CN116215476A - Vehicle anti-lock braking system, control method thereof and vehicle - Google Patents

Vehicle anti-lock braking system, control method thereof and vehicle Download PDF

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Publication number
CN116215476A
CN116215476A CN202310341901.6A CN202310341901A CN116215476A CN 116215476 A CN116215476 A CN 116215476A CN 202310341901 A CN202310341901 A CN 202310341901A CN 116215476 A CN116215476 A CN 116215476A
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CN
China
Prior art keywords
axle
wheels
wheel
lock
axles
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Pending
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CN202310341901.6A
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Chinese (zh)
Inventor
吴子龙
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Beijing Foton Daimler Automobile Co Ltd
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Beijing Foton Daimler Automobile Co Ltd
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Priority to CN202310341901.6A priority Critical patent/CN116215476A/en
Publication of CN116215476A publication Critical patent/CN116215476A/en
Pending legal-status Critical Current

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    • 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
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1769—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS specially adapted for vehicles having more than one driven axle, e.g. four-wheel drive vehicles
    • 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
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • 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
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/10—ABS control systems
    • 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

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention discloses a vehicle anti-lock braking system, a control method thereof and a vehicle, wherein the control method comprises the following steps: acquiring the slip rate of each wheel; obtaining the maximum slip ratio of the slip ratios of the wheels on the same side in the front axle and the front two axles, and obtaining the maximum slip ratio of the slip ratios of the wheels on the same side in the rear axle and the rear two axles; and if the maximum slip rate of the slip rates of the wheels on the same side in the front axle and the front two axles and/or the maximum slip rate of the slip rates of the wheels on the same side in the rear axle and the rear two axles reaches an anti-lock threshold value, taking the wheel with the maximum slip rate reaching the anti-lock threshold value as a target wheel, and controlling the target wheel and an anti-lock actuator of a braking channel corresponding to the wheel on the same side of the target wheel according to the slip rate of the target wheel. The method can be used for directly carrying out anti-lock adjustment on the wheels, avoiding locking phenomenon caused by indirectly controlling the front axle and the rear axle, improving the maneuverability and the transverse stability of the vehicle, and avoiding the occurrence of brake deviation and tail flicking of the vehicle.

Description

Vehicle anti-lock braking system, control method thereof and vehicle
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle anti-lock braking system, a control method thereof and a vehicle.
Background
Along with the strong support of the country to new energy industry, the commercial vehicle field starts to change towards new energy automobiles, and the projects of changing electricity heavy truck, charging heavy truck, fuel cell heavy truck and the like are derived. The truck of the type cancels the oil tank in the traditional vehicle, and sets a battery box or a hydrogen storage box in the truck, so that the one axle is lighter than the two axles when the vehicle is in idle load and the one axle is lighter than the two axles when the vehicle is in full load, the steering axle wheels can be locked when the vehicle is in emergency braking, the maneuverability and the lateral stability of the vehicle are reduced, and the risk of the vehicle out of control is increased.
When the existing braking system of the new energy 8*4 vehicle is used for adjusting the vehicle, the wheel speed values of the wheels connected with the axles are collected through the wheel speed sensors, the corresponding slip rates are calculated respectively, the anti-lock adjustment is carried out through the slip rate control braking system corresponding to the wheels of the axles, and the anti-lock adjustment is carried out on the wheels of the axles which are not provided with the wheel speed sensors through the slip rate control braking system of the wheels of the axles which are provided with the wheel speed sensors, so that the wheels are locked due to the change of the load of the vehicle and the transfer of the axle load of the vehicle under emergency braking, the maneuverability and the lateral stability of the vehicle are reduced, and the vehicle is easy to brake off tracking and tail flick.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide a control method of an anti-lock braking system for a vehicle, by which anti-lock adjustment can be directly performed on wheels, so as to avoid locking caused by indirect control of front axle and rear axle wheels, improve operability and lateral stability of the vehicle, and avoid braking deviation and tail flicking of the vehicle.
Another object of the present invention is to provide an anti-lock brake system for a vehicle.
A third object of the present invention is to provide a vehicle.
In order to solve the above-mentioned problems, a first aspect of the present invention provides a control method of a vehicle anti-lock brake system, the vehicle including a front axle and a rear axle, the front axle including a front axle and a front axle, the rear axle including a rear axle and a rear axle, the vehicle anti-lock brake system including a front axle left side brake channel, a front axle right side brake channel, a rear axle left side brake channel, and a rear axle right side brake channel, the front axle left side brake channel being for anti-lock brake adjustment of a left wheel to which the front axle is connected and a left wheel to which the front axle is connected, the front axle right side brake channel being for anti-lock brake adjustment of a right wheel to which the front axle is connected and a right wheel to which the front axle is connected, the rear axle left side brake channel being for anti-lock brake adjustment of a left wheel to which the rear axle is connected and a right wheel to which the rear axle is connected, the rear axle right side brake channel being for anti-lock adjustment of a right wheel to which the rear axle is connected, the control method comprising: acquiring the slip rate of each wheel; obtaining the maximum slip ratio of the slip ratios of the wheels on the same side in the front axle and the front two axles, and obtaining the maximum slip ratio of the slip ratios of the wheels on the same side in the rear axle and the rear two axles; and if the maximum slip rate of the slip rates of the wheels on the same side in the front axle and the front two axles and/or the maximum slip rate of the wheels on the same side in the rear axle and the rear two axles reaches an anti-lock threshold, taking the wheel with the maximum slip rate reaching the anti-lock threshold as a target wheel, and controlling the target wheel and an anti-lock actuator of a braking channel corresponding to the wheels on the same side of the target wheel according to the slip rate of the target wheel.
According to the control method of the vehicle anti-lock braking system, after the vehicle is judged to trigger the starting of the anti-lock braking adjustment of the rear axle through the slip rate of the front axle wheel or the front two axle wheel, the air pressure adjustment force of the anti-lock actuator of the left braking channel of the front axle or the right braking channel of the front axle is controlled through the slip rate of the front axle wheel or the front two axle wheel, so that the locking of the front axle wheel and the front two axle wheel is prevented, and/or the air pressure adjustment force of the anti-lock actuator of the left braking channel of the rear axle or the right braking channel of the rear axle is controlled through the slip rate of the rear axle wheel or the rear two axle wheel after the vehicle is judged to trigger the starting of the anti-lock braking adjustment of the rear axle wheel.
In some embodiments, if the maximum slip ratio of the slip ratios of the wheels on the same side in the front axle and the front two axles and/or the maximum slip ratio of the slip ratios of the wheels on the same side in the rear axle and the rear two axles reaches an anti-lock threshold, taking the wheel with the maximum slip ratio reaching the anti-lock threshold as a target wheel, and controlling the anti-lock actuator of the corresponding braking channels of the target wheel and the wheels on the same side of the target wheel according to the slip ratio of the target wheel, the anti-lock actuator comprises: and if the maximum slip rate of the slip rates of the left wheels in the front axle and the front two axles reaches the anti-lock threshold, controlling an anti-lock actuator of a left braking channel of the front axle according to the slip rate of the left wheels of the front axle, of which the maximum slip rate reaches the anti-lock threshold.
In some embodiments, if the maximum slip ratio of the slip ratios of the wheels on the same side in the front axle and the front two axles and/or the maximum slip ratio of the slip ratios of the wheels on the same side in the rear axle and the rear two axles reaches an anti-lock threshold, taking the wheel with the maximum slip ratio reaching the anti-lock threshold as a target wheel, and controlling the anti-lock actuator of the corresponding braking channels of the target wheel and the wheels on the same side of the target wheel according to the slip ratio of the target wheel, further comprising: and if the maximum slip rate of the slip rates of the front axle and the right wheels in the front two axles reaches the anti-lock threshold, controlling an anti-lock actuator of a brake channel on the right side of the front axle according to the slip rate of the right wheels of the front axle, of which the maximum slip rate reaches the anti-lock threshold.
In some embodiments, if the maximum slip ratio of the slip ratios of the wheels on the same side in the front axle and the front two axles and/or the maximum slip ratio of the slip ratios of the wheels on the same side in the rear axle and the rear two axles reaches an anti-lock threshold, taking the wheel with the maximum slip ratio reaching the anti-lock threshold as a target wheel, and controlling the anti-lock actuator of the corresponding braking channels of the target wheel and the wheels on the same side of the target wheel according to the slip ratio of the target wheel, further comprising: and if the maximum slip rate of the slip rates of the left wheels in the rear axle and the rear two axles reaches the anti-lock threshold, controlling an anti-lock actuator of the left brake channel of the rear axle according to the slip rate of the left wheels of the rear axle, of which the maximum slip rate reaches the anti-lock threshold.
In some embodiments, if the maximum slip ratio of the slip ratios of the wheels on the same side in the front axle and the front two axles and/or the maximum slip ratio of the slip ratios of the wheels on the same side in the rear axle and the rear two axles reaches an anti-lock threshold, taking the wheel with the maximum slip ratio reaching the anti-lock threshold as a target wheel, and controlling the anti-lock actuator of the corresponding braking channels of the target wheel and the wheels on the same side of the target wheel according to the slip ratio of the target wheel, further comprising: and if the maximum slip rate of the slip rates of the right wheels in the rear axle and the rear two axles reaches the anti-lock threshold, controlling an anti-lock actuator of a right brake channel of the rear axle according to the slip rate of the right wheels of the rear axle, of which the maximum slip rate reaches the anti-lock threshold.
In some embodiments, obtaining the slip ratio for each wheel includes: acquiring the current wheel speed of each wheel; and obtaining the slip rate of the corresponding wheel according to the current wheel speed.
In some embodiments, the control method further comprises: before the slip rate of each wheel is obtained, it is determined that the current wheel speed of each wheel is greater than zero.
An embodiment of the second aspect of the present invention provides a vehicle anti-lock brake system, the vehicle including a front axle and a rear axle, the front axle including a front first axle and a front second axle, the rear axle including a rear first axle and a rear second axle, the vehicle anti-lock brake system comprising: the left side braking channel of the front axle is used for carrying out anti-lock braking adjustment on the left side wheels connected with the front axle and the left side wheels connected with the front two axles, the right side braking channel of the front axle is used for carrying out anti-lock braking adjustment on the right side wheels connected with the front axle and the right side wheels connected with the front two axles, the left side braking channel of the rear axle is used for carrying out anti-lock braking adjustment on the left side wheels connected with the rear axle and the left side wheels connected with the rear two axles, and the right side braking channel of the rear axle is used for carrying out anti-lock braking adjustment on the right side wheels connected with the rear axle and the right side wheels connected with the rear two axles; the left side brake channel of the front axle, the right side brake channel of the front axle, the left side brake channel of the rear axle and the right side brake channel of the rear axle all comprise electromagnetic valves and anti-lock actuators; the wheel speed sensors are arranged on the left wheels of the two front axles and the right wheels of the two front axles, which are connected with the front axle and the front two axles, and the left wheels of the two rear axles and the right wheels of the two rear axles, which are connected with the rear axle and the rear two axles; and a controller for controlling the front axle left side brake passage, the front axle right side brake passage, the rear axle left side brake passage, and the rear axle right side brake passage according to the control method of the vehicle anti-lock brake system according to the above embodiment.
According to the vehicle anti-lock braking system disclosed by the embodiment of the invention, when a vehicle is braked, the controller judges that the anti-lock braking adjustment of the rear axle is triggered through the slip rate of the front axle or the front two axle wheels, and then controls the air pressure adjustment force of the anti-lock actuator and the electromagnetic valve of the left braking channel of the front axle or the right braking channel of the front axle through the slip rate of the front axle or the front two axle wheels, so that the locking of the front axle and the front two axles caused by the transfer of axle load when the vehicle is braked is prevented, and/or the controller judges that the anti-lock braking adjustment of the rear axle is triggered through the slip rate of the rear axle or the rear two axle wheels, and then controls the air pressure adjustment force of the anti-lock actuator and the electromagnetic valve of the left braking channel of the rear axle or the right braking channel of the rear axle through the slip rate of the rear axle or the rear two axle wheels, so that the operability and the braking stability of the vehicle are improved and the side-turning over risk of the vehicle are reduced when the vehicle is braked.
An embodiment of a third aspect of the present invention provides a vehicle including: the front axle comprises a front first axle and a front second axle, and the rear axle comprises a rear first axle and a rear second axle; the vehicle antilock brake system of the above embodiment is used for antilock adjustment of wheels to which the front axle and the rear axle are connected.
According to the vehicle disclosed by the embodiment of the invention, the anti-lock brake system of the vehicle can be used for directly carrying out anti-lock adjustment on wheels, so that the locking phenomenon caused by indirectly controlling the front axle and the rear axle wheels is avoided, the maneuverability and the lateral stability of the vehicle are improved, and the vehicle is prevented from braking off tracking and drifting.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flowchart of a control method of a vehicle anti-lock braking system according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of a prior art antilock braking system;
FIG. 3 is a flowchart of a control method of a vehicle anti-lock braking system according to another embodiment of the present invention;
fig. 4 is a schematic view of a vehicle anti-lock braking system according to an embodiment of the present invention.
Reference numerals:
existing antilock braking systems: wheel speed sensor 1'; a solenoid valve 2'; an antilock actuator 3';
A vehicle antilock brake system 100;
a wheel speed sensor 1; a solenoid valve 2; an antilock actuator 3; a wheel 4; and a controller 5.
Detailed Description
Embodiments of the present invention will be described in detail below, by way of example with reference to the accompanying drawings.
In order to solve the above problems, an embodiment of a first aspect of the present invention provides a control method of an anti-lock brake system for a vehicle, by which anti-lock adjustment can be directly performed on wheels, so as to avoid locking caused by indirect control of front axle and rear axle wheels, improve operability and lateral stability of the vehicle, and avoid brake deviation and tail flick of the vehicle.
In an embodiment, the vehicle comprises a front axle and a rear axle, the front axle comprises a front axle and a front axle, the rear axle comprises a rear axle and a rear axle, the vehicle anti-lock brake system comprises a front axle left side brake channel, a front axle right side brake channel, a rear axle left side brake channel and a rear axle right side brake channel, the front axle left side brake channel is used for carrying out anti-lock brake adjustment on a left wheel connected with the front axle and the rear axle, the front axle right side brake channel is used for carrying out anti-lock brake adjustment on a right wheel connected with the front axle and a left wheel connected with the rear axle, and the rear axle right side brake channel is used for carrying out anti-lock brake adjustment on a right wheel connected with the rear axle and a right wheel connected with the rear axle.
A control method of a vehicle anti-lock brake system according to an embodiment of the present invention is described below with reference to fig. 1, the control method including: step S1 to step S3.
Step S1, the slip rate of each wheel is obtained.
Specifically, the controller automatically calculates and obtains the slip rate of each wheel, namely, the slip rate of the wheels connected with the front axle and the slip rate of the wheels connected with the rear axle and the rear axle.
And S2, obtaining the maximum slip rate of the slip rates of the wheels on the same side in the front axle and the front two axles, and obtaining the maximum slip rate of the slip rates of the wheels on the same side in the rear axle and the rear two axles.
Specifically, the controller compares the slip rates of the wheels on the same side in the front axle and the front axle to obtain the maximum slip rate of the wheels on the same side in the front axle and the front axle, and compares the slip rates of the wheels on the same side in the rear axle and the rear axle to obtain the maximum slip rate of the wheels on the same side in the rear axle and the rear axle.
And S3, if the maximum slip rate of the slip rates of the wheels on the same side in the front axle and the front two axles and/or the maximum slip rate of the slip rates of the wheels on the same side in the rear axle and the rear two axles reach an anti-lock threshold value, taking the wheel with the maximum slip rate reaching the anti-lock threshold value as a target wheel, and controlling the target wheel and an anti-lock actuator of a braking channel corresponding to the wheels on the same side of the target wheel according to the slip rate of the target wheel.
As shown in fig. 2, when the existing new energy 8*4 vehicle is braked and regulated, the wheel speed values of the wheels connected with the vehicle axle are collected through the wheel speed sensor to respectively calculate the corresponding slip rate, when the corresponding slip rate of the wheels of the vehicle axle meets the conditions, the anti-lock regulation is performed on the wheels connected with the vehicle axle through the electromagnetic valve and the anti-lock actuator, and when the slip rate of the wheels of the vehicle axle without the wheel speed sensor meets the conditions, the anti-lock regulation is performed on the wheels connected with the vehicle axle through the electromagnetic valve and the anti-lock actuator, so that the vehicle is locked due to the change of the load of the vehicle and the transfer of the axle load under the emergency braking, the maneuverability and the lateral stability of the vehicle are reduced, and the vehicle is easy to brake off-track and drift.
In order to solve the problem, in order to ensure the operability and the lateral stability of the vehicle, the slip rate of each wheel in the application respectively controls the anti-lock adjustment of the anti-lock braking system of the vehicle, and because the anti-lock actuators corresponding to different slip rates have different forces for the air pressure adjustment, the greater the slip rate is, the greater the force of the anti-lock actuators corresponding to the greater the slip rate is for the air pressure adjustment, and the change of the slip rate of the wheels can be caused due to the axle load transfer, therefore, the controller detects the slip rate of each wheel in real time, if the maximum slip rate of the wheels on the same side in the front axle and the front axle is judged to reach the anti-lock threshold value, the degree of locking of the wheels on the front axle or the front axle corresponding to the maximum slip rate is higher, and therefore, the anti-lock braking system of the vehicle is triggered, the wheels on the front axle and the front axle are controlled to be the same as the target wheels, and the anti-lock braking force of the front axle and the front axle is prevented from being fast reduced by the anti-lock adjustment of the wheels on the same side as the front axle and the front axle; and/or the maximum slip rate of the wheels on the same side in the first and second axles reaches an anti-lock threshold value, which indicates that the locking degree of the wheels on the same side in the first and second axles corresponding to the maximum slip rate is higher, so that the anti-lock braking system of the vehicle is triggered to start anti-lock braking adjustment, the wheels on the same side in the first and second axles reach the anti-lock threshold value are used as target wheels, the braking force is adjusted by the anti-lock actuators of the braking channels corresponding to the wheels on the same side of the target wheels according to the larger air pressure adjusting force of the anti-lock actuators corresponding to the slip rate of the target wheels, so that the braking force of the wheels on the same side in the first and second axles is quickly reduced, and the locking of the wheels on the first and second axles is prevented. According to the method, the air pressure adjusting force of the anti-lock actuator of the target wheel and the braking channel corresponding to the same-side wheel of the target wheel is controlled through the slip rate of the target wheel, so that the front axle and/or the rear axle and the rear axle are prevented from locking, the situation that the wheels are indirectly controlled does not exist, the phenomenon that the wheels of the front axle or the rear axle are indirectly regulated and controlled can be avoided, the operability and the lateral stability of a vehicle are improved, the active safety coefficient of the vehicle is high, the risk of rollover of the vehicle is reduced, and the vehicle is not easy to brake off tracking and tail flicking.
According to the control method of the vehicle anti-lock braking system, after the vehicle is judged to trigger and start the front axle anti-lock braking adjustment through the slip rate of the front axle wheel or the front two axle wheels, the air pressure adjustment force of the anti-lock actuator of the left side braking channel or the right side braking channel of the front axle is controlled through the slip rate of the front axle wheel or the front two axle wheel, so that the locking of the front axle wheel and the front two axle wheel is prevented, and/or the air pressure adjustment force of the anti-lock actuator of the left side braking channel or the right side braking channel of the rear axle is controlled through the slip rate of the rear axle wheel or the rear two axle wheel after the vehicle is judged to trigger and start the rear axle anti-lock braking adjustment through the slip rate of the rear axle wheel or the rear two axle wheel, so that the locking of the rear axle wheel and the rear two axle wheel is prevented, the operability and the braking stability of the vehicle are improved, and the risk of rollover of the vehicle is reduced.
In some embodiments, if the maximum slip ratio of the slip ratios of the wheels on the same side in the front axle and the front two axles and/or the maximum slip ratio of the slip ratios of the wheels on the same side in the rear axle and the rear two axles reaches the anti-lock threshold, the wheels with the maximum slip ratio reaching the anti-lock threshold are taken as target wheels, and the anti-lock actuators for controlling the target wheels and the braking channels corresponding to the wheels on the same side of the target wheels according to the slip ratio of the target wheels comprise: and if the maximum slip rate of the slip rates of the left wheels in the front axle and the front two axles reaches the anti-lock threshold, controlling the anti-lock actuator of the left braking channel of the front axle according to the slip rate of the left wheels of the front axle, of which the maximum slip rate reaches the anti-lock threshold.
Specifically, when the driving force borne by the wheels connected with the front axle is greater than the adhesive force borne by the wheels, the wheels of the front axle are locked, the greater the slip rate of the wheels connected with the front axle is, the greater the braking force borne by the wheels is, and the higher the locking degree of the wheels of the front axle is, so when the vehicle is braked, if the controller judges that the maximum slip rate of the left wheels in the front axle and the front two axles reaches the anti-lock threshold value, the locking degree of the left wheels of the front axle and the front two axles corresponding to the maximum slip rate is higher, the anti-lock braking system of the vehicle is triggered, and as the anti-lock actuators corresponding to different slip rates are different in air pressure regulation force, the greater the anti-lock actuators corresponding to the slip rates are in air pressure regulation force, the air pressure regulation force corresponding to the left wheels of the front axle reaches the anti-lock threshold value according to the maximum slip rate, namely, the air pressure regulation force corresponding to the maximum slip rate of the left wheels of the front axle is controlled, the left wheels of the front axle can not be controlled, and the situation that the left wheels of the front axle and the left wheels of the front axle are locked is indirectly prevented from being indirectly controlled, and the situation that the front axle and the left wheels of the front axle and the left wheels are indirectly braked is avoided.
And if the maximum slip ratio of the slip ratios of the right wheels in the front axle and the front two axles reaches the anti-lock threshold, controlling the anti-lock actuator of the right brake channel of the front axle according to the slip ratio of the right wheels of the front axle, of which the maximum slip ratio reaches the anti-lock threshold.
Specifically, when the vehicle brakes, if the maximum slip rate of the slip rates of the right wheels in the front axle and the front two axles reaches an anti-lock threshold value, the degree of locking of the right wheels of the front axle and the front two axles corresponding to the maximum slip rate is higher, so that the anti-lock braking system of the vehicle is triggered to start anti-lock braking adjustment, and as the anti-lock actuators corresponding to different slip rates are different in air pressure adjustment force, the greater the corresponding anti-lock actuators are greater in air pressure adjustment force, in order to ensure the operability and the lateral stability of the vehicle, the slip rate of the right wheels of the front axle, which reaches the anti-lock threshold value, is the greater air pressure adjustment force corresponding to the maximum slip rate of the right wheels of the front axle, and the anti-lock actuators controlling the right wheels of the front axle, so that the braking forces of the right wheels of the front axle and the front two axles are quickly reduced, the situation that the right wheels of the front axle and the front two axles are locked is not indirectly controlled is avoided, and the phenomenon that the front axle is indirectly locked is indirectly prevented from being regulated is avoided.
In some embodiments, if the maximum slip ratio of the slip ratios of the wheels on the same side in the front axle and the front two axles and/or the maximum slip ratio of the slip ratios of the wheels on the same side in the rear axle and the rear two axles reaches the anti-lock threshold, the wheel with the maximum slip ratio reaching the anti-lock threshold is taken as the target wheel, and the anti-lock actuator for controlling the target wheel and the braking channels corresponding to the wheels on the same side of the target wheel according to the slip ratio of the target wheel further comprises: and if the maximum slip rate of the slip rates of the left wheels in the rear axle and the rear two axles reaches the anti-lock threshold, controlling the anti-lock actuator of the left brake channel of the rear axle according to the slip rate of the left wheels of the rear axle, of which the maximum slip rate reaches the anti-lock threshold.
Specifically, when a vehicle brakes, the driving force borne by the wheels connected with the rear axle is larger than the adhesive force borne by the wheels, the wheels are locked, the larger the slip rate of the wheels connected with the rear axle is, the larger the braking force borne by the wheels is, and the greater the locking degree of the wheels of the rear axle is, so that if the controller judges that the maximum slip rate of the left wheels in the first rear axle and the second rear axle reaches the anti-lock threshold value, the locking degree of the left wheels of the first rear axle and the second rear axle corresponding to the maximum slip rate is higher, the vehicle anti-lock brake system is triggered to start anti-lock brake regulation, and the greater the slip rate of the anti-lock actuator corresponding to the greater the slip rate is, in order to ensure the operability and the lateral stability of the vehicle, the left wheels of the rear axle can not be indirectly controlled by controlling the left wheels of the first rear axle and the left rear axle according to the maximum slip rate of the left wheels of the first rear axle and the second rear axle.
And if the maximum slip ratio of the slip ratios of the right wheels in the rear axle and the rear two axles reaches the anti-lock threshold, controlling the anti-lock actuator of the right brake channel of the rear axle according to the slip ratio of the right wheels of the rear axle with the maximum slip ratio reaching the anti-lock threshold.
Specifically, when the vehicle brakes, if the controller judges that the maximum slip rate of the slip rates of the right wheels of the first and second rear axles reaches the anti-lock threshold, the anti-lock actuator controlling the right brake channel of the rear axle adjusts the braking force of the right wheels of the rear axle, so that the anti-lock brake system of the vehicle is triggered to start anti-lock brake adjustment.
In some embodiments, obtaining the slip ratio for each wheel includes: acquiring the current wheel speed of each wheel; and obtaining the slip rate of the corresponding wheel according to the current wheel speed.
Specifically, since the front axle and the front two axles are respectively connected with the wheel speed sensor, the current wheel speed of the front axle wheel can be acquired in real time through the wheel speed sensor connected with the front axle, the current wheel speed of the front two axle wheel can be acquired in real time through the wheel speed sensor connected with the front two axles, the acquired current wheel speed of the front axle wheel and the current wheel speed of the front two axle wheel are uploaded to the controller, the vehicle speed V is detected in real time through the vehicle speed sensor and sent to the controller, the controller substitutes the wheel speed value V of the front axle wheel and the vehicle speed U into the slip ratio formula S= (U-V)/U multiplied by 100%, so that the slip ratio S of the two front axle wheels is calculated, and substitutes the wheel speed value V of the front two axle wheels and the vehicle speed U into the slip ratio formula, so that the slip ratio S of the front two axle wheels is calculated.
The wheel speed sensor connected with the rear axle is used for collecting the current wheel speed of the rear axle wheel in real time, the collected current wheel speed of the rear axle wheel and the collected current wheel speed of the rear axle wheel are uploaded to the controller, the vehicle speed V is detected in real time through the vehicle speed sensor and sent to the controller, the controller substitutes the wheel speed value V of the rear axle wheel and the vehicle speed U into a slip ratio formula S= (U-V)/U multiplied by 100%, so that the slip ratio S of the two rear axle wheels is calculated, and substitutes the wheel speed value V of the rear axle wheel and the vehicle speed U into the slip ratio formula, so that the slip ratio S of the rear axle wheel is calculated.
In some embodiments, the vehicle antilock braking system may be triggered to perform antilock braking adjustments before the slip rate of each wheel is obtained, by determining that the current wheel speed of each wheel is greater than zero, i.e., by confirming that the vehicle is in a driving state.
A control method of a vehicle anti-lock brake system according to an embodiment of the present invention is described below with reference to fig. 3.
Step S4, inputting initial parameters.
Step S5, the current wheel speed of each wheel is obtained.
And S6, judging whether the current wheel speed is greater than zero, if so, executing the step S7, otherwise, executing the step S9.
Step S7, calculating the slip rate of the current wheel, namely the slip rate SFL1 of the left wheel connected with the front axle, the slip rate SFL2 of the left wheel connected with the front axle, the slip rate SFR1 of the right wheel connected with the front axle and the slip rate SFR2 of the right wheel connected with the front axle.
In step S8, if the front axle left brake channel is activated, the front axle left communication line fl_m is controlled based on max (SFL 1, SFL 2), if the front axle right brake channel is activated, the front axle right communication line fr_m is controlled based on max (SFR 1, SFR 2), if the rear axle left brake channel is activated, the rear axle left communication line rl_m is controlled based on max (SRL 1, SRL 2), and if the rear axle right brake channel is activated, the rear axle right communication line rr_m is controlled based on max (SRR 1, SRR 2).
Step S9, ending.
An embodiment of a second aspect of the present invention provides a vehicle anti-lock brake system, the vehicle including a front axle and a rear axle, the front axle including a front axle and a front axle, the rear axle including a rear axle and a rear axle, the vehicle anti-lock brake system comprising: a front axle left side brake channel, a front axle right side brake channel, a rear axle left side brake channel, a rear axle right side brake channel, and a controller 5 (shown in fig. 4).
The left braking channel of the front axle is used for carrying out anti-lock braking adjustment on the left wheel connected with the front axle and the left wheel connected with the front two axles, the right braking channel of the front axle is used for carrying out anti-lock braking adjustment on the right wheel connected with the front axle and the right wheel connected with the front two axles, the left braking channel of the rear axle is used for carrying out anti-lock braking adjustment on the left wheel connected with the rear axle and the left wheel connected with the rear two axles, and the right braking channel of the rear axle is used for carrying out anti-lock braking adjustment on the right wheel connected with the rear axle and the right wheel connected with the rear two axles; the left side brake channel of the front axle, the right side brake channel of the front axle, the left side brake channel of the rear axle and the right side brake channel of the rear axle all comprise electromagnetic valves 2 and anti-lock actuators 3; the wheel speed sensor 1 is arranged on the wheel 4 as shown in fig. 4; the controller is used for controlling the left side brake channel of the front axle, the right side brake channel of the front axle, the left side brake channel of the rear axle and the right side brake channel of the rear axle according to the control method of the vehicle anti-lock brake system of the embodiment.
Specifically, when the vehicle brakes, in order to ensure the operability and the lateral stability of the vehicle, the slip rate of each wheel in the application respectively controls the anti-lock adjustment of the anti-lock braking system 100 of the vehicle, and because the braking channels corresponding to different slip rates have different forces for the air pressure adjustment, and the braking channels corresponding to larger slip rates have larger forces for the air pressure adjustment, if the maximum slip rate of the wheel on the same side in the front axle and the front two axles reaches an anti-lock threshold value, the degree of locking of the wheel on the front axle or the front two axles corresponding to the maximum slip rate is higher, so that the controller 5 triggers the anti-lock braking system 100 to start the anti-lock braking adjustment, the wheel with the maximum slip rate of the wheel on the same side in the front axle and the front two axles reaches the anti-lock threshold value is used as the target wheel, and then the anti-lock actuator 3 and the electromagnetic valve 2 of the braking channels on the left side of the front axle or the right side of the front axle corresponding to the target wheel and the wheel are controlled according to the larger air pressure adjustment force of the braking channels corresponding to the slip rate of the target wheel, so that the front axle and the front axle are prevented from being locked when the front axle and front axle load is fast to be reduced; and/or the maximum slip rate of the wheels on the same side in the first and second rear axles reaches an anti-lock threshold value, which indicates that the degree of locking of the wheels on the same side in the first and second rear axles corresponding to the maximum slip rate is higher, so that the anti-lock braking system 100 of the vehicle is triggered to start anti-lock braking adjustment, the wheels on the same side in the first and second rear axles, which reach the anti-lock threshold value, are used as target wheels, and the anti-lock actuator 3 and the electromagnetic valve 2 of the left side braking channel or the right side braking channel of the rear axle corresponding to the wheels on the same side in the target wheels are controlled to adjust the braking force according to the larger air pressure adjusting force of the braking channel corresponding to the slip rate of the target wheels, so that the braking force of the wheels on the same side in the first and second rear axles is rapidly reduced, and the locking of the wheels on the first and second rear axles is prevented from being caused by axle load transfer during braking. Therefore, the air pressure adjusting force of the anti-lock actuator 3 of the target wheel and the braking channel corresponding to the same-side wheel of the target wheel is controlled through the slip rate of the target wheel, so that the front axle and the front two axles and/or the rear axle and the rear two axles are prevented from locking due to axle load transfer when the vehicle is braked, the situation of indirectly controlling the wheels is avoided, the phenomenon of indirectly controlling the locking of the front axle or the rear axle is avoided, the operability and the lateral stability of the vehicle are improved, the operability and the braking stability when the vehicle turns are improved, and the risk of rollover of the vehicle is reduced.
In addition, compared with the existing 8S8M brake system, the vehicle anti-lock brake system 100 saves four ABS electromagnetic valves and is lower in cost. Compared with the existing 4S4M braking system, the vehicle anti-lock braking system 100 provided by the embodiment of the invention has the advantages of stronger maneuverability, good transverse stability and higher active safety coefficient.
According to the vehicle anti-lock brake system 100 of the embodiment of the invention, when a vehicle is braked, the controller judges that the anti-lock brake adjustment of the rear axle is triggered and started through the slip rate of the wheels of the front axle or the wheels of the front two axles, and then controls the air pressure adjustment force of the anti-lock actuator 3 and the electromagnetic valve 2 of the left brake channel of the front axle or the right brake channel of the front axle through the slip rate of the wheels of the front axle or the wheels of the front two axles, so that the locking of the wheels of the front axle and the wheels of the front two axles caused by the transfer of axle loads when the vehicle is braked is prevented, and/or the controller judges that the anti-lock brake adjustment of the rear axle is triggered and started through the slip rate of the wheels of the rear axle or the wheels of the rear two axles, and controls the air pressure adjustment force of the anti-lock actuator 3 and the electromagnetic valve 2 of the left brake channel of the rear axle or the right brake channel of the rear axle through the slip rate of the wheels of the rear axle, so that the operability and the locking stability of the vehicle are improved, and the risk of rollover of the vehicle is reduced when the vehicle is braked.
An embodiment of a third aspect of the present invention provides a vehicle including: the front axle comprises a front first axle and a front second axle, and the rear axle comprises a rear first axle and a rear second axle; the vehicle antilock brake system of the above embodiment is used for antilock adjustment of wheels to which the front axle and the rear axle are connected.
According to the vehicle disclosed by the embodiment of the invention, the anti-lock brake system of the vehicle can be used for directly carrying out anti-lock adjustment on wheels, so that the locking phenomenon caused by indirectly controlling the front axle and the rear axle wheels is avoided, the maneuverability and the lateral stability of the vehicle are improved, and the vehicle is prevented from braking off tracking and drifting.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims (9)

1. A control method of a vehicle antilock brake system, characterized in that a vehicle includes a front axle and a rear axle, the front axle includes a front axle and a front axle, the rear axle includes a rear axle and a rear axle, the vehicle antilock brake system includes a front axle left side brake channel, a front axle right side brake channel, a rear axle left side brake channel, and a rear axle right side brake channel, the front axle left side brake channel is used for antilock brake adjustment of the front axle connected left side wheel and the front axle connected left side wheel, the front axle right side brake channel is used for antilock brake adjustment of the front axle connected right side wheel and the front axle connected right side wheel, the rear axle left side brake channel is used for antilock brake adjustment of the rear axle connected left side wheel and the rear axle connected left side wheel, the rear axle right side brake channel is used for antilock brake adjustment of the rear axle connected right side wheel and the rear axle connected right side wheel, the control method includes:
acquiring the slip rate of each wheel;
obtaining the maximum slip ratio of the slip ratios of the wheels on the same side in the front axle and the front two axles, and obtaining the maximum slip ratio of the slip ratios of the wheels on the same side in the rear axle and the rear two axles;
And if the maximum slip rate of the slip rates of the wheels on the same side in the front axle and the front two axles and/or the maximum slip rate of the wheels on the same side in the rear axle and the rear two axles reaches an anti-lock threshold, taking the wheel with the maximum slip rate reaching the anti-lock threshold as a target wheel, and controlling the target wheel and an anti-lock actuator of a braking channel corresponding to the wheels on the same side of the target wheel according to the slip rate of the target wheel.
2. The control method of an antilock brake system for a vehicle according to claim 1, wherein if a maximum slip ratio of slip ratios of wheels on the same side in the front axle and the front two axles and/or a maximum slip ratio of slip ratios of wheels on the same side in the rear axle and the rear two axles reaches an antilock threshold value, a wheel whose maximum slip ratio reaches the antilock threshold value is taken as a target wheel, and an antilock actuator for controlling the target wheel and a brake channel corresponding to the wheels on the same side of the target wheel according to the slip ratio of the target wheel, comprises:
and if the maximum slip rate of the slip rates of the left wheels in the front axle and the front two axles reaches the anti-lock threshold, controlling an anti-lock actuator of a left braking channel of the front axle according to the slip rate of the left wheels of the front axle, of which the maximum slip rate reaches the anti-lock threshold.
3. The control method of an antilock brake system for a vehicle according to claim 2, wherein if a maximum slip ratio of slip ratios of wheels on the same side in the front axle and the front two axles and/or a maximum slip ratio of slip ratios of wheels on the same side in the rear axle and the rear two axles reaches an antilock threshold value, a wheel whose maximum slip ratio reaches the antilock threshold value is taken as a target wheel, and an antilock actuator for controlling the target wheel and a brake channel corresponding to the wheels on the same side of the target wheel according to the slip ratio of the target wheel, further comprises:
and if the maximum slip rate of the slip rates of the front axle and the right wheels in the front two axles reaches the anti-lock threshold, controlling an anti-lock actuator of a brake channel on the right side of the front axle according to the slip rate of the right wheels of the front axle, of which the maximum slip rate reaches the anti-lock threshold.
4. A control method of an antilock brake system for a vehicle according to claim 3, wherein if a maximum slip ratio of slip ratios of wheels on the same side in the front axle and the front two axles and/or a maximum slip ratio of slip ratios of wheels on the same side in the rear axle and the rear two axles reaches an antilock threshold value, a wheel whose maximum slip ratio reaches the antilock threshold value is taken as a target wheel, and an antilock actuator for controlling the target wheel and a brake channel corresponding to the wheels on the same side of the target wheel according to the slip ratio of the target wheel, further comprises:
And if the maximum slip rate of the slip rates of the left wheels in the rear axle and the rear two axles reaches the anti-lock threshold, controlling an anti-lock actuator of the left brake channel of the rear axle according to the slip rate of the left wheels of the rear axle, of which the maximum slip rate reaches the anti-lock threshold.
5. The method according to claim 4, wherein if a maximum slip ratio of slip ratios of wheels on the same side in the front axle and the front two axles and/or a maximum slip ratio of slip ratios of wheels on the same side in the rear axle and the rear two axles reaches an antilock threshold value, a wheel whose maximum slip ratio reaches the antilock threshold value is taken as a target wheel, and an antilock actuator for controlling the target wheel and a brake channel corresponding to the wheels on the same side of the target wheel according to the slip ratio of the target wheel, further comprises:
and if the maximum slip rate of the slip rates of the right wheels in the rear axle and the rear two axles reaches the anti-lock threshold, controlling an anti-lock actuator of a right brake channel of the rear axle according to the slip rate of the right wheels of the rear axle, of which the maximum slip rate reaches the anti-lock threshold.
6. A control method of a vehicle antilock brake system according to any one of claims 1 to 5, wherein obtaining the slip ratio of each wheel includes:
acquiring the current wheel speed of each wheel;
and obtaining the slip rate of the corresponding wheel according to the current wheel speed.
7. A control method of a vehicle antilock brake system as set forth in claim 6, characterized in that the control method further includes: before the slip rate of each wheel is obtained, it is determined that the current wheel speed of each wheel is greater than zero.
8. A vehicle anti-lock braking system, wherein a vehicle includes a front axle and a rear axle, the front axle including a front first axle and a front second axle, the rear axle including a rear first axle and a rear second axle, the vehicle anti-lock braking system comprising:
a left side braking channel of a front axle and a right side braking channel of the front axle, wherein the left side braking channel of the front axle is used for carrying out anti-lock braking adjustment on a left side wheel connected with the front axle and a left side wheel connected with the front two axles, the right side braking channel of the front axle is used for carrying out anti-lock braking adjustment on a right side wheel connected with the front axle and a right side wheel connected with the front two axles,
the left side braking channel of the rear axle is used for performing anti-lock braking adjustment on the left side wheels connected with the rear axle and the left side wheels connected with the rear axle, and the right side braking channel of the rear axle is used for performing anti-lock braking adjustment on the right side wheels connected with the rear axle and the right side wheels connected with the rear axle;
The left side brake channel of the front axle, the right side brake channel of the front axle, the left side brake channel of the rear axle and the right side brake channel of the rear axle all comprise electromagnetic valves and anti-lock actuators;
the wheel speed sensors are arranged on the left wheels of the two front axles and the right wheels of the two front axles, which are connected with the front axle and the front two axles, and the left wheels of the two rear axles and the right wheels of the two rear axles, which are connected with the rear axle and the rear two axles;
a controller for controlling the front axle left side brake passage, the front axle right side brake passage, the rear axle left side brake passage, and the rear axle right side brake passage according to the control method of the vehicle antilock brake system according to any one of claims 1 to 7.
9. A vehicle, characterized by comprising:
the front axle comprises a front first axle and a front second axle, and the rear axle comprises a rear first axle and a rear second axle;
the vehicle antilock brake system as set forth in claim 8 for antilock adjustment of wheels to which said front axle and said rear axle are connected.
CN202310341901.6A 2023-03-31 2023-03-31 Vehicle anti-lock braking system, control method thereof and vehicle Pending CN116215476A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310341901.6A CN116215476A (en) 2023-03-31 2023-03-31 Vehicle anti-lock braking system, control method thereof and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310341901.6A CN116215476A (en) 2023-03-31 2023-03-31 Vehicle anti-lock braking system, control method thereof and vehicle

Publications (1)

Publication Number Publication Date
CN116215476A true CN116215476A (en) 2023-06-06

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
CN (1) CN116215476A (en)

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