agent to the target tire by the spraying equipment based on the first spraying duration and the first spraying flow. The invention solves the technical problems of insufficient tire friction force and reduced vehicle running safety caused by difficult instant coping due to complicated anti-skid operation under sudden severe road conditions in the related technology.
Description
Technical Field
The invention relates to the field of vehicle anti-skid, in particular to an anti-skid method, an anti-skid system, an anti-skid device and a non-volatile storage medium.
Background
The vehicle runs on frozen ground or muddy ground, and the friction force formed by the surface lines of the common tires and the ground is insufficient to skid, so that the safety is poor during running, traffic accidents are easy to be caused, and life and property losses are caused. At present, a method of replacing a snowy tire, a tire skid, a tire chain is often adopted in the related art, but the method is expensive, increases economic burden, and requires complex replacement operation, so that time and labor are wasted and a certain damage is caused to the tire. In particular, in some areas where the winter season is brief and the road surface occasionally freezes, it is not necessary to replace the snow tires and the anti-skid tires.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides an anti-skid method, an anti-skid system, an anti-skid device and a non-volatile storage medium, which at least solve the technical problems that in the related art, the anti-skid operation is complicated under sudden severe road conditions, the real-time coping is difficult, the friction of tires is insufficient, and the running safety of vehicles is reduced.
According to an aspect of an embodiment of the present invention, there is provided an anti-slip method including: acquiring running state information of a target tire in the running process of a vehicle; judging whether the state of the vehicle is a braking state or not and whether the vehicle starts a braking spraying mode or not according to the running state information; if the state of the vehicle is the braking state and the vehicle starts the braking spraying mode, a first control signal corresponding to the braking state is obtained, wherein the first control signal comprises a first spraying duration and a first spraying flow of the anti-slip agent to the target tire; and sending the first control signal to spraying equipment corresponding to the target tire, wherein the spraying equipment is used for spraying the anti-slip agent to the target tire based on the first spraying duration and the first spraying flow.
Optionally, the method further comprises: judging whether the state of the target tire is a sideslip state or not according to the running state information; if the state of the target tire is the sideslip state, acquiring a second control signal corresponding to the sideslip state, wherein the second control signal comprises a second spraying duration and a second spraying flow of the anti-slip agent sprayed to the target tire; and sending the second control signal to spraying equipment corresponding to the target tire, wherein the spraying equipment is used for spraying the anti-slip agent to the target tire based on the second spraying duration and the second spraying flow.
Optionally, the acquiring the first control signal corresponding to the braking state includes: acquiring braking duration and braking depth information of the vehicle in the braking state; judging whether the brake duration reaches a preset first time threshold value or not; if the brake duration does not reach the first time threshold, determining a first calculated flow based on the brake depth information and a first spraying algorithm; and obtaining the first control signal based on the brake duration and the first calculated flow, wherein the first spraying duration is the brake duration, and the first spraying flow is the first calculated flow.
Optionally, the method further comprises: if the brake duration reaches the first time threshold, determining a second calculated flow based on the brake depth information and a second spraying algorithm; and obtaining the first control signal based on the brake duration and the second calculated flow, wherein the first spraying duration is the brake duration, and the first spraying flow is the second calculated flow.
Optionally, before acquiring the running state information of the target tire during running of the vehicle, the method further includes: acquiring a manual control signal and a manual duration corresponding to the manual control signal; and based on the manual duration, adopting a preset third spraying flow to control the spraying equipment to spray the anti-skid agent to the target tire.
Optionally, before sending the first control signal to the spraying device corresponding to the target tire, the method further includes: acquiring flow in a spraying pipeline corresponding to the spraying equipment, wherein the spraying pipeline is used for connecting an anti-slip agent filling tank and a spraying nozzle, and the spraying nozzle is used for spraying the anti-slip agent to the target tire; judging whether the flow is smaller than a preset flow or not; if the flow is smaller than the preset flow, a first prompt signal is sent to the man-machine interaction equipment of the vehicle, wherein the first prompt signal is used for prompting the flow alarm of the anti-skidding agent.
Optionally, before sending the first control signal to the spraying device corresponding to the target tire, the method further includes: acquiring the liquid level height of the anti-slip agent filling tank; judging whether the liquid level is lower than a preset height; and if the liquid level is smaller than the preset height, sending a second prompting signal to the man-machine interaction equipment of the vehicle, wherein the second prompting signal is used for prompting the anti-skid agent reserves to warn.
According to another aspect of an embodiment of the present invention, there is provided an anti-skid system including: the driving computer is used for acquiring driving state information of a target tire in the driving process of the vehicle; judging whether the state of the vehicle is a braking state or not and whether the vehicle starts a braking spraying mode or not according to the running state information; if the state of the vehicle is the braking state and the vehicle starts the braking spraying mode, a first control signal corresponding to the braking state is obtained, wherein the first control signal comprises a first spraying duration and a first spraying flow of the anti-slip agent to the target tire; sending the first control signal to spraying equipment corresponding to the target tire; the spraying equipment is connected with the driving computer and used for receiving the first control signal and spraying the anti-slip agent to the target tire based on the first spraying duration and the first spraying flow.
According to another aspect of an embodiment of the present invention, there is provided an anti-slip device including: the first acquisition module is used for acquiring the running state information of the target tire in the running process of the vehicle; the first judging module is used for judging whether the state of the vehicle is a braking state or not and whether the vehicle starts a braking spraying mode or not according to the running state information; the second acquisition module is used for acquiring a first control signal corresponding to the braking state if the state of the vehicle is the braking state and the vehicle starts the braking spraying mode, wherein the first control signal comprises a first spraying duration and a first spraying flow of the anti-slip agent to the target tire; the first sending module is used for sending the first control signal to spraying equipment corresponding to the target tire and used for spraying the anti-slip agent to the target tire by the spraying equipment based on the first spraying duration and the first spraying flow.
According to another aspect of an embodiment of the present invention, there is provided a non-volatile storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform any one of the anti-skid methods.
In the embodiment of the invention, a mode of spraying an anti-skid agent is adopted, and the running state information of a target tire in the running process of a vehicle is obtained; judging whether the state of the vehicle is a braking state or not and whether the vehicle starts a braking spraying mode or not according to the running state information; if the state of the vehicle is the braking state and the vehicle starts the braking spraying mode, a first control signal corresponding to the braking state is obtained, wherein the first control signal comprises a first spraying duration and a first spraying flow of the anti-slip agent to the target tire; and sending the first control signal to spraying equipment corresponding to the target tire, wherein the spraying equipment is used for spraying the anti-slip agent to the target tire based on the first spraying duration and the first spraying flow. The anti-skid device achieves the purposes of timely coping with sudden anti-skid demands, improving anti-skid convenience and running safety, improving coping capacity of sudden severe environments, improving technical effects of anti-skid performance and vehicle safety, and further solving the technical problems that due to complex anti-skid operation under sudden severe road conditions in related technologies, immediate coping is difficult, tire friction is insufficient and vehicle running safety is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a flow chart of an anti-skid method provided according to an embodiment of the present invention;
FIG. 2 is a block diagram of an anti-skid system provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of an anti-skid system provided in accordance with an embodiment of the present invention;
fig. 4 is a schematic view of an anti-skid device provided according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For convenience of description, the following will describe some terms or terms related to the embodiments of the present application:
the electronic stability system (ESP, electronic Stability Program) is a generic term for systems or programming devices that promote vehicle handling behavior and effectively prevent the vehicle from running away when the dynamic limit is reached. The method helps the vehicle to maintain dynamic balance by analyzing the running state information of the vehicle transmitted from each sensor and then sending out a deviation correction instruction, so that the vehicle maintains optimal stability under various conditions, and is inherited and further expanded for the functions of braking anti-lock and traction control.
The driving computer (ECU, electronic Control Unit) is an electronic control unit of the vehicle, and is used for monitoring various input data and vehicle running conditions at any time, calculating information transmitted by various sensors according to a pre-designed program, and transmitting various parameters to various relevant execution devices after processing so as to execute various preset control functions.
And the anti-lock braking system (ABS, antilock Brake System) is used for automatically controlling the braking force of the brake at the vehicle braking value so that the wheels are not locked and are in a rolling and sliding state, and the adhesion force between the wheels and the ground is ensured to be at the current maximum value.
CAN (Controller Area Network) A field bus is widely applied to an automobile computer control system and an embedded industrial control local area network, and has high reliability and good error detection capability.
According to an embodiment of the present invention, there is provided a method embodiment of an anti-skid method, it being noted that the steps shown in the flowchart of the figures may be performed in a computer system such as a set of computer executable instructions, and, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in an order other than that shown or described herein.
FIG. 1 is an anti-slip method according to an embodiment of the present invention, as shown in FIG. 1, comprising the steps of:
step S102, obtaining running state information of a target tire in the running process of a vehicle;
step S104, judging whether the state of the vehicle is a braking state or not and whether the vehicle starts a braking spraying mode or not according to the running state information;
step S106, if the state of the vehicle is the braking state and the vehicle starts the braking spraying mode, a first control signal corresponding to the braking state is obtained, wherein the first control signal comprises a first spraying duration and a first spraying flow of the anti-slip agent to the target tire;
And S108, sending the first control signal to spraying equipment corresponding to the target tire, wherein the first control signal is used for spraying the anti-slip agent to the target tire by the spraying equipment based on the first spraying duration and the first spraying flow.
Through the steps, sudden anti-skid requirements can be met in real time, the purposes of skid-proof convenience and running safety are further improved, the coping capacity of sudden severe environments is improved, the technical effects of skid-proof performance and vehicle safety are improved, and the technical problems that the sudden severe road conditions in the related technology are complicated in anti-skid operation, difficult to deal with in real time, insufficient tire friction is caused and the vehicle running safety is reduced are solved.
In the anti-skid method provided by the embodiment of the invention, first, in the running process of a vehicle, running state information of a target tire is acquired. And judging whether the vehicle is in a braking state or not and whether the vehicle starts a braking spraying mode or not based on the running state information. And if the brake spraying mode is started and the brake state is in the brake state, acquiring a first control signal corresponding to the brake state. The first control signal includes: a first duration of spraying the anti-skid agent to the target tire and a first spray flow rate. And sending a first control signal to spraying equipment corresponding to the target tire, so that the spraying equipment sprays the anti-slip agent to the target tire by adopting a first spraying flow within a first spraying duration. The driver starts the brake spraying mode under the condition that the driver judges that the friction force of the tire needs to be increased, and by the method, the anti-slip agent can be sprayed to the target tire every time of braking, and the friction force of the target tire is increased. Before sideslip occurs, the target tire is correspondingly processed in advance, so that sideslip risk avoidance is facilitated, and the safety of the running process is improved. And by opening and closing the brake spraying mode, the anti-skid capability of the vehicle is adjusted in time, and the coping capability of sudden special road conditions is improved.
Alternatively, the driving state information may be obtained in various ways, for example: the driving state information is obtained by a vehicle body electronic stability system and is transmitted to a driving computer through a vehicle communication bus, such as a CAN bus. The electronic stabilizing system of the automobile body and the anti-lock braking system work cooperatively to acquire sideslip signals from the wheel speed sensor of the detection target tire, wherein the sideslip signals are signals of the wheel speed sensor for detecting wheel gap, and the electronic stabilizing system of the automobile body analyzes the wheel gap signals to obtain judgment of whether sideslip occurs. Similarly, the braking state can be obtained by detecting the wheel gap signal through the wheel speed sensor.
Alternatively, the spraying apparatus may be various, for example: anti-slip agent spray motors, and the like.
Alternatively, there may be various ways to obtain the brake spraying mode, for example: and acquiring a first voice control signal through human-computer interaction equipment of the vehicle, and converting the first voice control signal into a first control signal. The brake spraying mode can be set to be started through the intelligent control panel.
Alternatively, the brake spraying modes may be various, for example: the brake spraying mode further comprises: a normal brake spray mode or an advanced brake spray mode. The ordinary braking spraying mode is adopted, so that the load of a driving computer is reduced, when a vehicle body electronic stability system detects that the vehicle brakes, the spraying equipment executes spraying operation according to the preset time length and the preset spraying flow, and the amount of the anti-skidding agent is small and cannot be immediately supplemented, the preset spraying flow is properly reduced, the anti-skidding performance is properly reduced in a safety range, the vehicle can maintain a longer anti-skidding function, and the anti-skidding response capability of the vehicle to long-term special road conditions of rain and snow is enhanced. The advanced braking spraying mode is used for calculating parameters related to a braking state to obtain a calculated flow value, and spraying is continuously carried out on the target tire according to the calculated flow value in the braking duration. Compared with the common braking spraying mode, the high-grade braking spraying mode has better anti-skid performance, more accurate flow control of the anti-skid agent, and more easily causes the exhaustion of the anti-skid agent under the condition of insufficient residual quantity of the anti-skid agent, thereby causing safety accidents such as sideslip and the like to occur when the anti-skid agent is exhausted in a long-time driving process and is in a vehicle condition without protective measures. Corresponding adjustment is needed by related personnel according to specific application conditions, and response to various scenes is flexible.
Alternatively, the target tire may be various, for example: the target tire may be all tires in the vehicle, may be driving wheels of the vehicle, and the driving wheels may be front wheels or rear wheels. For a typical four-wheeled small vehicle, such as: the anti-skid agent spraying can be carried out on all tires for household cars, sports cars and the like. However, for large load-carrying vehicles, such as dump trucks, haul trucks, off-road trucks, various trucks manufactured for particular needs include: airport ferry vehicles, fire trucks, ambulances, tank trucks, container hauling trucks and the like, and the loading vehicles have great differences according to different practical application scenes, and the loading capacity directly affects the number of tires. The number of tires of a vehicle with a large carrying capacity is relatively large, and 4 to 6 tires are arranged on a truck with a carrying capacity of 1 ton to 8 tons in general; the truck with the weight of 8 tons to 25 tons has 12 tires, the front headstock has 4 tires, and the rear tractor has 8 tires; the trucks with a load of 25 to 31 tons have 14 tires, 4 front trucks, 10 rear tractors, etc. are increased in sequence. Therefore, taking all tires in the vehicle as target tires causes excessive consumption of the anti-slip agent, requiring a large anti-slip agent filling tank, and adding a burden to the vehicle. In order to cope with the problems, the driving wheels and part of the driven wheels of the vehicle can be used as target tires, so that the adjustment can be flexibly carried out according to the application conditions of the specific vehicle, the consumption of the anti-skid agent and the anti-skid performance are in proper balance, the application scene and the flexibility of the anti-skid method are facilitated to be increased, and the limitation is reduced.
Alternatively, the above-mentioned anti-slip agent may be various, for example: based on glue or liquid formed by raw materials with anti-skid function, such as rubber (natural rubber or synthetic rubber), silicone oil or polyurethane compound, aerosol can be added for spraying.
In an alternative embodiment, the method further comprises: judging whether the state of the target tire is a sideslip state or not; if the state of the target tire is the sideslip state, acquiring a second control signal corresponding to the sideslip state, wherein the second control signal comprises a second spraying duration and a second spraying flow of the anti-slip agent sprayed to the target tire; and sending the second control signal to the spraying equipment corresponding to the target tire, wherein the second control signal is used for the spraying equipment to spray the anti-slip agent to the target tire based on the second spraying duration and the second spraying flow.
It can be understood that in order to prevent related personnel from misjudging the running environment, the braking spraying mode cannot be started in time, so that the anti-skid performance of the vehicle is poor. The vehicle automatically responds after detecting the sideslip state, firstly, based on the running state information, judging whether the state of the target tire is the sideslip state, and if the state of the target tire is the sideslip state, acquiring a second control signal corresponding to the sideslip state. The second control signal includes a second spray duration and a second spray flow rate of the anti-skid agent to the target tire. And then, sending a second control signal to the spraying equipment corresponding to the target tire. And enabling the spraying equipment to spray the anti-slip agent to the target tire by adopting the second spraying flow within the second spraying duration.
Optionally, the brake depth information may be obtained in various ways, for example: the brake assembly equipment detects travel information of a brake pedal to represent brake depth information, and the brake depth information is obtained through a driving computer. According to the difference of specific vehicle types, a sensor or other sensing equipment for detecting a brake pedal is arranged, and a driving computer acquires brake depth information, which belongs to the protection scope of the invention.
Alternatively, the first time length threshold may be various, for example: the first time threshold is used for measuring the anti-skid effect of the vehicle, in order to facilitate understanding, and for concrete examples, road surface slight icing or snow accumulation often occurs in winter in the north, a braking state exists in normal running of the vehicle, and when the current anti-skid effect can meet the vehicle requirement, the duration of braking generally does not exceed the first time threshold. The first time constant threshold value can be calibrated and corrected through experiments based on different vehicle types.
The state of the target tire is not completely identical to the state of the vehicle, and for convenience of understanding, specific examples are: for a general household vehicle, such as a front-wheel vehicle, when the sideslip of the whole vehicle is detected, there may be a front wheel slip, a rear wheel slip, or both the front and rear wheels slip. The sideslip state of the target tire is obtained through the electronic stabilizing system of the automobile body, and the sideslip is performed on the target tire, if the front wheel is detected to be in the sideslip state from the driving state information, the whole sideslip of the automobile is caused, but the rear wheel is in the normal state, at the moment, a second control signal is sent to spraying equipment corresponding to the front wheel, spraying is performed on the basis of the second control signal, and the friction force of the front wheel to the ground is improved. In the above example, it is found that different tires of the vehicle may be in different states, but any tire sideslip may cause the vehicle to be in a sideslip state. According to the running state information, the sideslip tires are purposefully sprayed, so that unnecessary anti-slip agent waste is avoided on the premise of ensuring the anti-slip capability.
In an alternative embodiment, the method further comprises: if the brake duration reaches the first time threshold, determining a second calculated flow based on the brake depth information and a second spraying algorithm; and obtaining the first control signal based on the brake duration and the second calculated flow, wherein the first spraying duration is the brake duration, and the first spraying flow is the second calculated flow.
It can be appreciated that in the above-mentioned braking spraying mode, the braking duration of the vehicle will exceed the first time threshold, and in order to further enhance the anti-slip capability, first, after determining that the braking duration reaches the first time threshold, the second calculated flow is determined based on the braking depth information and the second spraying algorithm. And the first spraying duration is the braking duration, the first spraying flow is the second calculated flow, and the first control signal is obtained.
It should be noted that, when the duration of braking reaches the first time threshold, the current anti-slip capability is considered to be still not reaching the vehicle requirement, and for convenience of understanding, specific examples are: when sideslip occurs on the frozen road surface, a driver can continuously step on the brake until the vehicle is controlled in order to control the vehicle, and the duration of the brake in the process is generally obviously longer than that of a normal braking state, namely, the duration of the brake is not shorter than a first time threshold value, so that the risk of vehicle runaway exists, the anti-skid capability needs to be improved, and a second calculated flow is correspondingly obtained by adopting a second spraying algorithm. Also for example: in rainy and snowy weather, the vehicle can be in a braking state for a long time when the vehicle is in a sideslip state, but a driver starts a braking spraying mode for safety, and the vehicle speed can easily reach a relatively fast range for the downhill vehicle speed although the braking duration exceeds a first time threshold value and sideslip is out of control, so that potential safety hazards exist under the condition of insufficient tire adhesion, and the second spraying algorithm with stronger anti-skid capability is beneficial to avoiding risks in advance.
It should be noted that, since the second spraying algorithm is an enhancement algorithm for increasing the flow rate of the anti-slip agent in the case that the first spraying algorithm cannot meet the requirement, that is, the braking duration reaches the first time threshold. Therefore, the second calculated flow and the first calculated flow are both calculated values, but the second calculated flow is necessarily larger than the first calculated flow by setting the first spraying algorithm and the second spraying algorithm under the condition that the braking depth is the same, so that the anti-skid capability is enhanced.
In an alternative embodiment, before acquiring the running state information of the target tire during running of the vehicle, the method further includes: acquiring a manual control signal and a manual duration corresponding to the manual control signal; and based on the manual duration, adopting a preset third spraying flow to control the spraying equipment to spray the anti-slip agent to the target tire.
It can be understood that in actual driving, the driver determines that the anti-skid is needed, but considers that the brake spray mode is not needed to be started, and performs manual control to temporarily cope with the situation, and firstly, a manual control signal and a corresponding manual duration are acquired. And then, based on the manual duration, adopting a preset third spraying flow to control the spraying equipment to spray the target tire.
Alternatively, the above-mentioned manner of acquiring the manual control signal may be various, for example: and acquiring a second voice control signal through human-computer interaction equipment of the vehicle, and converting the second voice control signal into a manual control signal. The manual starting button can be arranged on the steering wheel, so that a driver can send a manual control signal in time when finding an emergency, and the operation can be completed without disturbing normal driving behavior.
It should be noted that, through manual control, the driver can be made to have the ability of autonomous control antiskid, in non-sideslip state and non-brake state, once the driver subjective discovers that the driving condition is not good or the front of the sense of presbyopia gets into the vehicle and sideslips the high risk and send out the district, can prevent smooth emergency treatment through sending manual control signal, control manual duration length according to specific needs for the antiskid ability size of control vehicle.
In an alternative embodiment, before the first control signal is sent to the spraying device corresponding to the target tire, the method further includes: acquiring flow in a spraying pipeline corresponding to the spraying equipment, wherein the spraying pipeline is used for connecting an anti-slip agent filling tank and a spraying nozzle, and the spraying nozzle is used for spraying the anti-slip agent to the target tire; judging whether the flow is smaller than a preset flow or not; and if the flow is smaller than the preset flow, sending a first prompting signal to human-computer interaction equipment of the vehicle, wherein the first prompting signal is used for prompting the flow alarm of the anti-skidding agent.
It can be understood that in order to avoid the problems of damage to the spraying pipeline or blockage of the spraying nozzle, the situation that the spraying equipment works but the target tire cannot be actually sprayed by the anti-skid agent is caused, so that the damage to the spraying equipment or the waste of the anti-skid agent is caused. Before a first control signal is sent to spraying equipment corresponding to a target tire, firstly, the flow in a spraying pipeline is obtained, after the fact that the flow is smaller than a preset flow is confirmed, the situation that normal spraying cannot occur is considered, a first prompt signal is sent to man-machine interaction equipment of a vehicle, and a driver is prompted to be in an anti-slip agent flow alarm at present.
Alternatively, there are various ways to obtain the above flow, for example: and a flowmeter is arranged in the spray pipeline, and a flow signal in the flowmeter is acquired and transmitted to a driving computer.
Optionally, the first prompting signal may be various, for example: after the flow is smaller than the preset flow, the spray nozzle is prompted to be blocked by foreign matters or the spray pipeline is prompted to be broken, and the situation can lead the anti-skid agent not to normally reach the target tire.
In an alternative embodiment, before the first control signal is sent to the spraying device corresponding to the target tire, the method further includes: acquiring the liquid level height of the anti-slip agent filling tank; judging whether the liquid level is lower than a preset height; and if the liquid level is smaller than the preset height, sending a second prompting signal to human-computer interaction equipment of the vehicle, wherein the second prompting signal is used for prompting the anti-skid agent reserves alarm.
It can be understood that in order to avoid the problem of potential safety hazard caused by the fact that the vehicle runs on a snowy road without protection measures due to the lack of the anti-slip agent when long-time anti-slip running requirements exist, the residual quantity of the anti-slip agent needs to be detected, the anti-slip agent is considered to be needed to be supplemented after the fact that the liquid level is lower than the preset level is confirmed by acquiring the liquid level in the anti-slip agent filling tank, and a second prompting signal is sent to human-computer interaction equipment of the vehicle and is used for prompting anti-slip agent storage alarming.
Alternatively, the liquid level may be obtained in a plurality of ways, for example: the liquid level sensor is arranged in the anti-slip agent filling tank to acquire a liquid level signal, and the liquid level signal is transmitted to a driving computer.
Based on the above embodiments and optional embodiments, the present invention proposes an optional implementation, for convenience of understanding, specific examples are: when the vehicle only sideslips, when the wheel speed sensor identifies the sideslip of the vehicle, the sideslip signal is transmitted to the electronic vehicle body stabilizing system, and the electronic vehicle body stabilizing system transmits the sideslip signal to the forward running computer. And the driving computer receives the sideslip signal and then carries out automatic anti-skid response, and at the moment, the driving computer sends a second control signal to the spraying equipment. After the spraying equipment is started, the anti-slip agent in the anti-slip agent filling tank is pumped to the spraying nozzle through the spraying pipeline, and is sprayed out of the spraying nozzle after reaching a certain pressure. The spray nozzle uniformly sprays the anti-skid agent to the target tire, so that the aim of increasing the friction force of the tire and improving the anti-skid performance is fulfilled.
When the driver automatically recognizes that the vehicle needs to be increased in skid resistance when the weather and other conditions of a special road section are sudden during driving, a manual starting button on the multifunctional steering wheel can be manually pressed, or a voice command is input through the intelligent control panel for starting manual control. And transmitting a manual control signal to a traveling crane computer, and transmitting the control signal to the spraying equipment by the traveling crane computer based on the preset spraying flow and the manual duration. After the spraying equipment is started, the anti-slip agent in the anti-slip agent filling tank is pumped to the spraying nozzle through the spraying pipeline, and the anti-slip agent is sprayed out of the spraying nozzle when reaching a certain pressure. The spray nozzle uniformly sprays the anti-skid agent to the target wheel, so that the aim of increasing the friction force of the tire and improving the anti-skid performance is fulfilled.
When driving in special road conditions, the driver can enter a brake spraying mode through the intelligent control panel or input a voice command. In the driving process, each time of braking signals can be transmitted to the electronic stabilizing system of the automobile body through the wheel speed sensor, and the electronic stabilizing system of the automobile body transmits sideslip signals to the driving computer. And after receiving the sideslip signal, the driving computer starts a brake spraying mode, and sends a first control signal to the spraying equipment to perform spraying, namely, one-time spraying of the anti-slip agent is completed once per brake.
In addition, when each part fails after the anti-skid system is started, the driving computer can identify the failed part through the corresponding sensor, such as an electric signal sent by the flowmeter, and prompt alarm information in the intelligent control panel. When the liquid level of the anti-slip agent filling tank reaches the limit value, the liquid level sensor sends a liquid level signal to a driving computer, the driving computer transmits the signal to an intelligent control panel, and a liquid level alarm signal is displayed on the intelligent control panel, so that a driver is prompted to pay attention to the liquid level of the anti-slip agent.
At least any one of the following effects is achieved by the above-described alternative embodiments: the anti-skid mode is to increase the friction force of the automobile tire by using the anti-skid spray so as to increase the anti-skid performance of the automobile tire, so that the anti-skid capability can be improved without stopping in the driving process, the anti-skid can be started at any time in different environments, time and scenes, and the quick switching of the requirements of the anti-skid performance of the tire on the slippery road surface and the normal road surface is realized. The control method has two control modes of manual operation and automatic operation. The anti-skid device can be started in various modes, does not influence the normal driving process, is combined with man-machine interaction equipment, and can be started by intelligent voice.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
The embodiment of the invention also provides an anti-skid system, and the anti-skid system provided by the embodiment of the invention is described below.
FIG. 2 is a block diagram of an anti-skid system provided according to an embodiment of the present invention, as shown in FIG. 2, the system comprising: the following describes the system with a driving computer 202 and a spraying device 204.
A driving computer 202 for acquiring driving state information of a target tire during driving of the vehicle; judging whether the state of the vehicle is a braking state or not and whether the vehicle starts a braking spraying mode or not according to the running state information; if the state of the vehicle is the braking state and the vehicle starts the braking spraying mode, acquiring a first control signal corresponding to the braking state, wherein the first control signal comprises a first spraying duration and a first spraying flow of the anti-slip agent sprayed to the target tire; transmitting the first control signal to the spraying equipment corresponding to the target tire;
the spraying device 204 is connected with the driving computer 202, and is configured to receive the first control signal, and spray the anti-slip agent to the target tire based on the first spraying duration and the first spraying flow.
Based on the above embodiments and alternative embodiments, the present invention proposes an alternative embodiment. FIG. 3 is a schematic view of an anti-skid system provided according to an embodiment of the present invention, as shown in FIG. 3, including: the vehicle comprises a spray nozzle 1, a wheel outer frame 12, a target tire 3, a vehicle body electronic stabilization system 4, a driving computer 5, an anti-slip agent filling tank 6, a spray equipment machine 7, a spray pipeline 8, a multifunctional steering wheel 9, a manual starting button 10, an intelligent control panel 11 and a wheel speed sensor 12. The connection relation of the respective members is described below: the spray nozzle 1 is positioned right above the target tire 3, and the spray nozzle 1 is arranged below the outer frame 2 of the target tire. The spray nozzle 1 is connected with a spray device 7 and an anti-slip agent filling tank 6 through a spray pipeline 8 to realize the supply of the anti-slip agent. The target tire 3 of the vehicle transmits the sideslip signal acquired by the wheel speed sensor 12 to the vehicle body electronic stability system 4 through electrical connection, and the vehicle body electronic stability system 4 transmits the signal to the driving computer 5 through electrical connection. The anti-slip agent filling tank 5 transmits a liquid level alarm signal to the driving computer 5 through electric connection, and the driving computer 5 transmits the liquid level alarm signal to the intelligent control panel 11 through electric connection. The manual start button 10 is mounted on the multifunctional steering wheel 9, and the manual control signal is transmitted to the driving computer 5 through the electric connection by pressing the manual start button 10. The intelligent control panel 11 transmits the manual control signal to the driving computer 5 through the electrical connection through the man-machine conversation voice command. The travelling crane computer 5 transmits control signals to the spraying equipment machine 7 through electric connection. After the spraying device 7 is started, the anti-slip agent in the anti-slip agent filling tank 6 is extracted to be supplied to the spraying nozzle 1. The spray nozzle 1 sprays the anti-skid agent on the tire on the target tire 3, thereby increasing the friction force on the tire. Wherein each tire in the vehicle has a corresponding spray nozzle, only the target tire 3, and the spray nozzle 1 corresponding thereto, are taken as an example for convenience of description.
In the anti-skid system provided by the embodiment of the invention, the driving computer 202 is used for acquiring the driving state information of the target tire in the driving process of the vehicle; judging whether the state of the vehicle is a braking state or not and whether the vehicle starts a braking spraying mode or not according to the running state information; if the state of the vehicle is the braking state and the vehicle starts the braking spraying mode, acquiring a first control signal corresponding to the braking state, wherein the first control signal comprises a first spraying duration and a first spraying flow of the anti-slip agent sprayed to the target tire; transmitting the first control signal to the spraying equipment corresponding to the target tire; the spraying device 204 is connected with the driving computer 202, and is configured to receive the first control signal, and spray the anti-slip agent to the target tire based on the first spraying duration and the first spraying flow. The anti-skid device achieves the purposes of timely coping with sudden anti-skid demands, improving anti-skid convenience and running safety, improving coping capacity of sudden severe environments, improving technical effects of anti-skid performance and vehicle safety, and further solving the technical problems that due to complex anti-skid operation under sudden severe road conditions in related technologies, immediate coping is difficult, tire friction is insufficient and vehicle running safety is reduced.
In this embodiment, an anti-slip device is further provided, and the anti-slip device is used to implement the foregoing embodiments and preferred embodiments, and is not described in detail. As used below, the terms "module," "apparatus" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
According to an embodiment of the present invention, there is further provided an apparatus for implementing an anti-skid method, and fig. 4 is a schematic diagram of an anti-skid device according to an embodiment of the present invention, as shown in fig. 4, and the anti-skid device includes: the first obtaining module 402, the first judging module 404, the second obtaining module 406, and the first transmitting module 408 are described below.
A first obtaining module 402, configured to obtain running state information of a target tire during running of a vehicle;
the first judging module 404 is connected to the first obtaining module 402, and is configured to judge whether the state of the vehicle is a braking state and whether the vehicle starts a braking spraying mode according to the driving state information;
The second obtaining module 406 is connected to the first judging module 404, and is configured to obtain a first control signal corresponding to the braking state if the state of the vehicle is the braking state and the vehicle starts the braking spraying mode, where the first control signal includes a first spraying duration and a first spraying flow of the anti-slip agent sprayed to the target tire;
and a first sending module 408, connected to the second obtaining module 406, configured to send the first control signal to a spraying device corresponding to the target tire, where the spraying device sprays the anti-slip agent to the target tire based on the first spraying duration and the first spraying flow.
In the anti-skid device provided by the embodiment of the invention, the first acquisition module 402 is configured to acquire running state information of a target tire in a running process of a vehicle; the first judging module 404 is connected to the first obtaining module 402, and is configured to judge whether the state of the vehicle is a braking state and whether the vehicle starts a braking spraying mode according to the driving state information; the second obtaining module 406 is connected to the first judging module 404, and is configured to obtain a first control signal corresponding to the braking state if the state of the vehicle is the braking state and the vehicle starts the braking spraying mode, where the first control signal includes a first spraying duration and a first spraying flow of the anti-slip agent sprayed to the target tire; and a first sending module 408, connected to the second obtaining module 406, configured to send the first control signal to a spraying device corresponding to the target tire, where the spraying device sprays the anti-slip agent to the target tire based on the first spraying duration and the first spraying flow. The anti-skid device achieves the purposes of timely coping with sudden anti-skid demands, improving anti-skid convenience and running safety, improving coping capacity of sudden severe environments, improving technical effects of anti-skid performance and vehicle safety, and further solving the technical problems that due to complex anti-skid operation under sudden severe road conditions in related technologies, immediate coping is difficult, tire friction is insufficient and vehicle running safety is reduced.
It should be noted that each of the above modules may be implemented by software or hardware, for example, in the latter case, it may be implemented by: the above modules may be located in the same processor; alternatively, the various modules described above may be located in different processors in any combination.
Here, the first obtaining module 402, the first judging module 404, the second obtaining module 406, and the first sending module 408 correspond to steps S102 to S108 in the embodiment, and the above modules are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to the disclosure of the above embodiments. It should be noted that the above modules may be run in a computer terminal as part of the apparatus.
It should be noted that, the optional or preferred implementation manner of this embodiment may be referred to the related description in the embodiment, and will not be repeated herein.
The anti-skid device may further include a processor and a memory, where the first acquiring module 402, the first judging module 404, the second acquiring module 406, the first transmitting module 408, and the like are stored as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel may be provided with one or more. The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
The embodiment of the invention provides a nonvolatile storage medium, on which a program is stored, which when executed by a processor, implements an anti-slip method.
The embodiment of the invention provides an electronic device, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the following steps are realized when the processor executes the program: acquiring running state information of a target tire in the running process of a vehicle; judging whether the state of the vehicle is a braking state or not and whether the vehicle starts a braking spraying mode or not according to the running state information; if the state of the vehicle is the braking state and the vehicle starts the braking spraying mode, acquiring a first control signal corresponding to the braking state, wherein the first control signal comprises a first spraying duration and a first spraying flow of the anti-slip agent sprayed to the target tire; and sending the first control signal to the spraying equipment corresponding to the target tire, wherein the first control signal is used for spraying the anti-slip agent to the target tire by the spraying equipment based on the first spraying duration and the first spraying flow. The device herein may be a server, a PC, etc.
The embodiment of the invention provides a vehicle, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the following steps are realized when the processor executes the program: acquiring running state information of a target tire in the running process of a vehicle; judging whether the state of the vehicle is a braking state or not and whether the vehicle starts a braking spraying mode or not according to the running state information; if the state of the vehicle is the braking state and the vehicle starts the braking spraying mode, acquiring a first control signal corresponding to the braking state, wherein the first control signal comprises a first spraying duration and a first spraying flow of the anti-slip agent sprayed to the target tire; and sending the first control signal to the spraying equipment corresponding to the target tire, wherein the first control signal is used for spraying the anti-slip agent to the target tire by the spraying equipment based on the first spraying duration and the first spraying flow.
The invention also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with the method steps of: acquiring running state information of a target tire in the running process of a vehicle; judging whether the state of the vehicle is a braking state or not and whether the vehicle starts a braking spraying mode or not according to the running state information; if the state of the vehicle is the braking state and the vehicle starts the braking spraying mode, acquiring a first control signal corresponding to the braking state, wherein the first control signal comprises a first spraying duration and a first spraying flow of the anti-slip agent sprayed to the target tire; and sending the first control signal to the spraying equipment corresponding to the target tire, wherein the first control signal is used for spraying the anti-slip agent to the target tire by the spraying equipment based on the first spraying duration and the first spraying flow.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the scope of the claims of the present invention.
Claims (7)
1. A method of anti-skid comprising:
acquiring running state information of a target tire in the running process of a vehicle;
judging whether the state of the vehicle is a braking state or not and whether the vehicle starts a braking spraying mode or not according to the running state information;
if the state of the vehicle is the braking state and the vehicle starts the braking spraying mode, a first control signal corresponding to the braking state is obtained, wherein the first control signal comprises a first spraying duration and a first spraying flow of the anti-slip agent to the target tire;
The first control signal is sent to spraying equipment corresponding to the target tire, and the spraying equipment is used for spraying the anti-slip agent to the target tire based on the first spraying duration and the first spraying flow;
wherein, before acquiring the running state information of the target tire during the running of the vehicle, the method further comprises: acquiring a manual control signal and a manual duration corresponding to the manual control signal; based on the manual duration, adopting a preset third spraying flow to control the spraying equipment to spray the anti-skid agent to the target tire;
the obtaining a first control signal corresponding to the braking state includes: acquiring braking duration and braking depth information of the vehicle in the braking state; judging whether the brake duration reaches a preset first time threshold value or not; if the brake duration does not reach the first time threshold, determining a first calculated flow based on the brake depth information and a first spraying algorithm; obtaining the first control signal based on the brake duration and the first calculated flow, wherein the first spraying duration is the brake duration, and the first spraying flow is the first calculated flow;
The method further comprises the steps of: if the brake duration reaches the first time threshold, determining a second calculated flow based on the brake depth information and a second spraying algorithm; and obtaining the first control signal based on the brake duration and the second calculated flow, wherein the first spraying duration is the brake duration, and the first spraying flow is the second calculated flow.
2. The method according to claim 1, wherein the method further comprises:
judging whether the state of the target tire is a sideslip state or not according to the running state information;
if the state of the target tire is the sideslip state, acquiring a second control signal corresponding to the sideslip state, wherein the second control signal comprises a second spraying duration and a second spraying flow of the anti-slip agent sprayed to the target tire;
and sending the second control signal to spraying equipment corresponding to the target tire, wherein the spraying equipment is used for spraying the anti-slip agent to the target tire based on the second spraying duration and the second spraying flow.
3. The method of claim 1, wherein prior to transmitting the first control signal to the spray device corresponding to the target tire, the method further comprises:
Acquiring flow in a spraying pipeline corresponding to the spraying equipment, wherein the spraying pipeline is used for connecting an anti-slip agent filling tank and a spraying nozzle, and the spraying nozzle is used for spraying the anti-slip agent to the target tire;
judging whether the flow is smaller than a preset flow or not;
if the flow is smaller than the preset flow, a first prompt signal is sent to the man-machine interaction equipment of the vehicle, wherein the first prompt signal is used for prompting the flow alarm of the anti-skidding agent.
4. A method according to any one of claims 1 to 3, wherein before sending the first control signal to the spraying device to which the target tyre corresponds, the method further comprises:
acquiring the liquid level height of the anti-slip agent filling tank;
judging whether the liquid level is lower than a preset height;
and if the liquid level is smaller than the preset height, sending a second prompting signal to the man-machine interaction equipment of the vehicle, wherein the second prompting signal is used for prompting the anti-skid agent reserves to warn.
5. An anti-skid system, comprising:
the driving computer is used for acquiring driving state information of a target tire in the driving process of the vehicle; judging whether the state of the vehicle is a braking state or not and whether the vehicle starts a braking spraying mode or not according to the running state information; if the state of the vehicle is the braking state and the vehicle starts the braking spraying mode, a first control signal corresponding to the braking state is obtained, wherein the first control signal comprises a first spraying duration and a first spraying flow of the anti-slip agent to the target tire; sending the first control signal to spraying equipment corresponding to the target tire;
The spraying equipment is connected with the driving computer and is used for receiving the first control signal and spraying the anti-slip agent to the target tire based on the first spraying duration and the first spraying flow;
the spraying device is also used for: receiving a manual control signal and a manual duration corresponding to the manual control signal; spraying an anti-skid agent to the target tire with a preset third spray flow based on the manual duration;
wherein, driving computer still is used for: acquiring braking duration and braking depth information of the vehicle in the braking state; judging whether the brake duration reaches a preset first time threshold value or not; if the brake duration does not reach the first time threshold, determining a first calculated flow based on the brake depth information and a first spraying algorithm; obtaining the first control signal based on the brake duration and the first calculated flow, wherein the first spraying duration is the brake duration, and the first spraying flow is the first calculated flow;
the driving computer is also used for: if the brake duration reaches the first time threshold, determining a second calculated flow based on the brake depth information and a second spraying algorithm; and obtaining the first control signal based on the brake duration and the second calculated flow, wherein the first spraying duration is the brake duration, and the first spraying flow is the second calculated flow.
6. An anti-skid device, comprising:
the first acquisition module is used for acquiring the running state information of the target tire in the running process of the vehicle;
the first judging module is used for judging whether the state of the vehicle is a braking state or not and whether the vehicle starts a braking spraying mode or not according to the running state information;
the second acquisition module is used for acquiring a first control signal corresponding to the braking state if the state of the vehicle is the braking state and the vehicle starts the braking spraying mode, wherein the first control signal comprises a first spraying duration and a first spraying flow of the anti-slip agent to the target tire;
the first sending module is used for sending the first control signal to spraying equipment corresponding to the target tire and used for spraying the anti-slip agent to the target tire by the spraying equipment based on the first spraying duration and the first spraying flow;
wherein the device is further for: acquiring a manual control signal and a manual duration corresponding to the manual control signal; based on the manual duration, adopting a preset third spraying flow to control the spraying equipment to spray the anti-skid agent to the target tire;
Wherein the second acquisition module is further configured to: acquiring braking duration and braking depth information of the vehicle in the braking state; judging whether the brake duration reaches a preset first time threshold value or not; if the brake duration does not reach the first time threshold, determining a first calculated flow based on the brake depth information and a first spraying algorithm; obtaining the first control signal based on the brake duration and the first calculated flow, wherein the first spraying duration is the brake duration, and the first spraying flow is the first calculated flow;
the device is also for: if the brake duration reaches the first time threshold, determining a second calculated flow based on the brake depth information and a second spraying algorithm; and obtaining the first control signal based on the brake duration and the second calculated flow, wherein the first spraying duration is the brake duration, and the first spraying flow is the second calculated flow.
7. A non-volatile storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the anti-skid method of any one of claims 1 to 4.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210826087.2A CN115158258B (en) | 2022-07-14 | 2022-07-14 | Anti-skid method, system, device and nonvolatile storage medium |
| PCT/CN2023/089537 WO2024011986A1 (en) | 2022-07-14 | 2023-04-20 | Antiskid method, system and apparatus, and non-volatile storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210826087.2A CN115158258B (en) | 2022-07-14 | 2022-07-14 | Anti-skid method, system, device and nonvolatile storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115158258A CN115158258A (en) | 2022-10-11 |
| CN115158258B true CN115158258B (en) | 2024-04-12 |
Family
ID=83493176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210826087.2A Active CN115158258B (en) | 2022-07-14 | 2022-07-14 | Anti-skid method, system, device and nonvolatile storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115158258B (en) |
| WO (1) | WO2024011986A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115158258B (en) * | 2022-07-14 | 2024-04-12 | 中国第一汽车股份有限公司 | Anti-skid method, system, device and nonvolatile storage medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990046040A (en) * | 1999-03-16 | 1999-06-25 | 김택진 | Skid-proof method and its device of automobile |
| JP2005206036A (en) * | 2004-01-22 | 2005-08-04 | Advics:Kk | Motion control device for vehicle |
| CN201951436U (en) * | 2011-03-10 | 2011-08-31 | 沈紫辉 | Automobile brake system and auxiliary device for emergency brake |
| CN202764968U (en) * | 2012-09-20 | 2013-03-06 | 南车南京浦镇车辆有限公司 | Sanding device for metro vehicles |
| CN104507705A (en) * | 2012-06-01 | 2015-04-08 | 易雨有限公司 | Anti-aquaplaning device for a vehicle |
| KR20150042976A (en) * | 2013-10-14 | 2015-04-22 | 현대모비스 주식회사 | Spraying apparatus for prevention of tire sliding and spraying method thereof |
| KR20160008911A (en) * | 2014-07-15 | 2016-01-25 | 주식회사 유라코퍼레이션 | Apparatus and method for preventing slip of vehicle tire |
| CN205768379U (en) * | 2016-07-21 | 2016-12-07 | 吉林省农业科学院 | Automobile-used anti-skid cloth sand system |
| CN109177655A (en) * | 2018-09-29 | 2019-01-11 | 长安大学 | A kind of system and method improving tire and coefficient of road adhesion |
| CN112776809A (en) * | 2021-01-07 | 2021-05-11 | 东风柳州汽车有限公司 | Driver hill start assisting method, device, equipment and storage medium |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005297929A (en) * | 2004-04-16 | 2005-10-27 | Advics:Kk | Vehicular slip preventive supporting device |
| DE102011104936A1 (en) * | 2011-06-18 | 2012-04-26 | Daimler Ag | Device for increasing tire adhesion of road vehicle, has spraying device applying adhesion-strengthening agent before or under tire contact surface and/or on tread of tire of vehicle by determining slippage of tire in relation to track |
| KR20150044133A (en) * | 2013-10-16 | 2015-04-24 | 현대다이모스(주) | Control method of slip preventing device for vehicle |
| KR101617286B1 (en) * | 2014-11-12 | 2016-05-02 | 인제대학교 산학협력단 | Auxiliary braking device for reduction of braking distance |
| CN214383335U (en) * | 2021-01-16 | 2021-10-12 | 黄河交通学院 | Device for preventing automobile from slipping |
| CN115158258B (en) * | 2022-07-14 | 2024-04-12 | 中国第一汽车股份有限公司 | Anti-skid method, system, device and nonvolatile storage medium |
-
2022
- 2022-07-14 CN CN202210826087.2A patent/CN115158258B/en active Active
-
2023
- 2023-04-20 WO PCT/CN2023/089537 patent/WO2024011986A1/en unknown
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990046040A (en) * | 1999-03-16 | 1999-06-25 | 김택진 | Skid-proof method and its device of automobile |
| JP2005206036A (en) * | 2004-01-22 | 2005-08-04 | Advics:Kk | Motion control device for vehicle |
| CN201951436U (en) * | 2011-03-10 | 2011-08-31 | 沈紫辉 | Automobile brake system and auxiliary device for emergency brake |
| CN104507705A (en) * | 2012-06-01 | 2015-04-08 | 易雨有限公司 | Anti-aquaplaning device for a vehicle |
| CN202764968U (en) * | 2012-09-20 | 2013-03-06 | 南车南京浦镇车辆有限公司 | Sanding device for metro vehicles |
| KR20150042976A (en) * | 2013-10-14 | 2015-04-22 | 현대모비스 주식회사 | Spraying apparatus for prevention of tire sliding and spraying method thereof |
| KR20160008911A (en) * | 2014-07-15 | 2016-01-25 | 주식회사 유라코퍼레이션 | Apparatus and method for preventing slip of vehicle tire |
| CN205768379U (en) * | 2016-07-21 | 2016-12-07 | 吉林省农业科学院 | Automobile-used anti-skid cloth sand system |
| CN109177655A (en) * | 2018-09-29 | 2019-01-11 | 长安大学 | A kind of system and method improving tire and coefficient of road adhesion |
| CN112776809A (en) * | 2021-01-07 | 2021-05-11 | 东风柳州汽车有限公司 | Driver hill start assisting method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2024011986A1 (en) | 2024-01-18 |
| CN115158258A (en) | 2022-10-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2003226233B2 (en) | Antilock braking system based roll over prevention | |
| US6176555B1 (en) | Method and device for controlling handling dynamics of motor vehicles | |
| US7226134B2 (en) | Method for stabilizing the driving state of a utility vehicle combination | |
| EP1740414B1 (en) | Method and apparatus for detecting and correcting trailer induced yaw movements in a towing vehicle | |
| CN110235072B (en) | Controlling motion of a vehicle | |
| US11097739B2 (en) | Method to estimate tire-road friction, prior to safety systems engagement | |
| US20120010779A1 (en) | Method and device for carrying out a brake test on trailer vehicles and/or semitrailer vehicles | |
| CN204432641U (en) | Based on the crashproof automatic emergency brake system of vehicle forward direction and this vehicle of machine vision | |
| CN107848510B (en) | Method for actuating a brake | |
| US7104614B2 (en) | Method and system for preventing rollover of a vehicle train | |
| US11007988B2 (en) | Control system and method for a vehicle comprising an autonomous emergency braking system | |
| US8909449B2 (en) | System, controller and method for preventing vehicle rollaway | |
| US10589728B2 (en) | System and method for controlling wheel brakes on a trailer in a tractor-trailer | |
| US20130030665A1 (en) | Method and apparatus for vehicle sway detection and reduction | |
| CN115158258B (en) | Anti-skid method, system, device and nonvolatile storage medium | |
| US7216026B2 (en) | Vehicle-dynamics control method and system for a vehicle train | |
| US11724679B2 (en) | Brake actuator interface with trailer brake control | |
| CN115703466A (en) | Four-wheel drive slope-parking control method, device and system and vehicle | |
| US20130103280A1 (en) | Method for Determining a Vehicle Reference Speed and Brake System | |
| CN114734999A (en) | Vehicle control method, device, terminal device and medium | |
| CN104648345A (en) | Electric automobile intelligent anti-slip system | |
| US20180134266A1 (en) | Hybrid non-abs/abs braking system | |
| US20230182698A1 (en) | Apparatus and Method for Determining a Road Friction | |
| US4896924A (en) | Antiskid control device | |
| US6918290B2 (en) | Method and device for regulating at least one vehicle dynamics variable |
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 |