CN1475387A

CN1475387A - Automobile ABS/ASR/ACC integration system

Info

Publication number: CN1475387A
Application number: CNA031464661A
Authority: CN
Inventors: 刘昭度; 齐志权; 马岳峰; 张景波; 姚圣卓; 崔海峰
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2003-07-16
Filing date: 2003-07-16
Publication date: 2004-02-18
Anticipated expiration: 2023-07-16
Also published as: CN1215948C

Abstract

An ABS/ASR/ACC integrated system of car is composed of wheel speed sensor, secondary throttle opening sensor, sensor of distance between two cars, ABS pressure regulator, ASR pressure regulator, secondary throttle opening executor, normally closed and normally opened electromagnetic valves of ACC oil inlet, electronic controller, ABS and ASR indicators, and ACC warning lamp. The ABS control mode has the control priority.

Description

Automobile ABS/ASR/ACC integrated system

Affiliated technical field

The present invention relates to the vehicle safety travel device, the active safety mobile devices of especially a kind of automobile ABS/ASR/ACC integrated system.Automobile ABS (Anti-lock Braking System) device is meant the automotive anti-lock braking device, automobile ASR (Automatic Slip Regulation) device is meant that automobile drives anti-skid device, automobile ACC device (Adaptive Cruise Control) is meant that speed of a motor vehicle adaptive controller, automobile ABS/ASR/ACC integrated system are meant the integrated system that automobile has ABS, ASR and ACC function simultaneously and organically blends.

Background technology

At present, in worldwide, be zero based on the technology status of the safety traffic device of automobile ABS/ASR/ACC integrated system.

Automobile ABS (Anti-lock Braking System) device, it is the representative of automobile active safety device, directional balance when it can improve automobile brake, shorten stopping distance, avoided the braking accident to take place largely, on the low adhesion value road surface, and promptly its advantage of glancing impact is more obvious on the butt joint road surface to open circuit surface.Automobile is in case of emergency, need in short distance, stop in the mode of braking, but excessive braking can make wheel lockup, rear lock can make the vehicle loses directional balance, the whipping sideslip is taken place cause traffic accident, front-wheel locking meeting makes vehicle lose steering capability, and bearing circle is out of control, can not normal direction of rotation cause traffic accident.The ABS system can be according to the travel situations of automobile and the rotary state of wheel, the size of each car side brake lock torque of automatically regulating in braking procedure, wheel slip is controlled in the desirable scope, guaranteed that wheel has bigger side direction cohesive resistance, the traffic accident of the direction out of control of having avoided whipping sideslip and steering capability forfeiture and having caused takes place, make its vertical braking force remain higher value again, shorten stopping distance.Because not locking of wheel, the Tyte Wear degree descends to some extent, improves tire service life.

Enter the 1950's, along with developing rapidly of auto-industry, automobile pollution constantly increases, and frequent accidents takes place, and to be that the glancing impact automobile steering is out of control cause partly cause, and the automotive anti-lock braking device begins to be subjected to paying close attention to comparatively widely; The Ford car company of the U.S. has adopted the ABS device first on automobile, it is contained in the civil aviaton of France on Lincoln's board car with the ABS device, has opened the prelude that automobile is used the ABS device, the nineteen fifty-seven U.S. Chrysler company ABS device that begins one's study; At the beginning of nineteen sixty-eight, Kelsey Hayes company has finished the two ABS devices of taking turns control behind the single channel, on the white partridge and Lincoln continent automobile that were loaded on Ford company in 1969, nineteen sixty-eight, Britain successfully is applied in the ABS device on the semi-trailer unit, Chrysler company was contained in four-way ABS device on kingdom's board automobile in 1971, enter in the seventies, later stage, the digital electronic technical development is very fast, for ABS has established technical foundation to the practicability development, Bosch company has released the brake anti-lock device of digital electronic control in 1979, and it is equipped on the Benz car, Teves company has released the integral type brake anti-lock device in 1984, be equipped in 1985 on Lincoln's car of Ford's production, Bosch company had released the ABS/ASR device that has braking anti-lock and drive the antislip function in 1986, was installed on many luxury cars, since the nineties, the car of worldwide existing 30% new production nearly and light-duty truck ABS as standard facility; From 1991, all new passenger vehicles and the autotruck more than 16 tons that EEC countries produce have all been equipped the ABS device, and forbid not having the car importation of ABS device, Japan is from 1991, transports the automobile of dangerous material more than 10 tons and the motorcoach that travels on the expressway has all been installed the ABS device; The equipment rate of all kinds of lorry ABS devices in North America and West Europe has reached more than 90% at present, and passenger vehicle is 100%, and car is 60%, and the lorry that transports dangerous material is 100%.

China has many cars to equip the ABS device, but up to the present, China does not still have autonomous intellectual property to these ABS devices.

Automobile ASR (Automatic Slip Regulation) device is the automobile active safety technology that develops the end of the eighties in the world, it prevents that wheel from too trackslipping adhering on the bad road surface of situation, the slippage rate of wheel is controlled near the peak value of road adhesion coefficient, thereby improved the driven nature and the road-holding property of automobile, made automobile can start to walk smoothly, quicken and turn to adhering on the bad road surface of situation; ASR and ABS are more approaching technically, sensor that ABS is used and pressure regulator all can be ASR and utilize, the electronic control package of ABS only need be expanded accordingly on function and promptly can be used for the ASR device, and the effect that demonstrates fully them on the road surface of adhering to can both hanged down, on the basis of ABS device, only need to increase chromaffin body valve opening sensor, chromaffin body valve opening control apparatus and ASR pressure regulator, control the output torque of driving engine respectively and the wheel that too trackslips is implemented brake snub, can realize driving antiskid function, therefore the ASR technology is extending naturally of ABS technology, the two is organically combined, promptly formed automobile ABS/ASR integrating device.

All equip the ABS/ASR device on the top-of-the-range version of the Cadillac that at present external recoverable amount is bigger, Buick, Opel, Ford, Lincoln, benz, BMW, masses, Volvo, Fiat, beautiful, Citroen, Reynolds, Toyota, Honda, Nissan car system, on low and middle-grade cars, only equipped the ABS device.

Up to the present, China does not have the ABS/ASR device with independent intellectual property right as yet, and the automobile of China comprises the vehicle of introduction and the still unequipped ABS/ASR device of vehicle of independent development.

Automobile ACC device (Adaptive Cruise Control) is an another automobile active safety technology of immediate development, and it can make automobile keep certain driving safety spacing, and initiatively the crash-avoidance accident takes place, and improves the highway communication transport capacity effectively; Express highway has been eliminated the mixed traffic interference, average ground speed improves a lot than average highway, automobile is run at high speed for a long time driver's seat is narrowed down, sensation is just as travelling in the tunnel, produce " tunnel is looked " and be accompanied by " microsleep " phenomenon, chaufeur lacks the actv. judgement to the safe distance between vehicles of automobile thus, and the deceleration shortage operation control timely to automobile becomes the major cause that causes rear-end collision; Possesses the ACC device, can be automatically according to the desirable safe distance between vehicles and the minimal security spacing of relative distance, relative velocity and the condition of road surface parameter decision master car of major heading vehicle and main car vehicle, and the automatically regulating master car speed of a motor vehicle makes relative spacing be not less than desirable safety distance and sudden stop when spacing is less than the minimal security spacing relatively in real time, thereby when running on expressway, has good safety traffic effect.

Have only a small amount of vehicle to equip the ACC device at present abroad, part vehicle as Toyota, daily output, DaimlerChrysler car company has been installed the ACC device, the still unequipped ACC device of vehicle that China produces, up to the present, China does not have the ACC device of independent intellectual property right as yet.

The ABS/ASR device has successfully solved automobile in braking with the directional balance problem when driving, but the problem that directional balance can not solve motor turning and travel the time and automobile remain a safe distance behind the car in front and travel; When motor turning travels, have only when ground can provide sufficient steering effort, chaufeur just can be controlled vehicle, according to predetermined direction running, if ground side is lower to cohesive resistance, do not provide enough steering efforts, automobile will side direction skid off, and has influenced the ability that automobile travels by predetermined direction; The mid-90, directional balance problem when auto-industry developed country travels for solving motor turning, developing thought according to the ABS/ASR device, develop Automobile Dynamic control system (VehicleDynamics Control, be called for short VDC, be called Electronic Stability Program again and be called for short ESP), form the ABS/ASR/VDC integrated system.This system the braking of automobile, driving, suspension, turn to, the control setup of principal assembly such as driving engine organically combining on the function and on the structure, has good performance when automobile is travelled under some bad working environments; The application of ABS/ASR/VDC integrated system, at the high request of having removed aspect braking, quicken and turning to chaufeur, active driving safety to automobile has bigger contribution, shortcoming is: 1) the VDC system is not the organic growth of ABS/ASR device, and is relatively poor with the commonality of the hardware and software of ABS/ASR device; 2) need to add many new sensors and corresponding additional device thereof, cost an arm and a leg, the price ratio that accounts for car load is very high, can not popularization and application; 3) speed of a motor vehicle adaptive control system is not combined, can not solve and prevent the rear-end impact problem when express highway travels:, do not put on market in batches as yet so far so this integrated system was born over 10 years.

Summary of the invention

On the hardware foundation of automobile ABS/ASR integrating device, add a spacing sensor, an ACC normally closed oil-feed electromagnetic valve, an ACC oil-feed electromagnetic valve open in usual and an ACC Warning light, the spacing sensor is in order to measure the relative speed of a motor vehicle of main car and major heading vehicle, relative distance, relative acceleration and relative azimuth angle signal, ACC normally closed oil-feed electromagnetic valve is in order under the ACC master mode, give abs pressure regulating control fuel feeding during emergency braking, ACC oil-feed electromagnetic valve open in usual is in order under the ACC master mode, do not make braking liquid enter master brake cylinder during emergency braking from fuel accumulator, guarantee simultaneously under the ABS control pattern, make ABS device energy normal operation; The ACC Warning light is lighted and is shown relative spacing less than desirable safe distance between vehicles, and the prompting chaufeur should be taked suitable manual operation to vehicle; On the basis of ABS/ASR electronic control package hardware, increase an electronic circuit that receives the spacing sensor signal, an ACC normally closed oil-feed electromagnetic valve electronic drive circuit, an ACC oil-feed electromagnetic valve open in usual electronic drive circuit, switch circuit with an ACC Warning light, in ABS/ASR electronic control package software, on the basis of former ABS control module and ASR control module, increase an ACC control module, and organically blend accordingly with the ABS/ASR ECU electronic control unit, be used for handling in real time, calculate and the motoring condition of Control of Automobile and the rotary state of wheel, promptly constituted automobile ABS/ASR/ACC integrated system; Automobile ABS/ASR/ACC integrated system comprises wheel speed sensors, chromaffin body valve opening sensor, the spacing sensor, the abs pressure regulating control, the ASR pressure regulator, chromaffin body valve opening actuating unit, ACC normally closed oil-feed electromagnetic valve, ACC oil-feed electromagnetic valve open in usual, electronic control package, ABS indicator lamp, ASR indicator lamp and ACC Warning light.

The technical solution adopted for the present invention to solve the technical problems is: increase a spacing sensor, an ACC normally closed oil-feed electromagnetic valve, an ACC oil-feed electromagnetic valve open in usual and an ACC Warning light on the basis of automobile ABS/ASR integrating device hardware, promptly constituted the hardware system of automobile ABS/ASR/ACC integrated system; ABS/ASR electron steering hardware circuit is structurally expanded accordingly, in order to receive the spacing sensor signal and to send drive signal to ACC normally closed oil-feed electromagnetic valve and ACC oil-feed electromagnetic valve open in usual, send on-off signal to the ACC Warning light, promptly constituted the electron steering hardware circuit of automobile ABS/ASR/ACC integrated system, the spacing sensor signal is by the electronic control package communication of CAN bus and automobile ABS/ASR/ACC integrated system, ACC normally closed oil-feed electromagnetic valve, ACC oil-feed electromagnetic valve open in usual and ACC Warning light are by automobile ABS/ASR/ACC electronic control package direct control; In the electron steering software of ABS/ASR, increase an ACC control module and a reference speed information fusion center, promptly constituted the electron steering software of automobile ABS/ASR/ACC integrated system, the function of ACC control module is to gather and the relative spacing signal of handling main car and major heading vehicle, relative vehicle speed signal, relative acceleration signal and relative azimuth angle signal, calculate current desirable safe distance between vehicles and minimal security spacing, ratio size according to relative spacing and desirable safe distance between vehicles, take to slow down accordingly measure, main car is travelled with certain deceleration/decel, until reaching desirable safe distance between vehicles, the speed that keeps being not less than desirable safe distance between vehicles in driving process is after this travelled; In the reference speed information fusion, the ACC control module in real time and ABS control module and ASR Control Software module carry out data exchange and fusion, form organic automobile ABS/ASR/ACC electron steering software, further improved the control usefulness of ABS, ASR and ACC; In the Control Software of automobile ABS/ASR/ACC integrated system, three control modules of ABS, ASR and ACC are not only separate but also organically blend, and the master control program basis automatic judgement of spacing, the main car speed of a motor vehicle, wheel situation and condition of road surface is relatively called the control corresponding module; The wheel speed sensor of ABS/ASR device and chromaffin body valve opening number of sensors, function and performance are constant, and quantity, function and the performance of abs pressure regulating control, ASR pressure regulator and chromaffin body valve opening actuating unit are constant; ABS control module has the highest preferential automatic guidance power, to guarantee driving safety; The manual operation function that under certain automotive operation condition, has preferential support chaufeur; Under ABS control pattern, ASR master mode and ACC master mode, the dual line braking function is effective all the time.

The feature of automobile ABS/ASR/ACC integrated system is: for the diaxon light-duty vehicle, have 4 wheel speed sensors, be installed in respectively on four wheels, gather the wheel speed signal of four wheels, has a driving engine chromaffin body valve opening sensor, be installed in driving engine chromaffin body valve place and gather the aperture signal of chromaffin body valve, has a spacing sensor, be installed in the anteriomedial position of automobile, gather the relative speed of a motor vehicle of main car and major heading vehicle, relative distance, relative acceleration and relative azimuth angle signal, ACC normally closed oil-feed electromagnetic valve is installed between the oil outlet of the oil outlet of ASR pressure regulator and master brake cylinder, in order under the ACC master mode, give abs pressure regulating control fuel feeding during emergency braking; ACC oil-feed electromagnetic valve open in usual is installed on the fuel-displaced pipeline of the same master brake cylinder that links to each other with ACC normally closed oil-feed electromagnetic valve, at the master brake cylinder oil outlet with lead between the threeway of ACC normally closed oil-feed electromagnetic valve, in order under the ACC master mode, do not make braking liquid enter master brake cylinder during emergency braking from fuel accumulator, guarantee simultaneously under the ABS control pattern, make ABS device energy normal operation; The abs pressure regulating control is installed between master brake cylinder and the brake wheel cylinder, in order to regulate the pressure of four wheel braking wheel cylinders, the ASR pressure regulator is installed between the drive wheel oil-feed electromagnetic valve of fuel accumulator and abs pressure regulating control, in order to regulate the pressure of drive wheel brake wheel cylinder, driving engine chromaffin body valve opening actuating unit is installed in chromaffin body valve place, in order to regulate the aperture of chromaffin body valve; The electronic control package of automobile ABS/ASR/ACC integrated system is directly gathered the wheel speed signal and the chromaffin body valve opening signal of four wheels, the main car of spacing sensor acquisition and the electronic control package communication by CAN bus and automobile ABS/ASR/ACC integrated system of the relative spacing of major heading vehicle, the relative speed of a motor vehicle, relative bearing and relative acceleration signal; In the electron steering software of automobile ABS/ASR/ACC integrated system, have three control modules of ABS, ASR and ACC, in ABS control module, use four-way brake-pressure independent regulation mode, four wheel speed signals are carried out computing and processing, determine the current slip rate value and the wheel angular deceleration value of each wheel, judge the rotary state of each wheel, rotary state according to each wheel, by the abs pressure regulating control, carry out supercharging, decompression or the pressurize of corresponding brake wheel cylinder and regulate, realize the purpose of not locking of brake wheel; In the ASR control module, four wheel speed signals and a chromaffin body valve opening signal are carried out computing and processing, determine the current slippage rate value and the chromaffin body valve opening value of two drive wheels, judge the rotary state of drive wheels, according to the rotary state of drive wheels,, the drive wheels of too trackslipping is carried out corresponding chromaffin body valve opening adjusting and/or lock torque adjusting by ASR pressure regulator and chromaffin body valve opening actuating unit, realize increasing propulsive effort, improve the purpose that drives effect; In the ACC control module, relative vehicle speed signal to a plurality of target vehicles, relative spacing signal, relative acceleration signal and relative azimuth angle signal carry out computing and processing, determine the relative speed of a motor vehicle of a major heading vehicle, relative spacing, relative acceleration and relative azimuth angle signal, four wheel speed signals according to main car, the relative spacing of condition of road surface and main car and major heading vehicle and relatively vehicle speed signal determine the speed of a motor vehicle of main car, the speed of a motor vehicle of major heading vehicle, desirable safe distance between vehicles and minimal security spacing are determined the deceleration/decel of main car and are realized the ways of deceleration that this deceleration/decel is taked according to the ratio of relative spacing and desirable safe distance between vehicles and the ratio of relative spacing and minimal security spacing.

In ABS control module, the gordian technique of Control Software is that the road pavement situation is carried out effective recognition, to obtain reference speed and wheel slip is calculated comparatively accurately, and then the rotary state of wheel is controlled accurately; When automobile glancing impact on straight way, current technology is comparatively accurate to the calculating of reference speed and wheel slip, when glancing impact on bend, the calculation error of wheel slip is bigger, if the speed of a motor vehicle is lower, the calculation error of wheel slip is bigger, just can not accurately control the rotary state of wheel like this; In the electron steering software of automobile ABS/ASR/ACC integrated system, reference speed can calculate in ABS control module on the one hand, can in the ACC control module, calculate on the other hand, when automobile glancing impact on bend, main car and major heading vehicle constitute certain angle, the relative position relation and the relative motion relation of adjacent main car of two moment and major heading vehicle have constituted unique vector quadrangle, find the solution this vector quadrangle, can obtain the reference speed and the wheel slip of the very high main car of precision, and then can accurately control the rotary state of wheel, improved the control effect of automobile glancing impact ABS on bend greatly.

The application message integration technology, relative spacing, relative bearing, relative velocity and the relative acceleration signal that the tach signal of four wheels and spacing sensor are obtained is sent to the reference speed information fusion center in automobile ABS/ASR/ACC integrated system Control Software, intracardiac in information fusion reference speed that calculates and the reference speed that calculates are carried out information fusion in ABS control module, export reference speed and wheel slip or slippage rate more accurately more accurately in the ACC control module.

In the electron steering software of automobile ABS/ASR/ACC integrated system, according to the practical operation situation of automobile, the needs of safety traffic and the function situation of each control module, be provided with the work speed interval of each control module of ABS/ASR/ACC integrated system, in different work speed intervals, make ABS control module, ASR control module and the different effect of ACC control module performance.

In the electron steering software of automobile ABS/ASR/ACC integrated system, be provided with ABS control module and have the highest preferential automatic guidance power, so that driving safety is guaranteed in ABS priority task at any time.In the ACC control module, when judging relative spacing less than the minimal security spacing by data processed result, Control Software is called ABS control module automatically, and other deceleration control mode lost efficacy and the chaufeur accelerator pedal operation lost efficacy; In the ASR control module, when car acceleration travel, run into when the emergency situation needs are rapid to stop, chaufeur can be operated brake pedal, make ABS control module work, the ASR controllable function lost efficacy, in the chaufeur brakeless meaning or react under the untimely situation, if spacing is less than the minimal security spacing relatively, can calls the ABS control pattern automatically vehicle is slowed down until parking rapidly.

In the electron steering software of automobile ABS/ASR/ACC integrated system, be provided with automobile preferential manual operation function of supporting chaufeur under certain condition of service, to guarantee the speed control and the driving safety of chaufeur to vehicle.The manual operation of chaufeur has brake pedal operation, pedal of clutch operation, accelerator pedal operation, gear-change operation, hand brake operation and bearing circle operation; When vehicle front had vehicles or pedestrians to incorporate into suddenly or has other unforeseen circumstances to take place, chaufeur can be realized emergency braking by artificial brake pedal operation, and this moment, the ABS module entered work automatically, realized stopping rapidly, kept directional balance simultaneously; When vehicle front does not have target vehicle or relative spacing greater than desirable safe distance between vehicles, and when traffic allows vehicle to give it the gun, chaufeur can be operated giving it the gun of realization vehicle by following the stepping on to Das Gaspedal, till ACC judges that need carry out the speed of a motor vehicle regulates; If the relative spacing of the major heading vehicle in the place ahead and main car is during less than desirable safe distance between vehicles, the ACC Warning light is lighted, warn chaufeur reply vehicle to take suitable deceleration measure, if the ratio of the relative spacing of the major heading vehicle in the place ahead and main car and desirable safe distance between vehicles is greater than 60% and relative spacing during greater than 1.6 times of minimal security spacings, then the effect that accelerator pedal quickens vehicle under the chaufeur is still effective, changes the operation of vehicle being quickened when overtaking other vehicles to look after chaufeur; If the ratio of the relative spacing of the major heading vehicle in the place ahead and main car and desirable safe distance between vehicles is less than or equal to 60% or relative spacing when being not more than 1.6 times of minimal security spacings, then the effect that accelerator pedal quickens vehicle under the chaufeur was lost efficacy, to guarantee driving safety; When vehicle front does not have target vehicle or relative spacing greater than desirable safe distance between vehicles, chaufeur need travel slowly when stopping, chaufeur can be by the Reduced Speed Now of loosening operation and slight brake operating realization vehicle to Das Gaspedal, in this case, whether the ACC control module also needs to carry out the change of speed of a motor vehicle regulative mode in real-time judge, need the accident of sudden stop with reply; Need to carry out gear shift (for mechanical transmission) or other former thereby need carry out manual operation to power-transfer clutch the time when chaufeur, but power-transfer clutch normal separation or combination, no matter power-transfer clutch is at which kind of mode of operation, whether automobile ABS/ASR/ACC integrated system all real-time judge vehicle needs further speed of a motor vehicle adjusting work; When chaufeur makes car acceleration by changing high regime operation, if the relative spacing of the major heading vehicle in the place ahead and main car is less than 60% and relative spacing of desirable safe distance between vehicles during less than 1.6 times of minimal security spacings, then accelerator open degree is corresponding reduces, so that still Reduced Speed Now of automobile, till the ratio of relative spacing and desirable safe distance between vehicles allows automobile to give it the gun; Overtake other vehicles when operation when chaufeur carries out car acceleration, behind the lane change, if spacing is greater than desirable safe distance between vehicles relatively, main car can normally give it the gun and overtake other vehicles; No matter automobile ABS/ASR/ACC integrated system is at which kind of mode of operation, hand brake operation and bearing circle operation all effectively and not influence going up of automobile ABS/ASR/ACC integrated system and do.

The invention has the beneficial effects as follows:

Automobile ABS/ASR/ACC integrated system provides a kind of can reduce traffic accident effectively, improve the highway communication transport capacity, improve automobile brake comprehensively, drive and the active safety feature of the performance of running at high speed, the automobile active safety technology is attained a new height; Automobile all can well keep directional balance at glancing impact on any road surface, under any driving cycle, can successfully start to walk and quicken during driving, taking into account under the situation of travelling comfort, can remain a safe distance behind the car in front automatically when running at high speed, avoid the rear-end impact accident to take place; The wheel wheel speed signal that obtains simultaneously, the chromaffin body valve opening signal and the relative speed of a motor vehicle, relative distance, relative acceleration and relative azimuth angle signal, perfect ABS, ASR, the function of each independent control module of ACC, improved ABS, ASR, the performance of each independent control module of ACC, can drop to glancing impact reference speed calculation error on the bend ± 1km/h by ± 3km/h, if the speed of a motor vehicle is 80km/h, wheel slip is 10%, the calculation error of reference speed is-during 3km/h, the calculation error of wheel slip can drop to 10% by 35%, has realized that glancing impact is to the accurate control of the rotary state of wheel on bend; Owing to added the ACC control module, when car acceleration travel under the ASR master mode, run into accident, the relative spacing that the spacing sensor measures is less than 1.2 times of the minimal security spacing, when needing sudden stop, the ASR master mode was lost efficacy, call the ABS control pattern automatically vehicle is slowed down rapidly; Under the ACC master mode, take into account the Magnification of ratio of the relative spacing of main car and desirable safe distance between vehicles and the traveling comfort that the occupant takes when making car deceleration, so that the occupant does not feel to take discomfort because of deceleration; The ACC technology is extending naturally of ABS/ASR technology, sensor that ABS/ASR is used and actuating unit all can be the ACC device and utilize, the hardware circuit of ABS/ASR electronic control package and Control Software only need correspondingly be expanded and logical combination, on the basis of ABS/ASR hardware configuration, only add a spacing sensor, an ACC normally closed oil-feed electromagnetic valve, an ACC oil-feed electromagnetic valve open in usual and an ACC Warning light, can form automobile ABS/ASR/ACC integrated control system, cost is low, ratio of performance to price height, eliminate the inherent defect of automobile ABS/ASR/VDC integrated system, had the practicality of putting on market in batches.

Description of drawings

The present invention is further described below in conjunction with drawings and Examples.

Fig. 1 is automobile ABS/ASR/ACC integrated system constructional drawing.

Fig. 2 is the automobile ABS/arrangement plan of ASR/ACC integrated system on automobile.

Fig. 3 is the control system structured flowchart of automobile ABS/ASR/ACC integrated system.

Fig. 4 is each control module work speed interval of automobile ABS/ASR/ACC integrated system.

1. brake pedals among the figure, 2. vacuum booster, 3. master brake cylinder, 4. fuel accumulator, 5.ASR oil-feed electromagnetic valve open in usual, 6.ACC normally closed oil-feed electromagnetic valve, 7. the near front wheel oil-feed electromagnetic valve, 8.ASR normally closed oil-feed electromagnetic valve, 9. check valve, 10. pressure switch, 11.ASR accumulator, 12.ASR oil pump, 13.ASR electrical motor, 14.ASR normally closed oil return solenoid valve, 15.ASR pressure regulator, 16. off front wheel oil-feed electromagnetic valves, 17. check valves, 18.ABS electrical motor, 19.ABS oil pump, 20. off front wheel go out solenoid, 21.ABS low pressure accumulator, 22. off hind wheel goes out solenoid, 23. check valve, 24. off hind wheel oil-feed electromagnetic valves, 25.ABS/ASR/ACC electronic control package, 26. automobile, 27. the left rear wheel wheel speed sensors, 28. off hind wheel wheel speed sensors, 29. spacing sensors, 30. chromaffin body valve position sensor, 31. the chromaffin body valve, 32. chromaffin body valve arrangement regulating mechanisms, 33. the near front wheel wheel speed sensors, 34. off front wheel wheel speed sensors, 35.ABS indicator lamp, 36.ASR indicator lamp, 37.ACC Warning light, 38. left rear wheel oil-feed electromagnetic valve, 39. left rear wheel goes out solenoid, the 40.ABS high-voltage energy storage device, and 41. the near front wheels go out solenoid, 42.ABS pressure regulator, 43.ACC oil-feed electromagnetic valve open in usual, 44. driving engines, 45. electronic engine control devices, 46. semiaxis, 47. main gear, 48. right front brake, 49. lead to the fuel accumulator pipeline, 50. right front brake piping, 51. right back brake piping, 52. lead to the drg master cylinder, 53. right back drgs, 54. left back drg, 55. left back brake piping, 56. left front brake pipings, 57. change-speed boxs, 58. power-transfer clutch, 59. wheel, 60. left front brake, 61. relative vehicle speed signal, 62. relative spacing signal, 63. the relative azimuth angle signal, 64. relative acceleration signals, 65. vehicle wheel rotational speed signals, 66. chromaffin body valve opening signal, 67. chaufeurs.

The specific embodiment

In Fig. 1 and Fig. 2, judge and to slow down until parking to vehicle when chaufeur, when using the ABS control pattern, chaufeur is stepped on brake pedal (1), after vacuum booster (2) amplifies brake pedal force, promote the piston motion in the master brake cylinder (3), make master brake cylinder (3) produce pressure oil, master brake cylinder (3) exports abs pressure regulating control (42) by dual circuit to through ASR oil-feed electromagnetic valve open in usual (5) and ACC oil-feed electromagnetic valve open in usual (43), abs pressure regulating control (42) is divided into four tunnel drgs of exporting to four wheels respectively, one the tunnel provides pressure oil for the near front wheel drg (60) through oil-feed electromagnetic valve open in usual (7), one the tunnel provides pressure oil for off front wheel drg (48) through oil-feed electromagnetic valve open in usual (16), one the tunnel provides pressure oil for left rear wheel drg (54) through oil-feed electromagnetic valve open in usual (38), one the tunnel provides pressure oil for off hind wheel drg (53) through oil-feed electromagnetic valve open in usual (24), each wheel produces lock torque, the road surface produces braking force, and car deceleration is travelled until parking; Four wheel speed sensors (27), (28), (33) and (34) that are installed in respectively in four wheels obtain the vehicle wheel rotational speed signal in real time, these tach signals are sent to ABS/ASR/ACC electronic control package (25) and handle in real time and calculate, and the main containing of handling and calculating is to generate the angular deceleration/angular acceleration of four wheels, the reference speed of automobile and the slip rate of four wheels respectively according to the tach signal of four wheels; ABS/ASR/ACC electronic control package (25) adopts the logic threshold mode, when Control Software judges that for example the slip rate or the wheel angular deceleration of the near front wheel reach the pressurize threshold value to a certain wheel, when needing to keep lock torque, ABS/ASR/ACC electronic control package (25) sends brake-pressure retentive control signal to the brake piping (56) of the near front wheel, oil-feed electromagnetic valve (7) is powered on, oil-feed electromagnetic valve (7) switches to the partition state by channel status, the oil inlet passage that has cut off the near front wheel drg (60) wheel cylinder, the near front wheel drg (60) wheel cylinder can not oil-feed can not be fuel-displaced, realized the brake-pressure maintenance, thereby the lock torque of the near front wheel is remained unchanged substantially, and the slip rate and the angular deceleration of the near front wheel remain unchanged substantially; When Control Software judges that for example the slip rate or the wheel angular deceleration of the near front wheel reach the decompression threshold value to a certain wheel, when needing to reduce lock torque, automobile ABS/ASR/ACC electronic control package (25) sends brake-pressure reduction control signal to the brake piping (56) of the near front wheel, oil-feed electromagnetic valve (7) is powered on, oil-feed electromagnetic valve (7) switches to the partition state by channel status, the oil inlet passage that has cut off the near front wheel drg (60) wheel cylinder, while the near front wheel goes out solenoid (41) and powers on, go out solenoid (41) and switch to channel status by the partition state, connected the oil discharge passage of the near front wheel drg (60) wheel cylinder, the near front wheel drg (60) wheel cylinder is fuel-displaced, realized the pressure reduction, thereby the lock torque of the near front wheel is reduced, the slip rate of the near front wheel and the absolute value of angular deceleration decrease, prevented wheel lockup, in decompression process, ABS electrical motor (18) powers on, drive ABS oil pump (19) work, ABS oil pump (19) is the near front wheel brake wheel cylinder, the pressure oil of brake piping (56) and ABS low pressure accumulator (21) is drawn in the ABS high-voltage energy storage device (40), make the rapid reduction of pressure of wheel braking cylinder of the near front wheel and the increased pressure of ABS high-voltage energy storage device (40), the high brake-pressure of ABS high-voltage energy storage device (40) can make next on-cycle wheel cylinder pressurization realize rapidly; When Control Software judges that for example the slip rate or the wheel angular deceleration of the near front wheel reach the supercharging threshold value to a certain wheel, when needing to increase lock torque, ABS/ASR/ACC electronic control package (25) sends brake-pressure boost control signal to the brake piping of the near front wheel, make oil-feed electromagnetic valve (7) power down, oil-feed electromagnetic valve (7) switches to channel status by the partition state, connected the oil inlet passage of the near front wheel drg (60) wheel cylinder, go out solenoid (41) power down, go out solenoid (41) and switch to the partition state by channel status, the oil discharge passage that has cut off the near front wheel drg (60) wheel cylinder, ABS electrical motor (18) power down, ABS oil pump (19) quits work, the near front wheel drg (60) wheel cylinder oil-feed, realized the pressure increase, thereby the lock torque of the near front wheel is increased, and the slip rate of the near front wheel and the absolute value of angular deceleration increase, and wheel ground braking force increases; The pressure control process of other wheel braking wheel cylinder is the same with the pressure control process of the near front wheel wheel cylinder; During ABS work, ABS indicator lamp (35) is lighted, and indication ABS is in work; Behind chaufeur loosen the brake (1), the pressure oil of brake wheel cylinder and brake piping (50), (51), (55) and (56) turns back in the fuel accumulator (4) by abs pressure regulating control (42), ASR oil-feed electromagnetic valve open in usual (5), ACC oil-feed electromagnetic valve open in usual (43) and master brake cylinder (3).

In Fig. 1 and Fig. 2, when wheel travels on to open circuit surface, one side drive wheel for example the near front wheel travelled in very little low adhering on the road surface of surface driving power, detecting this wheel by wheel speed sensors (33) too trackslips, reach the slippage rate threshold value, when automobile can not be started to walk smoothly or quicken, use ASR lock torque master mode; At this moment, automobile ABS/ASR/ACC electronic control package (25) makes ASR normally closed oil-feed electromagnetic valve (8), ASR oil-feed electromagnetic valve open in usual (5) and off front wheel oil-feed electromagnetic valve (16) power on, ASR normally closed oil-feed electromagnetic valve (8) switches to on-state by the partition state, ASR oil-feed electromagnetic valve open in usual (5) switches to the partition state by on-state, off front wheel oil-feed electromagnetic valve (16) switches to the partition state by on-state, all the time be stored in pressure oil in the accumulator (11) through ASR normally closed oil-feed electromagnetic valve (8), oil-feed electromagnetic valve (7) makes the near front wheel drg (60) wheel cylinder oil-feed, realized that this pressure of wheel braking cylinder increases, the near front wheel produces certain lock torque, because the not poor characteristic of turning round of diff differential, cause the off front wheel drive torque to increase, realize the increase of car load propulsive effort, improved the drive performance of car load; In this process, the pressure switch (10) in parallel with accumulator (11) monitored oil pressure in the accumulator (11) in real time, when pressure is braked required minimum pressure less than ASR, pressure switch is connected the circuit of ASR electrical motor (13) automatically, ASR electrical motor (13) drives the braking liquid of ASR oil pump (12) suction fuel accumulator (4) to accumulator (11), after the pressure in the accumulator (11) reaches rated pressure, pressure switch (10) is cut off the circuit of ASR electrical motor (13) automatically, and ASR oil pump (12) quits work; The effect of check valve (9) is to open when the pressure in the accumulator (11) surpasses protection pressure, pressure oil flows back to fuel accumulator (4), pipeline decompression, be reduced to the rated pressure of accumulator (11) until line pressure after, check valve (9) is closed again, makes accumulator (11) keep its rated pressure; The effect of accumulator (11) provides the ASR brake-pressure, regulates the brake-pipe pressure that is braked drive wheel simultaneously, makes brake-pipe pressure steady; The effect of ASR oil-feed electromagnetic valve open in usual (5) is when ASR carries out brake-pressure regulation to drive wheel, prevents to enter master brake cylinder (3) from the pressure oil of accumulator (11); When ASR lock torque master mode quits work, ASR normally closed oil-feed electromagnetic valve (8), ASR oil-feed electromagnetic valve open in usual (5) and off front wheel oil-feed electromagnetic valve (16) power down, the ASR normally closed goes out solenoid (14) and the near front wheel normally closed and goes out solenoid (41) and power on, ASR normally closed oil-feed electromagnetic valve (8) reverts to the partition state by on-state, ASR oil-feed electromagnetic valve open in usual (5) is an on-state by cutting off recovering state, off front wheel oil-feed electromagnetic valve (16) is an on-state by cutting off recovering state, the ASR normally closed goes out solenoid (14) and switches to on-state by the partition state, the near front wheel normally closed goes out solenoid (41) and switches to on-state by the partition state, the pressure oil of the near front wheel drg (60) wheel cylinder goes out solenoid (41) and ASR normally closed through the near front wheel normally closed and goes out solenoid (14) and turn back to fuel accumulator (4), the near front wheel has been removed brake snub, progressively recover conventional motoring condition, when the detected wheel speed of the near front wheel wheel speed sensors (33) and the detected wheel speed of off front wheel wheel speed sensors (34) during less than certain error limit, the ASR normally closed goes out solenoid (14) and the near front wheel normally closed goes out solenoid (41) power down, ASR normally closed oil-feed electromagnetic valve (14) and the near front wheel normally closed go out solenoid (41) and revert to the partition state by on-state, so far ASR lock torque master mode quits work fully, and abs pressure regulating control and ASR pressure regulator revert to common state fully; If in the ASR control process, prominent chance needs the braking situation, when chaufeur (67) is stepped on brake pedal (1), ASR quits work immediately, this moment ASR normally closed oil-feed electromagnetic valve (8), ASR oil-feed electromagnetic valve open in usual (5) and ABS oil-feed electromagnetic valve (16) power down, ASR normally closed oil-feed electromagnetic valve (8) reverts to the partition state by on-state, ASR oil-feed electromagnetic valve open in usual (5) is an on-state by cutting off recovering state, off front wheel oil-feed electromagnetic valve (16) is an on-state by cutting off recovering state, from the pressure oil of master brake cylinder (3) respectively through ASR oil-feed electromagnetic valve open in usual (5) and ACC oil-feed electromagnetic valve open in usual (43), oil-feed electromagnetic valve (7), (16), (24) and (38) enter four car side brakes (48), (53), (54) and the wheel cylinder of (60) four wheels are implemented braking.

In Fig. 1 and Fig. 2, sail in very little low adhering on the road surface of surface driving power when the both sides drive wheels is all right, detect two drive wheels by wheel speed sensors (33) and (34) and too trackslip, when automobile can not be started to walk smoothly or quicken, use ASR engine moment master mode; ABS/ASR/ACC electronic control package this moment (25) is regulated the aperture of chromaffin body valve (31) by chromaffin body valve arrangement regulating mechanism (32) according to the signal of chromaffin body valve position sensor (30), make the slippage rate of two drive wheels maintain optimum regime, realize improving the purpose of car load drive performance; During ASR work, ASR indicator lamp (36) is lighted, and indication ASR is in work; When ASR engine moment master mode quit work, the aperture of chromaffin body valve (31) returned to maximum rating, does not influence the work of main throttle, and chaufeur (67) can normally change the moving velocity of automobile by the operation Das Gaspedal.

In Fig. 1 and Fig. 2, under the ASR master mode, if need to adopt the abs braking mode that automobile is stopped rapidly, and chaufeur is when reacting untimely, at this moment, ASR electrical motor (13), ACC normally closed oil-feed electromagnetic valve (6), ASR normally closed oil-feed electromagnetic valve (8), ASR oil-feed electromagnetic valve open in usual (5) and ACC oil-feed electromagnetic valve open in usual (43) all powers on, ASR electrical motor (13) drives ASR oil pump (12) work, ACC normally closed oil-feed electromagnetic valve (6) and ASR normally closed oil-feed electromagnetic valve (8) switch to on-state by the partition state, ASR oil-feed electromagnetic valve open in usual (5) and ACC oil-feed electromagnetic valve open in usual (43) switches to the partition state by on-state, abs pressure regulating control (42) resets, be electromagnetic valve (7), (16), (20), (22), (24), (38), (39) and (41) all power down, ABS electrical motor (18) power down, braking liquid from fuel accumulator (4) enters abs pressure regulating control (42) through ASR normally closed oil-feed electromagnetic valve (8) and ACC normally closed oil-feed electromagnetic valve (6), enters four wheel-braking cylinders then vehicle (26) is carried out braking in the ABS control mode; Under the ASR mode of operation, the working process that ABS control is removed and under ASR lock torque master mode the releasing working process of lock torque basic identical, difference is that the normally closed of other three the wheel pressure of wheel braking cylinder of control goes out solenoid (20), (22) and (39) participate in work together, and also to go out solenoid (41) identical with the normally closed of controlling the near front wheel pressure of wheel braking cylinder for its working process.

In Fig. 1 and Fig. 2, when high vehicle speeds, spacing sensor (29) detects a plurality of target vehicles in real time, judge a major heading vehicle, measure the relative spacing of main car and major heading vehicle, the relative speed of a motor vehicle, relative bearing and relative acceleration in real time, calculate desirable safe distance between vehicles and minimal security spacing according to condition of road surface, the main car speed of a motor vehicle and relative spacing; If the relative spacing that spacing sensor (29) detects main car and major heading vehicle during less than desirable safe distance between vehicles, is to keep safety traffic, uses the ACC master mode and make main car deceleration; The mode of car deceleration is divided into three kinds according to the size of spacing and desirable safe distance between vehicles ratio relatively: when the ratio of relative spacing and desirable safe distance between vehicles more than or equal to 80% the time, adopt the method that reduces chromaffin body valve (31) aperture to make car deceleration, when the ratio of relative spacing and desirable safe distance between vehicles less than 80% and relative spacing during greater than 1.2 times of minimal security spacing, adopt the mode of closing chromaffin body valve (31) and slight braking fully to make car deceleration, when relative spacing is equal to or less than 1.2 times of minimal security spacing, adopt the abs braking mode that main car is stopped rapidly; When adopting the mode of closing chromaffin body valve and slight braking fully to make car deceleration, take into account the Magnification of ratio of the relative spacing of main car and desirable safe distance between vehicles and the traveling comfort that the occupant takes, when the ratio of relative spacing and desirable safe distance between vehicles more than or equal to 60% the time, make the deceleration/decel of main car be not more than 2m/s ², so that occupant's ride comfort; During ACC work, ACC Warning light (37) is lighted, and indication ACC is in work; When the relative spacing of main car and major heading vehicle during greater than desirable safe distance between vehicles, ACC stops the speed of a motor vehicle being regulated, the aperture of chromaffin body valve (31) returns to maximum rating, do not influence the work of main throttle, the part load braking of automobile or braking releasing fully at full capacity, chaufeur (67) can normally change the moving velocity of automobile by the operation Das Gaspedal.

In Fig. 1 and Fig. 2, during the work of ACC control module, if need to adopt the abs braking mode that main car is stopped rapidly, no matter be that chaufeur is stepped on brake pedal or under the situation of the chaufeur brakeless meaning, call ABS control module work by the ACC control module, its working process working process complete and that adopt the abs braking mode that main car is stopped rapidly under the ASR mode of operation is just the same.

In Fig. 1 and Fig. 2, during the work of ACC control module, automobile is used the method that reduces chromaffin body valve (31) aperture makes car deceleration or application close the chromaffin body valve fully or/and the mode of slight braking makes car deceleration, the prominent emergency situation of meeting is when needing rapid ramp to stop, after chaufeur is stepped on brake pedal, above-mentioned slow ways of deceleration lost efficacy, and automobile is worked with the ABS control pattern.

In Fig. 3, vehicle speed signal (61), relative spacing signal (62), relative azimuth angle signal (63) and relative acceleration signal (64) are obtained by the spacing sensor relatively, sending automobile ABS/ASR/ACC electronic control package (25) to by the CAN bus analyzes and handles, four vehicle wheel rotational speed signals (65) are obtained by four wheel speed sensors, chromaffin body valve opening signal (66) is obtained by chromaffin body valve opening sensor, and automobile ABS/ASR/ACC electronic control package (25) gathers wheel speed signal in real time and chromaffin body valve opening signal is analyzed and handled; Automobile ABS/ASR/ACC electronic control package (25) sends to corresponding actuating unit ASR pressure regulator (15), abs pressure regulating control (42), chromaffin body valve arrangement regulating mechanism (32), ACC normally closed oil-feed electromagnetic valve (6) and/or ACC oil-feed electromagnetic valve open in usual (43) to the instruction of analysis and result to carry out corresponding operation, changes the state of kinematic motion of vehicle (26) and wheel; ABS indicator lamp (35), ASR indicator lamp (36) and ACC Warning light (37) show the control corresponding pattern respectively simultaneously; Chaufeur (67) can carry out manual operation to vehicle (26).

In Fig. 4, provided each control module work speed interval of automobile ABS/ASR/ACC integrated system, when the speed of a motor vehicle is less than or equal to 20km/h, under brakeless anti-lock situation during emergency braking, automobile can not produce the direction out of control problem, and ABS is not worked; Also need not to calculate the ratio of desirable safe distance between vehicles and relative spacing and desirable safe distance between vehicles to regulate the moving velocity of vehicle, when running car is on busy drive, the speed of a motor vehicle is less than or equal to 20km/h usually and the frequent appearing and subsiding of major heading vehicle is arranged, if this moment, ACC participated in control, acceleration and deceleration that the automobile meeting is frequent, have a strong impact on the traveling comfort that the occupant takes, thereby need not ACC participation control; When the speed of a motor vehicle is less than or equal to 20km/h, only need the work of ASR control module, so that automobile can be started to walk and quicken smoothly; When the speed of a motor vehicle greater than 20km/h, when being less than or equal to 80km/h, three control modules of ABS, ASR and ACC are all joined to be needed and work, to regulate the moving velocity of automobile, guarantees running safety; When the speed of a motor vehicle during greater than 80km/h, ASR is the come out of action meaning, and only ABS and two control module participations of ACC work to regulate the moving velocity of automobile, guarantees running safety.

Claims

1. automobile ABS/ASR/ACC integrated system, comprise wheel speed sensors, chromaffin body valve opening sensor, the spacing sensor, the abs pressure regulating control, the ASR pressure regulator, chromaffin body valve opening actuating unit, ACC normally closed oil-feed electromagnetic valve, ACC oil-feed electromagnetic valve open in usual, electronic control package, the ABS indicator lamp, ASR indicator lamp and ACC Warning light, it is characterized in that: wheel speed sensors is installed on the wheel, measure the tach signal of wheel, engine load sensor is installed in driving engine chromaffin body valve place, measure the aperture signal of chromaffin body valve, the spacing sensor is installed in the vehicle front middle part, measure the relative spacing of main car and major heading vehicle, the relative speed of a motor vehicle, relative bearing and relative acceleration signal, the abs pressure regulating control is between master brake cylinder and brake wheel cylinder, regulate the pressure of brake wheel cylinder, the ASR pressure regulator is between the oil-feed electromagnetic valve open in usual of two drive wheels of fuel accumulator and abs pressure regulating control, regulate the pressure of wheel cylinder of two drive wheels, chromaffin body valve opening actuating unit is positioned at chromaffin body valve place, regulate the aperture of chromaffin body valve, ACC normally closed oil-feed electromagnetic valve is installed between the oil outlet of the oil outlet of ASR pressure regulator and master brake cylinder, under the ACC master mode, give abs pressure regulating control fuel feeding during emergency braking, ACC oil-feed electromagnetic valve open in usual is installed on the fuel-displaced pipeline of the same master brake cylinder that links to each other with ACC normally closed oil-feed electromagnetic valve, at the master brake cylinder oil outlet with lead between the threeway of ACC normally closed oil-feed electromagnetic valve, under the ACC master mode, do not make braking liquid enter master brake cylinder during emergency braking from fuel accumulator, guarantee simultaneously under the ABS control pattern, make ABS device energy normal operation, electronic control package is positioned at the top of abs pressure regulating control, signal from wheel speed sensors, the signal of the signal of engine load sensor and spacing sensor is handled through electronic control package, calculate and analyze the back to corresponding abs pressure regulating control, the ASR pressure regulator, the throttle opening actuating unit, ACC normally closed oil-feed electromagnetic valve, ACC oil-feed electromagnetic valve open in usual, the ABS indicator lamp, ASR indicator lamp or ACC Warning light send control command, carry out the pressure control of brake wheel cylinder, throttle opening is regulated or master mode indication work.

2. automobile ABS according to claim 1/ASR/ACC integrated system, it is characterized in that: electronic control package is gathered vehicle wheel rotational speed signal, the chromaffin body valve opening signal of each wheel speed sensors in real time, main car and the relative spacing signal of major heading vehicle, relative vehicle speed signal, relative azimuth angle signal and relative acceleration signal.

3. automobile ABS according to claim 1/ASR/ACC integrated system, it is characterized in that: the electronic control package Control Software is divided into ABS control module, ASR control module, ACC control module and reference speed information fusion center, three control modules are not only separate but also organically blend, and master control program calls the control corresponding module according to the relative spacing of reality, the relative speed of a motor vehicle, the main car speed of a motor vehicle, wheel situation and the automatic judgement of condition of road surface; Intracardiac in information fusion reference speed that calculates and the reference speed that calculates are carried out information fusion in ABS control module, export reference speed and wheel slip or slippage rate more accurately more accurately in the ACC control module.

4. automobile ABS according to claim 1/ASR/ACC integrated system, it is characterized in that: in the electronic control package Control Software, calculate the desirable safe distance between vehicles and the minimal security spacing of main car in real time according to the relative spacing of reality, the relative speed of a motor vehicle, the main car speed of a motor vehicle and condition of road surface; In the ACC control module, the mode of car deceleration is divided into three kinds according to the ratio and the relative spacing of spacing and desirable safe distance between vehicles relatively with the ratio of minimal security spacing: when the ratio of relative spacing and desirable safe distance between vehicles more than or equal to 80% the time, adopt the method that reduces the chromaffin body valve opening to make car deceleration, when the ratio of relative spacing and desirable safe distance between vehicles less than 80% and during greater than 1.2 times of minimal security spacing, adopt to close chromaffin body valve mode fully or close the chromaffin body valve fully and make car deceleration with slight mode of braking, when relative spacing is equal to or less than 1.2 times of minimal security spacing, adopt the abs braking mode that main car is stopped rapidly.

5. automobile ABS according to claim 1/ASR/ACC integrated system, it is characterized in that: adopt part to close chromaffin body valve mode, close chromaffin body valve mode and slight brake mode when making car deceleration fully, take into account the Magnification of ratio of the relative spacing of main car and desirable safe distance between vehicles and the traveling comfort that the occupant takes, when the ratio of relative spacing and desirable safe distance between vehicles more than or equal to 60% the time, make the deceleration/decel of main car be not more than 2m/s ², so that occupant's ride comfort.

6. automobile ABS according to claim 1/ASR/ACC integrated system, it is characterized in that: in the electron steering software of automobile ABS/ASR/ACC integrated system, according to the practical operation situation of automobile, the needs of safety traffic and the function situation of each control module, be provided with the work speed interval of each control module of ABS/ASR/ACC integrated system, when the speed of a motor vehicle is less than or equal to 20km/h, only ASR control module work, ABS and ACC control module are not worked; When the speed of a motor vehicle greater than 20km/h and when being less than or equal to 80km/h, three control modules of ABS, ASR and ACC all participate in work; When the speed of a motor vehicle during greater than 80km/h, two control module work of ABS and ACC, the ASR control module is not worked.

7. automobile ABS according to claim 1/ASR/ACC integrated system is characterized in that: in the electron steering software of automobile ABS/ASR/ACC integrated system, be provided with ABS control module and have the highest preferential automatic guidance power; Under the ACC master mode or under the ASR master mode, when judging that by data processed result relative spacing is equal to or less than 1.2 times of smallest ideal safe distance between vehicles, do not step at chaufeur under the situation of brake pedal, Control Software can be called ABS control module automatically vehicle is implemented emergency braking, and other deceleration control mode lost efficacy.

8. automobile ABS according to claim 1/ASR/ACC integrated system, it is characterized in that: under ASR master mode and ACC master mode, run into when the emergency situation needs are rapid to stop, if automobile is worked under non-ABS control pattern, behind the driver's operation brake pedal, ABS control module work, ASR or ACC controllable function lost efficacy; Under ASR master mode and ACC master mode, run into when the emergency situation needs are rapid to stop, if automobile is worked under the ABS control pattern, chaufeur is to the brake pedal operation failure.

9. automobile ABS according to claim 1/ASR/ACC integrated system, it is characterized in that: in the electron steering software of automobile ABS/ASR/ACC integrated system, be provided with automobile under certain condition of service, chaufeur is to the preferential support function of the manual operation of Das Gaspedal, this condition of service is: if the relative spacing of the major heading vehicle in the place ahead and main car is during less than desirable safe distance between vehicles, the ACC Warning light is lighted, warn chaufeur reply vehicle to take suitable deceleration measure, if the ratio of the relative spacing of the major heading vehicle in the place ahead and main car and desirable safe distance between vehicles is greater than 60% and relative spacing during greater than 1.6 times of minimal security spacing, it is still effective that accelerator pedal makes the effect of vehicle acceleration under the chaufeur; In the electron steering software of automobile ABS/ASR/ACC integrated system, be provided with automobile under certain condition of service, chaufeur is to the manual operation invalidation functions of Das Gaspedal, this condition of service is: if the ratio of the relative spacing of the major heading vehicle in the place ahead and main car and desirable safe distance between vehicles is less than or equal to 60% or when spacing is not more than 1.6 times of minimal security spacing relatively, then accelerator pedal makes the effect inefficacy of vehicle acceleration under the chaufeur.

10. automobile ABS according to claim 1/ASR/ACC integrated system, it is characterized in that: when vehicle front does not have target vehicle, when vehicle need travel slowly or need slowly stop, chaufeur can be by the Reduced Speed Now that operation realizes vehicle of loosening to Das Gaspedal, for this operating condition, in the electron steering software of automobile ABS/ASR/ACC integrated system, be provided with ACC control module real-time monitoring and control, to judge whether the to carry out change of speed of a motor vehicle regulative mode; No matter automobile is under which kind of operating condition, and chaufeur is effective all the time to the operation of power-transfer clutch, change-speed box, hand brake and bearing circle, and the dual line braking function is effective all the time.