CN116359641B - Method for supporting monitoring of trigger action and working state of ABS (anti-lock brake System) function of vehicle - Google Patents
Method for supporting monitoring of trigger action and working state of ABS (anti-lock brake System) function of vehicle Download PDFInfo
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- CN116359641B CN116359641B CN202310225529.2A CN202310225529A CN116359641B CN 116359641 B CN116359641 B CN 116359641B CN 202310225529 A CN202310225529 A CN 202310225529A CN 116359641 B CN116359641 B CN 116359641B
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The invention discloses a method for supporting monitoring of the triggering action and working state of an ABS function of a vehicle, which continuously adjusts two jacks at the rear sides of two front wheels of a tested vehicle in a low-speed running mode of a rotating hub until the stress of the two front wheels meets the preset stress uniformity condition; controlling the driving robot to continuously adjust the depth of the brake pedal of the tested vehicle until the target brake pedal stroke is recorded when a brake lamp of the tested vehicle is lightened; towing the tested vehicle in a high-speed running mode of the rotating hub, controlling the driving robot to brake according to the stroke of the target brake pedal, and acquiring the speed and the stress of four wheels of the tested vehicle in real time; according to the speeds of four wheels of the tested vehicle at each moment, the driving robot is continuously controlled to adjust the braking force until continuous fluctuation occurs in the speeds of the four wheels of the tested vehicle, and the triggering action and the working state of the ABS function of the tested vehicle are monitored by combining the continuous fluctuation conditions of the speeds and the stress of the tested vehicle, so that the continuous monitoring of the triggering action and the working state of the ABS function of the vehicle can be supported.
Description
Technical Field
The invention relates to the technical field of vehicle ABS function test, in particular to a method for supporting monitoring of trigger actions and working states of vehicle ABS functions.
Background
With the development of human society and the improvement of the electrification degree of automobile industry, the external magnetic environment in the automobile is increasingly complex, the automobile can be influenced by external electromagnetic environment in the running process, especially the external electromagnetic environment is near radar, antenna towers, base stations and other equipment, the external electromagnetic environment produces interference on the electronic and electric components of the automobile, and the electronic and electric components of the automobile are unstable in function and even fail. For this reason, the standard of GB 34660-2017, "requirements for electromagnetic compatibility of road vehicles and test method" puts forward requirements on electromagnetic immunity of road vehicles, and has been forced in 2020, but the standard lacks requirements and test methods for electromagnetic compatibility of ABS functions of vehicles, and a set of test methods for electromagnetic compatibility of ABS functions of vehicles are urgently needed in the industry to efficiently and accurately evaluate electromagnetic compatibility of ABS functions of vehicles in external electromagnetic environments.
The electromagnetic compatibility test of the ABS function of a vehicle requires simulating the situation that the vehicle brakes and wheels slip in a running state, triggering the ABS function to work, and applying external interference to the ABS function during the operation of the ABS function to observe whether the electromagnetic compatibility of the ABS function changes. Since the electromagnetic compatibility test of the vehicle ABS function is required to be performed in an anechoic chamber, monitoring the triggering action and the working state of the vehicle ABS function becomes a difficulty in the test in order to ensure the safety, effectiveness, convenience and accuracy of the test. However, the existing electromagnetic compatibility test method for the ABS function of the vehicle in the semi-anechoic chamber has the defects that the time for triggering the ABS function to work is short, the time difference between the time for triggering the ABS function and the time for applying external interference is large, the whole test process needs to periodically control the acceleration and deceleration of the vehicle to trigger the ABS function to work, meanwhile, the residence time of the external interference is increased, the test time is greatly prolonged, the test method is mainly used for monitoring the triggering action of the ABS function of the vehicle through sound, and in the running process of the vehicle, the working state of the ABS function cannot be found in time due to noise generated by a tire and a rotating hub, the rolling sound of an engine of the fuel vehicle and the like, so that the electromagnetic compatibility performance of the ABS function of the vehicle in the external electromagnetic environment is difficult to be efficiently and accurately estimated.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a method for supporting monitoring the triggering action and the working state of the ABS function of the vehicle, which can support continuously and effectively monitoring the triggering action and the working state of the ABS function of the vehicle and is beneficial to efficiently and accurately evaluating the electromagnetic compatibility of the ABS function of the vehicle in an external electromagnetic environment.
In order to solve the above technical problems, in a first aspect, an embodiment of the present invention provides a method for supporting monitoring an ABS function triggering action and an operating state of a vehicle, which is suitable for an ABS function electromagnetic compatibility test of a vehicle under test in a semi-anechoic chamber, and the method includes:
placing the tested vehicle on a rotating hub, respectively erecting jacks at lifting positions at the rear sides of two front wheels of the tested vehicle, starting the rotating hub to enable the rotating hub to be in a low-speed driving mode, and continuously adjusting the two jacks to jack up the tested vehicle until the stress of the two front wheels of the tested vehicle meets the preset stress uniformity condition;
controlling a driving robot installed in the tested vehicle to continuously adjust the depth of a brake pedal of the tested vehicle until the stroke of the brake pedal is recorded when a brake lamp of the tested vehicle is lightened, so as to obtain a target stroke of the brake pedal;
Starting the rotating hub to enable the rotating hub to be in a high-speed running mode, dragging the tested vehicle on the rotating hub at a constant speed, controlling the driving robot to adjust the depth of a brake pedal of the tested vehicle according to the target brake pedal travel, and acquiring the speeds and the stress of four wheels of the tested vehicle in real time;
and continuously controlling the driving robot to adjust braking force according to the speeds of the four wheels of the tested vehicle at all times until continuous fluctuation occurs to the speeds of the four wheels of the tested vehicle, and monitoring the triggering action and the working state of the ABS function of the tested vehicle by combining the continuous fluctuation conditions of the speeds and the stress of the four wheels of the tested vehicle.
Further, the placing the vehicle to be tested on the rotating hub specifically comprises:
placing the tested vehicle on the rotating hub, and adjusting the wheelbase of the tested vehicle to enable the wheel center line of the tested vehicle to be in the same vertical plane with the roller center line of the rotating hub;
and starting the rotating hub, controlling the tested vehicle to run on the rotating hub, stopping running if the tested vehicle does not have position deviation, and controlling the tested vehicle to perform parking braking at the current position.
Further, the rotating hub is started to be in a low-speed running mode, and the two jacks are continuously adjusted to jack up the tested vehicle until the stress of the two front wheels of the tested vehicle meets the preset stress uniformity condition, specifically:
starting the rotating hub to enable the rotating hub to be in a low-speed running mode, continuously adjusting two jacks to jack up the tested vehicle, acquiring the stress of two front wheels of the tested vehicle collected by a plurality of force sensors in real time, judging whether the stress of the two front wheels of the tested vehicle at present meets the preset stress uniformity condition, and if the stress of the two front wheels of the tested vehicle at present meets the preset stress uniformity condition, ending adjusting the two jacks.
Further, the condition of uniform stress is that the stress of the two front wheels of the tested vehicle is within a preset stress range, and the stress difference of the two front wheels of the tested vehicle is not larger than a preset stress difference value.
Further, the driving robot installed in the tested vehicle is controlled to continuously adjust the depth of the brake pedal of the tested vehicle until the travel of the brake pedal is recorded when the brake lamp of the tested vehicle is lightened, and the target travel of the brake pedal is obtained specifically as follows:
When the driving robot is controlled to adjust the depth of the brake pedal of the tested vehicle each time, controlling the driving robot to adjust the depth of the brake pedal of the tested vehicle to be a preset depth of the brake pedal, monitoring whether a brake lamp of the tested vehicle is lightened currently, recording the current travel of the brake pedal of the tested vehicle as the travel of the target brake pedal if the brake lamp of the tested vehicle is lightened currently, and ending controlling the driving robot to adjust the depth of the brake pedal of the tested vehicle; the preset brake pedal depth is equal to the sum of the initial brake pedal depth and the current accumulated adjustment brake pedal depth.
Further, the step of towing the vehicle to be tested on the rotating hub at a constant speed is specifically as follows:
dragging the tested vehicle on the rotating hub at a constant speed according to a preset operation mode; wherein the predetermined operation mode is set according to an allowable operation mode of the vehicle under test.
Further, the acquiring the speeds and the stresses of the four wheels of the tested vehicle in real time specifically comprises:
and leading a plurality of sensor signals related to the speeds and the stresses of the four wheels of the tested vehicle into a hub oscilloscope so as to acquire the speeds and the stresses of the four wheels of the tested vehicle in real time through the hub oscilloscope, and generating a graph according to the speeds and the stresses of the four wheels of the tested vehicle at each moment.
Further, before continuously controlling the driving robot to adjust braking force according to the speeds of the four wheels of the tested vehicle at each moment until continuous fluctuation occurs in the speeds of the four wheels of the tested vehicle, and combining the continuous fluctuation conditions of the speeds and the stress of the four wheels of the tested vehicle, the method further comprises the following steps:
judging whether the stress of any wheel of the tested vehicle at each moment on the stress curve exceeds a preset stress threshold or not based on a stress curve generated according to the stress of the four wheels of the tested vehicle at each moment, and if the stress of any wheel of the tested vehicle at any moment on the stress curve exceeds the preset stress threshold, controlling the driving robot to stop braking; the preset stress threshold is set according to the maximum stress bearable by the rotating hub.
Further, according to the speeds of the four wheels of the tested vehicle at each moment, the driving robot is continuously controlled to adjust the braking force until continuous fluctuation occurs in the speeds of the four wheels of the tested vehicle, specifically:
Judging whether the speeds of the four wheels of the tested vehicle at all moments on the speed curve exceed a preset speed range or not based on a speed curve generated according to the speeds of the four wheels of the tested vehicle at all moments, and if the speeds of the four wheels of the tested vehicle at all moments on the speed curve do not exceed the preset speed range, sequentially controlling the driving robot to increase a preset brake pedal stroke on the target brake pedal stroke to increase braking force until the speeds of the four wheels of the tested vehicle at present exceed the preset speed range; the preset speed range is set by taking a preset standard vehicle speed as a reference and taking a wheel speed deviation of the vehicle speed of the measured vehicle which is displayed by a hub oscilloscope and towed at a constant speed relative to the preset standard vehicle speed as an upper limit and a lower limit, and the preset brake pedal stroke is equal to the sum of an initial brake pedal stroke and a current accumulated adjustment brake pedal stroke.
Further, the monitoring of the triggering action of the ABS function of the tested vehicle by combining the continuous fluctuation conditions of the speeds and the stresses of the four wheels of the tested vehicle specifically comprises:
when the speeds of the four wheels of the current tested vehicle exceed the preset speed range, the stress of the four wheels of the current tested vehicle is amplified to exceed the preset stress amplification ， And when continuous fluctuation occurs, judging that the triggering action of the ABS function of the tested vehicle is monitored.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the method comprises the steps that a tested vehicle is placed on a rotating hub, jacks are respectively erected at lifting positions on the rear sides of two front wheels of the tested vehicle, the rotating hub is started, the rotating hub is in a low-speed running mode, and the two jacks are continuously adjusted to jack up the tested vehicle until the stress of the two front wheels of the tested vehicle meets the preset stress uniformity condition; controlling a driving robot installed in the tested vehicle to continuously adjust the depth of a brake pedal of the tested vehicle until the stroke of the brake pedal is recorded when a brake lamp of the tested vehicle is lightened, so as to obtain a target brake pedal stroke; starting a rotating hub to enable the rotating hub to be in a high-speed running mode, dragging a tested vehicle on the rotating hub at a constant speed, controlling a driving robot to adjust the depth of a brake pedal of the tested vehicle according to the target brake pedal travel, and acquiring the speeds and the stress of four wheels of the tested vehicle in real time; according to the speeds of four wheels of the tested vehicle at all times, the driving robot is continuously controlled to adjust braking force until continuous fluctuation occurs in the speeds of the four wheels of the tested vehicle, and the triggering action and the working state of the ABS function of the tested vehicle are monitored by combining the continuous fluctuation conditions of the speeds and the stress of the four wheels of the tested vehicle, so that the triggering action and the working state of the ABS function of the tested vehicle can be continuously and effectively monitored, and the electromagnetic compatibility performance of the ABS function of the vehicle in an external electromagnetic environment can be effectively and accurately evaluated.
Drawings
FIG. 1 is a flow chart of a method supporting monitoring of vehicle ABS function triggering actions and operating states in an embodiment of the invention;
FIG. 2 is a schematic diagram illustrating erection of jacks at lifting positions on the rear sides of two front wheels of a vehicle under test, respectively, in an embodiment of the present invention;
fig. 3 is a schematic view illustrating a vehicle to be tested placed on a rotating hub according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, the step numbers herein are only for convenience of explanation of the specific embodiments, and are not used as limiting the order of execution of the steps. The method provided in this embodiment may be performed by a related terminal device, and the following description will take the hub controller as an execution body.
As shown in fig. 1, a first embodiment provides a method for supporting monitoring of an ABS function triggering action and an operating state of a vehicle, which is suitable for an ABS function electromagnetic compatibility test of a vehicle under test in a half-anechoic chamber, and the method includes steps S1 to S4:
S1, placing a vehicle to be tested on a rotating hub, respectively erecting jacks at lifting positions on the rear sides of two front wheels of the vehicle to be tested, starting the rotating hub to enable the rotating hub to be in a low-speed running mode, and continuously adjusting the two jacks to jack up the vehicle to be tested until the stress of the two front wheels of the vehicle to be tested meets the preset stress uniformity condition;
s2, controlling a driving robot installed in the tested vehicle to continuously adjust the depth of a brake pedal of the tested vehicle until the stroke of the brake pedal is recorded when a brake lamp of the tested vehicle is lightened, and obtaining a target brake pedal stroke;
s3, starting the rotating hub to enable the rotating hub to be in a high-speed running mode, dragging the tested vehicle on the rotating hub at a constant speed, controlling the driving robot to adjust the depth of a brake pedal of the tested vehicle according to the target brake pedal travel, and acquiring the speeds and the stresses of four wheels of the tested vehicle in real time;
and S4, continuously controlling the driving robot to adjust the braking force according to the speeds of the four wheels of the tested vehicle at all times until continuous fluctuation occurs in the speeds of the four wheels of the tested vehicle, and monitoring the trigger action and the working state of the ABS function of the tested vehicle by combining the continuous fluctuation conditions of the speeds and the stress of the four wheels of the tested vehicle.
It should be noted that ABS is an Anti-lock brake system (Anti-Lock Brake System, ABS) and is used to avoid a vehicle instability accident caused by wheel locking.
As an example, in step S1, a vehicle under test is placed on a rotating hub in a half-wave dark room to perform an ABS function electromagnetic compatibility test on the vehicle under test using the rotating hub. In order to continuously trigger the ABS function of the tested vehicle, jacks are required to be erected at lifting positions at the rear sides of two front wheels of the tested vehicle respectively. A schematic diagram of erecting jacks at lifting positions at the rear sides of two front wheels of a vehicle to be tested is shown in fig. 2, a schematic diagram of placing the vehicle to be tested on a rotating hub is shown in fig. 3, in fig. 2 and 3, reference numeral 101 denotes the jacks erected at the lifting positions at the rear sides of the two front wheels of the vehicle to be tested, reference numeral 102 denotes a binding belt for fastening the front end and the rear end of the vehicle to be tested to prevent the vehicle to be tested from being shifted, and reference numeral 103 denotes a roller of the rotating hub.
The rotating hub is integrated with a plurality of sensors, including four speed sensors and four force sensors, one speed sensor is corresponding to the speed of one wheel of the tested vehicle, and one force sensor is corresponding to the stress of one wheel of the tested vehicle. Starting the rotating hub to enable the rotating hub to be in a low-speed running mode, for example, setting the rotating hub speed to be 10km/h uniform speed mode, when a tester adjusts two jacks to jack up a tested vehicle, the rotating hub controller can acquire the stress of two front wheels of the tested vehicle in real time by using a force sensor, judging whether the stress of the two front wheels of the current tested vehicle meets the preset stress uniformity condition, if the stress of the two front wheels of the current tested vehicle does not meet the preset stress uniformity condition, the tester continuously adjusts the two jacks, and if the stress of the two front wheels of the current tested vehicle meets the preset stress uniformity condition, the tester finishes adjusting the two jacks.
In step S2, when the stress of the two front wheels of the current tested vehicle meets the preset stress uniformity condition, and it is confirmed that the rotating hub and the tested vehicle are both in a static state, after the tested person installs the driving robot in the tested vehicle, a brake pedal depth adjusting instruction is sent to the driving robot through the rotating hub controller, the driving robot is controlled to adjust the brake pedal depth of the tested vehicle, whether a brake lamp of the current tested vehicle is lightened or not is monitored, if the brake lamp of the current tested vehicle is not lightened, another brake pedal depth adjusting instruction is continuously sent to the driving robot, the driving robot is controlled again to adjust the brake pedal depth of the tested vehicle, if the brake lamp of the current tested vehicle is lightened, it is explained that the tested vehicle receives a brake signal at this moment, the necessary condition that the ABS function of the tested vehicle is triggered at this moment can be met, the recorded brake pedal stroke of the tested vehicle is used as a target brake pedal stroke.
If the electromagnetic compatibility test of the vehicle ABS function requires to control the depth of the accelerator pedal of the tested vehicle, the hub controller controls the driving robot to adjust the depth of the brake pedal of the tested vehicle and simultaneously controls the driving robot to adjust the depth of the accelerator pedal of the tested vehicle so as to improve the test efficiency.
In step S3, the hub is started to make the hub in a high-speed running mode, for example, a hub speed is set to be 50km/h in a constant speed mode, the tested vehicle is towed on the hub at a constant speed to simulate the running state of the tested vehicle, during the running of the tested vehicle, a test person operates the hub controller, the hub controller sends a brake pedal depth adjusting instruction to the driving robot according to a target brake pedal stroke, the driving robot is controlled to adjust the brake pedal depth of the tested vehicle according to the target brake pedal stroke, and the speed and the stress of four wheels of the tested vehicle are obtained in real time through the sensor.
In step S4, the test personnel operates the hub controller, and the hub controller sends a braking force adjustment instruction to the driving robot according to the speeds of the four wheels of the tested vehicle at each moment, controls the driving robot to slowly increase the braking force, for example, increases the braking force by a preset minimum adjustment step diameter for a plurality of times, judges whether continuous fluctuation occurs in the speeds of the four wheels of the tested vehicle at present, sends another braking force adjustment instruction to the driving robot if continuous fluctuation does not occur in the speeds of the four wheels of the tested vehicle at present, and controls the driving robot again to adjust the braking force, and if continuous fluctuation occurs in the speeds of the four wheels of the tested vehicle at present, the ABS function of the tested vehicle is instantly triggered, and the ABS function triggering action and working state of the tested vehicle can be monitored according to the continuous fluctuation conditions of the speeds and the stresses of the four wheels of the tested vehicle obtained at real time at this moment.
The embodiment can support continuous and effective monitoring of the triggering action and working state of the vehicle ABS function, and is beneficial to efficiently and accurately evaluating the electromagnetic compatibility of the vehicle ABS function in an external electromagnetic environment.
In a preferred embodiment, the vehicle to be tested is placed on a rotating hub, specifically: placing the tested vehicle on the rotating hub, and adjusting the wheelbase of the tested vehicle to enable the wheel center line of the tested vehicle to be in the same vertical plane with the roller center line of the rotating hub; and starting the rotating hub, controlling the tested vehicle to run on the rotating hub, stopping running and controlling the tested vehicle to perform parking braking at the current position if the tested vehicle does not have position deviation.
Illustratively, a tester opens the tested vehicle to the rotating hub, tightens the front end of the tested vehicle by using a binding belt, and slightly adjusts the wheelbase of the tested vehicle so that the wheel center line of the tested vehicle and the roller center line of the rotating hub are in the same vertical plane, and ensures that the wheel center line of the tested vehicle and the roller center line of the rotating hub are kept in the same vertical plane, and the preparation is finished at the moment.
After the preparation of the front stage is finished, starting the rotating hub, controlling the tested vehicle to carry out towing test running on the rotating hub, judging whether the tested vehicle has position deviation after the tested vehicle carries out towing test running, if the tested vehicle has position deviation, readjusting the position of the tested vehicle on the rotating hub, readjusting the wheelbase of the tested vehicle and the like, and if the tested vehicle does not have position deviation, stopping the test running, and carrying out parking braking on the tested vehicle at the current position.
In a preferred embodiment, the rotating hub is started to be in a low-speed driving mode, and the two jacks are continuously adjusted to jack up the tested vehicle until the stress of the two front wheels of the tested vehicle meets the preset stress uniformity condition, specifically: starting the rotating hub to enable the rotating hub to be in a low-speed running mode, continuously adjusting the two jacks to jack up the tested vehicle, acquiring the stress of the two front wheels of the tested vehicle acquired by the plurality of force sensors in real time, judging whether the stress of the two front wheels of the current tested vehicle meets the preset stress uniformity condition, and if the stress of the two front wheels of the current tested vehicle meets the preset stress uniformity condition, ending adjusting the two jacks.
In a preferred embodiment, the predetermined stress uniformity condition is that the stresses of the two front wheels of the vehicle to be tested are within a predetermined stress range, and the difference between the stresses of the two front wheels of the vehicle to be tested is not greater than a predetermined stress difference.
As an example, test personnel respectively erect jacks at lifting positions of the rear sides of two front wheels of a tested vehicle, loosen the binding bands of the front ends of the tested vehicle, adjust the two jacks to jack the tested vehicle, and fasten the binding bands of the front ends of the tested vehicle again when the two front wheels of the tested vehicle are found to jack up to retract (the vehicle swings down when being suspended on the vehicle to jack up and simultaneously retract), so that preparation is completed.
After preparation is completed, starting the rotating hub, controlling the tested vehicle to run on the rotating hub again, judging whether the tested vehicle is subjected to position deviation after the tested vehicle runs on the rotating hub, setting the rotating hub to a test gear if the tested vehicle is not subjected to position deviation, controlling a driving robot to hang the gear of the tested vehicle to a neutral gear by a test personnel through a rotating hub controller, setting the rotating hub to a low-speed running mode by the test personnel, such as setting the rotating hub speed to a 10km/h constant speed mode, and continuously adjusting two jacks.
In the process of adjusting the two jacks by a tester, the hub controller acquires the stress of the two front wheels of the tested vehicle in real time through the two force sensors, judges whether the stress of the two front wheels of the tested vehicle at present meets the preset stress uniformity condition, wherein the preset stress uniformity condition is that the stress of the two front wheels of the tested vehicle is within the preset stress range, the stress difference of the two front wheels of the tested vehicle is not more than the preset stress difference value, if the stress of the two front wheels of the tested vehicle at present meets the preset stress uniformity condition, namely, the stress of the two front wheels of the tested vehicle is within the preset stress range, such as [ (-10-x) N, (-10+x) N ], and the stress difference of the two front wheels of the tested vehicle is not more than the preset stress difference value, such as 5N, the tester finishes adjusting the two jacks, stops the test running, and controls the driving robot to pull up the hand brake of the tested vehicle.
In a preferred embodiment, the driving robot installed in the tested vehicle is controlled to continuously adjust the depth of the brake pedal of the tested vehicle until the travel of the brake pedal is recorded when the brake lamp of the tested vehicle is lightened, so as to obtain the target travel of the brake pedal, which is specifically as follows: when the driving robot is controlled to adjust the depth of the brake pedal of the tested vehicle every time, the driving robot is controlled to adjust the depth of the brake pedal of the tested vehicle to be a preset depth of the brake pedal, whether a brake lamp of the current tested vehicle is lightened or not is monitored, if the brake lamp of the current tested vehicle is lightened, the travel of the brake pedal of the current tested vehicle is recorded as a target travel of the brake pedal, and the driving robot is controlled to adjust the depth of the brake pedal of the tested vehicle is ended; the preset brake pedal depth is equal to the sum of the initial brake pedal depth and the current accumulated adjustment brake pedal depth.
As an example, when controlling the driving robot to adjust the depth of the brake pedal of the tested vehicle each time, the hub controller determines the preset depth of the brake pedal of the tested vehicle according to the preset initial depth of the brake pedal and the current accumulated adjustment times, that is, the sum of the initial depth of the brake pedal and the current accumulated adjustment depth of the brake pedal, controls the driving robot to adjust the depth of the brake pedal of the tested vehicle to the preset depth of the brake pedal through a pneumatic piston capable of adjusting the stroke of the brake pedal, assumes that the driving robot tries successively, increases the stroke of one percent of the maximum depth of the brake pedal each time, monitors whether a brake lamp of the tested vehicle is lighted or not, and if the brake lamp of the tested vehicle is lighted, it is indicated that the tested vehicle receives a brake signal at this time, the necessary condition that the ABS function of the tested vehicle is triggered can be satisfied, records the stroke of the brake pedal of the tested vehicle at this time, and takes the recorded stroke of the brake pedal as the target stroke of the brake pedal.
In a preferred embodiment, the vehicle to be tested is towed on the rotating hub at a constant speed, specifically: dragging the tested vehicle on the rotating hub at a uniform speed according to a preset operation mode; wherein the predetermined operation mode is set according to an allowable operation mode of the vehicle under test.
As an example, in the course of performing an ABS function electromagnetic compatibility test on a vehicle under test, the allowable operation modes of the vehicle under test are mainly classified into the following four types: 1. the tested vehicle can be towed in neutral gear, for example, a 50km/h constant speed mode is towed in neutral gear for a long time; 2. the tested vehicle is of an automatic gear type, and can not be dragged in neutral gear, for example, a 50km/h uniform speed mode is dragged in neutral gear for a long time; 3. the tested vehicle is of a manual transmission type, and can not be dragged in neutral gear, for example, a 50km/h constant speed mode is dragged in neutral gear for a long time; 4. the vehicle to be tested is equipped with a regenerative braking power generation function, and the driving robot needs to be controlled to give an accelerator input.
At least one of four allowable operation modes of the vehicle to be tested is selected in advance as a predetermined operation mode, and the vehicle to be tested is towed on the rotating hub according to the predetermined operation mode.
If the first allowable operation mode is selected as the preset operation mode, the hub controller controls the driving robot to hang the gear of the tested vehicle to the neutral position, the hand brake of the tested vehicle is put down, and the hub is started to be in a high-speed running mode, for example, a constant speed mode with the hub speed of 50km/h can be set; if the second allowable operation mode is selected as the preset operation mode, the hub controller controls the driving robot to put the gear of the tested vehicle into the D gear, put down the hand brake of the tested vehicle, and start the hub to enable the hub to be in a high-speed running mode, for example, a constant-speed mode with the hub speed of 50km/h can be set; if the third allowable operation mode is selected as the preset operation mode, the hub controller controls the driving robot to step on the clutch of the tested vehicle, the gear of the tested vehicle is shifted to 1 gear, the hand brake of the tested vehicle is put down, and the hub is started to enable the hub to be in a high-speed running mode, for example, the hub speed can be set to be low acceleration (0.2 m/s 2 ) Accelerating to a constant speed mode of 50km/h, and at the same time of starting the hub,the driving robot is controlled to slowly release the clutch of the detected vehicle, the detected vehicle is not required to be flameout, and gear shifting is carried out according to the speed change until the gear speed is proper in matching, for example, 4 gears are matched with 50km/h; if the fourth allowable operation mode is selected as the preset operation mode, the hub controller controls the driving robot to put the gear of the tested vehicle into the D gear, put down the hand brake of the tested vehicle, start the hub to enable the hub to be in a high-speed running mode, for example, a constant speed mode with the hub speed of 50km/h can be set, and the driving robot is controlled to step on the accelerator according to the previously adjusted accelerator pedal stroke while the hub is started.
According to the embodiment, the tested vehicle is towed on the rotating hub according to the preset operation mode, so that the tested vehicle can be stably and safely towed on the rotating hub, the continuous and effective monitoring of the triggering action and the working state of the ABS function of the vehicle is supported, and the efficient and accurate evaluation of the electromagnetic compatibility of the ABS function of the vehicle in an external electromagnetic environment is facilitated.
In a preferred embodiment, the acquiring the speeds and the stresses of the four wheels of the tested vehicle in real time is specifically: and (3) leading a plurality of sensor signals related to the speeds and the stresses of the four wheels of the tested vehicle into a hub oscilloscope so as to acquire the speeds and the stresses of the four wheels of the tested vehicle in real time through the hub oscilloscope, and generating a graph according to the speeds and the stresses of the four wheels of the tested vehicle at each moment.
As an example, after a vehicle to be tested is towed on a hub according to a predetermined operation mode, the hub controller starts a hub oscilloscope, so that the hub oscilloscope receives the speeds and the stresses of four wheels of the vehicle to be tested, which are acquired by a plurality of sensors, to acquire the speeds and the stresses of the four wheels of the vehicle to be tested in real time by using the hub oscilloscope, and a graph is generated according to the speeds and the stresses of the four wheels of the vehicle to be tested at each moment.
According to the method, the speed and the stress of the four wheels of the tested vehicle are obtained in real time by utilizing the hub oscilloscope, the graph is generated according to the speed and the stress of the four wheels of the tested vehicle at each moment, a tester can intuitively analyze the graph to monitor the triggering action and the working state of the ABS function of the tested vehicle, the continuous and effective monitoring of the triggering action and the working state of the ABS function of the vehicle can be supported, and the efficient and accurate evaluation of the electromagnetic compatibility performance of the ABS function of the vehicle in an external electromagnetic environment is facilitated.
In a preferred embodiment, before the speed of the four wheels of the tested vehicle continuously controls the driving robot to adjust the braking force according to the speeds of the four wheels of the tested vehicle at each moment until continuous fluctuation occurs in the speeds of the four wheels of the tested vehicle, and the continuous fluctuation condition of the speeds and the stress of the four wheels of the tested vehicle is combined, the method further comprises: judging whether the stress of any wheel of the tested vehicle at each moment on the stress curve exceeds a preset stress threshold or not based on stress curves generated according to the stress of the four wheels of the tested vehicle at each moment, and if the stress of any wheel of the tested vehicle at any moment on the stress curves exceeds the preset stress threshold, controlling the driving robot to stop braking; the preset stress threshold is set according to the maximum stress bearable by the rotating hub.
As an example, considering that a rotating hub for performing an ABS function electromagnetic compatibility test of a vehicle cannot withstand excessive stress due to its structural specificity, a preset stress threshold is set in advance according to the product of the maximum stress that the rotating hub can withstand and an acceptable safety factor recommended by the chassis dynamometer provider.
Based on a stress curve generated according to the stress of four wheels of the tested vehicle at each moment, judging whether the stress of any wheel of the tested vehicle at each moment on the stress curve exceeds a preset stress threshold, if the stress of any wheel of the tested vehicle at any moment on the stress curve exceeds the preset stress threshold, indicating that the stress born by the rotating hub is overlarge at the moment, and controlling the driving robot to stop braking.
According to the method, whether the stress of any wheel of the tested vehicle exceeds the preset stress threshold value or not is judged based on the stress curve, and when the stress of any wheel of the tested vehicle exceeds the preset stress threshold value at any moment, the driving robot is controlled to stop braking, so that damage to the rotating hub can be effectively avoided.
In a preferred embodiment, the driving robot is continuously controlled to adjust the braking force according to the speeds of the four wheels of the tested vehicle at each moment until continuous fluctuation occurs in the speeds of the four wheels of the tested vehicle, specifically: judging whether the speeds of the four wheels of the vehicle to be tested at all times on the speed curve exceed a preset speed range or not based on a speed curve generated according to the speeds of the four wheels of the vehicle to be tested at all times, and if the speeds of the four wheels of the vehicle to be tested at all times on the speed curve do not exceed the preset speed range, sequentially controlling the driving robot to increase a preset brake pedal stroke on a target brake pedal stroke so as to increase braking force until the speeds of the four wheels of the vehicle to be tested at present exceed the preset speed range; the preset speed range is set by taking a preset standard vehicle speed as a reference and taking a wheel speed deviation of the measured vehicle which is displayed by the hub oscilloscope and is dragged at a constant speed relative to the preset standard vehicle speed as an upper limit and a lower limit, and the preset brake pedal stroke is equal to the sum of the initial brake pedal stroke and the current accumulated adjustment brake pedal stroke.
As an example, the initial brake pedal stroke is determined based on a preset minimum adjustment step size. The method comprises the steps that after a brake is stamped on a steering robot according to a target brake pedal stroke, the speed and stress of four wheels of a tested vehicle are obtained in real time, based on a speed curve generated according to the speeds of the four wheels of the tested vehicle at all times, whether the speeds of the four wheels of the tested vehicle at all times exceed a preset speed range is judged, if the speeds of the four wheels of the tested vehicle at all times on the speed curve do not exceed the preset speed range, the fact that the speed curve is smooth and has no continuous fluctuation is indicated, at the moment, the ABS function of the tested vehicle is not triggered, the steering robot is controlled to increase the preset pedal stroke on the target brake pedal stroke to increase the braking force, whether the speeds of the four wheels of the tested vehicle at present exceed the preset speed range is judged, if the speeds of the four wheels of the tested vehicle at present do not exceed the preset speed range, the steering robot is controlled again to increase the braking force, if the speeds of the four wheels of the tested vehicle at present exceed the preset speed range, the ABS function of the tested vehicle at the moment is indicated to be triggered instantaneously, and the steering robot is controlled to increase the braking force.
After a series of adjustment is completed, a formal electromagnetic compatibility test of the ABS function of the vehicle can be entered, and the hub controller can trigger the ABS function of the vehicle to be tested only by controlling the driving robot to step on the brake.
In a preferred embodiment, the monitoring of the triggering action of the ABS function of the tested vehicle is specifically performed by combining the continuous fluctuation conditions of the speeds and the stresses of the four wheels of the tested vehicle: when the speeds of the four wheels of the current tested vehicle exceed the preset speed range, the stress amplification of the four wheels of the current tested vehicle exceeds the preset stress amplification, and continuous fluctuation occurs, the triggering action of the ABS function of the tested vehicle is judged to be monitored.
As an example, in the process of controlling the driving robot to increase the braking force, the hub controller simultaneously judges whether the stress increases of four vehicles of the current tested vehicle exceed the preset stress increases, so as to assist in monitoring the triggering action of the ABS function of the tested vehicle.
The method comprises the steps that a rotating hub controller controls a driving robot to increase a preset pedal stroke on a target brake pedal stroke to increase braking force, judges whether the speeds of four wheels of a current detected vehicle exceed a preset speed range or not and judges whether the stress amplitudes of the four wheels of the current detected vehicle exceed the preset stress amplitudes or not, if the speeds of the four wheels of the current detected vehicle exceed the preset speed range, and the stress of the four wheels of the current detected vehicle continuously fluctuates, the continuous fluctuation is shown after the stress curve generated by the stress of the four wheels of the current detected vehicle drops steeply according to each moment, the triggering action of the ABS function of the detected vehicle is judged, and the triggering action and the working state of the ABS function of the detected vehicle are monitored by combining the continuous fluctuation conditions of the speeds and the stress of the four wheels of the detected vehicle obtained in real time.
According to the method, the trigger action and the working state of the ABS function of the tested vehicle are monitored by combining the speed curves and the stress curves of the four wheels of the tested vehicle, so that the continuous and effective monitoring of the trigger action and the working state of the ABS function of the vehicle can be supported, and the electromagnetic compatibility of the ABS function of the vehicle in an external electromagnetic environment can be effectively and accurately evaluated.
In summary, the embodiment of the invention has the following beneficial effects:
the method comprises the steps that a tested vehicle is placed on a rotating hub, jacks are respectively erected at lifting positions on the rear sides of two front wheels of the tested vehicle, the rotating hub is started, the rotating hub is in a low-speed running mode, and the two jacks are continuously adjusted to jack up the tested vehicle until the stress of the two front wheels of the tested vehicle meets the preset stress uniformity condition; controlling a driving robot installed in the tested vehicle to continuously adjust the depth of a brake pedal of the tested vehicle until the stroke of the brake pedal is recorded when a brake lamp of the tested vehicle is lightened, so as to obtain a target brake pedal stroke; starting a rotating hub to enable the rotating hub to be in a high-speed running mode, dragging a tested vehicle on the rotating hub at a constant speed, controlling a driving robot to adjust the depth of a brake pedal of the tested vehicle according to the target brake pedal travel, and acquiring the speeds and the stress of four wheels of the tested vehicle in real time; according to the speeds of four wheels of the tested vehicle at all times, the driving robot is continuously controlled to adjust braking force until continuous fluctuation occurs in the speeds of the four wheels of the tested vehicle, and the triggering action and the working state of the ABS function of the tested vehicle are monitored by combining the continuous fluctuation conditions of the speeds and the stress of the four wheels of the tested vehicle, so that the triggering action and the working state of the ABS function of the tested vehicle can be continuously and effectively monitored, and the electromagnetic compatibility performance of the ABS function of the vehicle in an external electromagnetic environment can be effectively and accurately evaluated. .
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Those skilled in the art will appreciate that implementing all or part of the above-described embodiments may be accomplished by way of computer programs, which may be stored on a computer readable storage medium, which when executed may comprise the steps of the above-described embodiments. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like.
Claims (10)
1. The method for supporting and monitoring the triggering action and the working state of the ABS function of the vehicle is characterized by being suitable for carrying out an electromagnetic compatibility test of the ABS function of a tested vehicle in a half-anechoic chamber, and comprises the following steps:
placing the tested vehicle on a rotating hub, respectively erecting jacks at lifting positions at the rear sides of two front wheels of the tested vehicle, starting the rotating hub to enable the rotating hub to be in a low-speed driving mode, and continuously adjusting the two jacks to jack up the tested vehicle until the stress of the two front wheels of the tested vehicle meets the preset stress uniformity condition;
Controlling a driving robot installed in the tested vehicle to continuously adjust the depth of a brake pedal of the tested vehicle until the stroke of the brake pedal is recorded when a brake lamp of the tested vehicle is lightened, so as to obtain a target stroke of the brake pedal;
starting the rotating hub to enable the rotating hub to be in a high-speed running mode, dragging the tested vehicle on the rotating hub at a constant speed, controlling the driving robot to adjust the depth of a brake pedal of the tested vehicle according to the target brake pedal travel, and acquiring the speeds and the stress of four wheels of the tested vehicle in real time;
continuously controlling the driving robot to adjust braking force according to the speeds of the four wheels of the tested vehicle at all times until continuous fluctuation occurs to the speeds of the four wheels of the tested vehicle; judging whether the speeds of the four wheels of the tested vehicle at all moments on the speed curve exceed a preset speed range or not based on a speed curve generated according to the speeds of the four wheels of the tested vehicle at all moments, and if the speeds of the four wheels of the tested vehicle at all moments on the speed curve do not exceed the preset speed range, sequentially controlling the driving robot to increase a preset brake pedal stroke on the target brake pedal stroke to increase braking force until the speeds of the four wheels of the tested vehicle at present exceed the preset speed range; and the triggering action and the working state of the ABS function of the tested vehicle are monitored by combining the continuous fluctuation conditions of the speeds and the stress of the four wheels of the tested vehicle.
2. The method for supporting monitoring of vehicle ABS function triggering actions and operating conditions according to claim 1, wherein said placing said vehicle under test on a rotating hub is in particular:
placing the tested vehicle on the rotating hub, and adjusting the wheelbase of the tested vehicle to enable the wheel center line of the tested vehicle to be in the same vertical plane with the roller center line of the rotating hub;
and starting the rotating hub, controlling the tested vehicle to run on the rotating hub, stopping running if the tested vehicle does not have position deviation, and controlling the tested vehicle to perform parking braking at the current position.
3. The method for supporting and monitoring the ABS function triggering action and the working state of the vehicle according to claim 1, wherein the step of starting the rotating hub to make the rotating hub in a low-speed driving mode continuously adjusts the two jacks to jack up the vehicle under test until the stress of the two front wheels of the vehicle under test meets a preset stress uniformity condition comprises the following specific steps:
starting the rotating hub to enable the rotating hub to be in a low-speed running mode, continuously adjusting two jacks to jack up the tested vehicle, acquiring the stress of two front wheels of the tested vehicle collected by a plurality of force sensors in real time, judging whether the stress of the two front wheels of the tested vehicle at present meets the preset stress uniformity condition, and if the stress of the two front wheels of the tested vehicle at present meets the preset stress uniformity condition, ending adjusting the two jacks.
4. The method for supporting and monitoring the triggering action and the working state of the ABS function of the vehicle according to claim 1 or 3, wherein the predetermined stress uniformity condition is that the stresses of the two front wheels of the vehicle to be tested are within a predetermined stress range, and the difference between the stresses of the two front wheels of the vehicle to be tested is not greater than a predetermined stress difference.
5. The method for supporting monitoring of the triggering actions and the working states of the ABS function of a vehicle according to claim 1, wherein the controlling the driving robot installed in the tested vehicle continuously adjusts the depth of the brake pedal of the tested vehicle until the brake pedal stroke is recorded when the brake lamp of the tested vehicle is turned on, and the target brake pedal stroke is obtained specifically as follows:
when the driving robot is controlled to adjust the depth of the brake pedal of the tested vehicle each time, controlling the driving robot to adjust the depth of the brake pedal of the tested vehicle to be a preset depth of the brake pedal, monitoring whether a brake lamp of the tested vehicle is lightened currently, recording the current travel of the brake pedal of the tested vehicle as the travel of the target brake pedal if the brake lamp of the tested vehicle is lightened currently, and ending controlling the driving robot to adjust the depth of the brake pedal of the tested vehicle; the preset brake pedal depth is equal to the sum of the initial brake pedal depth and the current accumulated adjustment brake pedal depth.
6. The method for supporting monitoring of vehicle ABS function triggering actions and operating conditions according to claim 1, wherein said towing the vehicle under test on the rotating hub at a constant speed is specifically:
dragging the tested vehicle on the rotating hub at a constant speed according to a preset operation mode; wherein the predetermined operation mode is set according to an allowable operation mode of the vehicle under test.
7. The method for supporting monitoring the triggering actions and the working states of the ABS function of the vehicle according to claim 1, wherein the acquiring the speeds and the stresses of the four wheels of the tested vehicle in real time is specifically:
and leading a plurality of sensor signals related to the speeds and the stresses of the four wheels of the tested vehicle into a hub oscilloscope so as to acquire the speeds and the stresses of the four wheels of the tested vehicle in real time through the hub oscilloscope, and generating a graph according to the speeds and the stresses of the four wheels of the tested vehicle at each moment.
8. The method for supporting monitoring of triggering actions and operating states of ABS functions of a vehicle according to claim 1, wherein before the monitoring of the triggering actions and operating states of ABS functions of a vehicle according to the speeds of four wheels of the vehicle to be tested at each time, continuously controlling the driving robot to adjust braking force until continuous fluctuation of the speeds of the four wheels of the vehicle to be tested occurs, and combining the continuous fluctuation of the speeds and stresses of the four wheels of the vehicle to be tested, further comprising:
Judging whether the stress of any wheel of the tested vehicle at each moment on the stress curve exceeds a preset stress threshold or not based on a stress curve generated according to the stress of the four wheels of the tested vehicle at each moment, and if the stress of any wheel of the tested vehicle at any moment on the stress curve exceeds the preset stress threshold, controlling the driving robot to stop braking; the preset stress threshold is set according to the maximum stress bearable by the rotating hub.
9. The method for supporting monitoring of the ABS function triggering action and the operating state of a vehicle according to claim 1, wherein the preset speed range is set with a wheel speed deviation of the measured vehicle dragging at a constant speed, which is displayed by a hub oscilloscope, with respect to a preset standard vehicle speed as an upper limit and a lower limit, and the preset brake pedal stroke is equal to a sum of an initial brake pedal stroke and a current accumulated adjustment brake pedal stroke.
10. The method for supporting monitoring of triggering actions and working states of ABS functions of a vehicle according to claim 9, wherein the monitoring of triggering actions of ABS functions of the vehicle under test is performed by combining continuous fluctuation conditions of speeds and stresses of four wheels of the vehicle under test, specifically:
When the speeds of the four wheels of the current tested vehicle exceed the preset speed range, the stress of the four wheels of the current tested vehicle is amplified to exceed the preset stress amplification ， And when continuous fluctuation occurs, judging that the triggering action of the ABS function of the tested vehicle is monitored.
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