CN205186125U - Anti -lock braking device of car - Google Patents

Abstract

The utility model discloses an anti -lock braking device of car, including brake pedal, pressure adjustment assembly, stopper, the fast sensor of wheel, speed of a motor vehicle detection device, ecu (ECU), the stopper is installed on the tire, pressure adjustment assembly connects stopper and brake pedal, it has fast sensor to set up on the wheel, fast sensor of ECU fifth wheel and pressure adjustment assembly, that speed of a motor vehicle detection device adopts is doppler radar, its characterized in that: still including setting up the road surface detector on vehicle chassis, connect in ECU, set up the tire pressure detection device on the tire, connect ECU simultaneously. The utility model discloses combine to be used for fricative real -time estimation between the tire road surface with kalman filter and road surface detector to and through the control tire pressure, consider the influence of tire pressure in the controller software design, and set for equitable threshold value according to real -time estimation and tire pressure, realize the anti -lock.

Description

A kind of car antiblock device

Technical field

The utility model relates to a kind of brake device for car, particularly a kind of car antiblock device.

Background technology

At present at the ABS product of application substantially all based on car wheel acceleration and deceleration threshold value and with reference to slip rate method design.This mode need to improve in these: 1. the setting of threshold value is relevant with several factors, and different vehicles needs different matching techniques, needs more road operation test to be verified; 2. theoretically, whole control process wheel slip is not remain on optimal slip ratio, but fluctuates near it, does not reach best braking effect; 3. do not possess very strong adaptivity, be difficult to adapt to various damped condition.And fundamentally to change the key of this situation, be want to carry out real-time monitoring and identification to the road surface residing for wheel, adopt different control gate limit values according to condition of road surface and take different control algorithms and control logic.In theory, key issue comprises these aspects: Real-time Road recognition technology; Determine the optimal slip ratio under various road conditions; The measurement of car speed and process; The stability of control system.For above-mentioned Problems existing, in the development process of ABS actual product, research mainly concentrates on these aspects: (1) is little by volume, quality light, dependable performance, microelectron-mechanical with low cost and surface acoustic wave detector are applied in ABS, with measuring vehicle running velocity; (2) Kalman filter is combined the real-time estimation being used for rubbing between tire road surface with road surface detector; (3) some being had the strong control algorithm of self adaptation is applied in the design of ABS control logic, to adapt to the change of vehicle parameter, load and condition of road surface; (4) in controller software design, the impact of underinflation of tire is considered, designing tyre air pressure monitor program.

Utility model content

Goal of the invention of the present utility model is: for above-mentioned Problems existing, there is provided a kind of to be combined with road surface detector for tire road surface according to Kalman filter between to rub the impact of the estimator of carrying out and tire pressure, set rational threshold value, and detect the speed of a motor vehicle and vehicle wheel rotational speed, calculate slip rate, compare with threshold value, thus export the car antiblock device of more rational braking force, additionally provide control system and the method for car antiblock device.

The technical solution adopted in the utility model is as follows:

The utility model car antiblock device, comprises brake pedal, pressure-regulating device, drg, wheel speed sensors, vehicle speed detector device, electronic control unit (ECU); Described drg is arranged on tire; Described pressure-regulating device connecting brake and brake pedal; Described wheel is provided with wheel speed sensors; Described ECU connects wheel speed sensors and pressure-regulating device; What described vehicle speed detector device adopted is Doppler radar; It is characterized in that: also comprise the road surface detector be arranged on car chassis, be connected to ECU; Be arranged at the tire pneumatic pressure detector on tire, connect ECU simultaneously.

Further, Kalman filter is contained in described ECU controller.

Further, a kind of control system of car antiblock device, is characterized in that: comprise

Wheel speed detection module: the automotive wheel rotating speed of wheel speed sensors collection is converted into digital signaling zero 1, uploads to ECU;

Tire pressure detection module: by the air pressure of tire detected, be converted into digital signaling zero 2, upload to ECU;

Pavement detection module: the surface conditions detected by road surface detector, is converted into digital signaling zero 3, uploads to ECU;

Bus-Speed Monitoring module: the car speed detected by Doppler radar, is converted into digital signaling zero 4, uploads to ECU;

ECU: the rotating speed digital signaling zero 1 receiving wheel, receives speed digital signal 04, calculates slip rate S=[(speed of a motor vehicle-vehicle wheel rotational speed)/speed of a motor vehicle]; Receive the air pressure digital signaling zero 2 of tire, receive the road surface digital signaling zero 3 detected, the friction coefficient on road surface is estimated, according to the friction coefficient setup control threshold value on road surface by the processing costs of Kalman filter according to air pressure digital signaling zero 2 and road surface digital signaling zero 3; If the S calculated is higher than setup control threshold value, send executive signal 001 to execution module; If the S calculated is lower than setup control threshold value, send executive signal 002 to execution module;

Execution module: receive the executive signal 001 that ECU sends, reduce braking force by pressure-regulating device; Receive the executive signal 002 that ECU sends, increase braking force by pressure-regulating device.

Further, the control method of described slip control system, comprises following step:

Step one: the wheel speed sensors be installed on wheel gathers the rotary speed information of wheel, is converted into digital signaling zero 1, uploads to ECU;

Step 2: the barometric information of tire that tire pneumatic pressure detector will detect, is converted into digital signaling zero 2, uploads to ECU;

Step 3: the surface conditions that road surface detector will detect, is converted into digital signaling zero 3, uploads to ECU;

Step 4: Doppler radar detects the speed of automobile, is converted into digital signaling zero 4, uploads to ECU;

Step 5: ECU receives the rotating speed digital signaling zero 1 of wheel, receives speed digital signal 04, calculates slip rate S=[(speed of a motor vehicle-vehicle wheel rotational speed)/speed of a motor vehicle]; Receive the air pressure digital signaling zero 2 of tire, receive the road surface digital signaling zero 3 detected, the friction coefficient on road surface is estimated by the processing costs of Kalman filter, according to the friction coefficient setup control threshold value on road surface according to air pressure digital signaling zero 2 and road surface digital signaling zero 3; If the S calculated is higher than setup control threshold value, send executive signal 001 to execution module; If the S calculated is lower than setup control threshold value, send executive signal 002 to execution module;

Step 6: execution module receives the executive signal 001 that ECU sends, and reduces braking force by pressure-regulating device; Receive the executive signal 002 that ECU sends, increase braking force by pressure-regulating device.

Step 7: constantly repeat above several step, until when the speed of automobile is very little or wheel is no longer tending towards locking.

In sum, owing to have employed technique scheme, the beneficial effects of the utility model are: Kalman filter is combined the real-time estimation being used for rubbing between tire road surface with road surface detector, and by monitoring tyres air pressure, in controller software design, consider the impact of tire pressure, according to estimation and tire pressure set rational threshold value in real time, detect the speed of a motor vehicle and vehicle wheel rotational speed again, calculate slip rate, compare with threshold value, thus the more rational braking force of output realizes automobile anti-lock braking.

Accompanying drawing explanation

Fig. 1 is a kind of structural representation of car antiblock device.

Fig. 2 is a kind of structural representation of automobile anti-lock braking control system.

Detailed description of the invention

Below in conjunction with accompanying drawing, the utility model is described in detail.

In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.

As shown in Figure 1, the utility model car antiblock device, comprises brake pedal, pressure-regulating device, drg, wheel speed sensors, vehicle speed detector device, electronic control unit (ECU); Described drg is arranged on tire; Described pressure-regulating device connecting brake and brake pedal; Described wheel is provided with wheel speed sensors; Described ECU connects wheel speed sensors and pressure-regulating device; What described vehicle speed detector device adopted is Doppler radar; It is characterized in that: also comprise the road surface detector be arranged on car chassis, be connected to ECU; Be arranged at the tire pneumatic pressure detector on tire, connect ECU simultaneously.

In force, Kalman filter is contained in described ECU controller.

As shown in Figure 2, a kind of control system of car antiblock device, is characterized in that: comprise

Wheel speed detection module: the automotive wheel rotating speed of wheel speed sensors collection is converted into digital signaling zero 1, uploads to ECU;

Tire pressure detection module: by the air pressure of tire detected, be converted into digital signaling zero 2, upload to ECU;

Pavement detection module: the surface conditions detected by road surface detector, is converted into digital signaling zero 3, uploads to ECU;

Bus-Speed Monitoring module: the car speed detected by Doppler radar, is converted into digital signaling zero 4, uploads to ECU;

ECU: the rotating speed digital signaling zero 1 receiving wheel, receives speed digital signal 04, calculates slip rate S=[(speed of a motor vehicle-vehicle wheel rotational speed)/speed of a motor vehicle]; Receive the air pressure digital signaling zero 2 of tire, receive the road surface digital signaling zero 3 detected, the friction coefficient on road surface is estimated, according to the friction coefficient setup control threshold value on road surface by the processing costs of Kalman filter according to air pressure digital signaling zero 2 and road surface digital signaling zero 3; If the S calculated is higher than setup control threshold value, send executive signal 001 to execution module; If the S calculated is lower than setup control threshold value, send executive signal 002 to execution module;

Execution module: receive the executive signal 001 that ECU sends, reduce braking force by pressure-regulating device; Receive the executive signal 002 that ECU sends, increase braking force by pressure-regulating device.

In force, the control method of described slip control system, comprises following step:

Step one: the wheel speed sensors be installed on wheel gathers the rotary speed information of wheel, is converted into digital signaling zero 1, uploads to ECU;

Step 2: the barometric information of tire that tire pneumatic pressure detector will detect, is converted into digital signaling zero 2, uploads to ECU;

Step 3: the surface conditions that road surface detector will detect, is converted into digital signaling zero 3, uploads to ECU;

Step 4: Doppler radar detects the speed of automobile, is converted into digital signaling zero 4, uploads to ECU;

Step 5: ECU receives the rotating speed digital signaling zero 1 of wheel, receives speed digital signal 04, calculates slip rate S=[(speed of a motor vehicle-vehicle wheel rotational speed)/speed of a motor vehicle]; Receive the air pressure digital signaling zero 2 of tire, receive the road surface digital signaling zero 3 detected, the friction coefficient on road surface is estimated by the processing costs of Kalman filter, according to the friction coefficient setup control threshold value on road surface according to air pressure digital signaling zero 2 and road surface digital signaling zero 3; If the S calculated is higher than setup control threshold value, send executive signal 001 to execution module; If the S calculated is lower than setup control threshold value, send executive signal 002 to execution module;

Step 6: execution module receives the executive signal 001 that ECU sends, and reduces braking force by pressure-regulating device; Receive the executive signal 002 that ECU sends, increase braking force by pressure-regulating device.

Step 7: constantly repeat above several step, until when the speed of automobile is very little or wheel is no longer tending towards locking.

The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.

Claims (3)

1. a car antiblock device, comprises brake pedal, pressure-regulating device, drg, wheel speed sensors, vehicle speed detector device, electronic control unit ECU; Described drg is arranged on tire; Described pressure-regulating device connecting brake and brake pedal; Described tire is provided with wheel speed sensors; Described ECU connects wheel speed sensors and pressure-regulating device; What described vehicle speed detector device adopted is Doppler radar; It is characterized in that: also comprise the road surface detector be arranged on car chassis, be connected to ECU; Be arranged at the tire pneumatic pressure detector on tire, connect ECU simultaneously.

2. a kind of car antiblock device according to claim 1, is characterized in that: containing Kalman filter in described ECU controller.

3. a kind of car antiblock device according to claim 1, is characterized in that: the control system also comprising a kind of car antiblock device, comprises

Wheel speed detection module: the automotive wheel rotating speed of wheel speed sensors collection is converted into digital signaling zero 1, uploads to ECU;

Tire pressure detection module: by the air pressure of tire detected, be converted into digital signaling zero 2, upload to ECU;

Pavement detection module: the surface conditions detected by road surface detector, is converted into digital signaling zero 3, uploads to ECU;

Bus-Speed Monitoring module: the car speed detected by Doppler radar, is converted into digital signaling zero 4, uploads to ECU;

ECU: the rotating speed digital signaling zero 1 receiving wheel, receives speed digital signal 04, calculates slip rate S=[(speed of a motor vehicle-vehicle wheel rotational speed)/speed of a motor vehicle]; Receive the air pressure digital signaling zero 2 of tire, receive the road surface digital signaling zero 3 detected, the friction coefficient on road surface is estimated, according to the friction coefficient setup control threshold value on road surface by the processing costs of Kalman filter according to air pressure digital signaling zero 2 and road surface digital signaling zero 3; If the S calculated is higher than setup control threshold value, send executive signal 001 to execution module; If the S calculated is lower than setup control threshold value, send executive signal 002 to execution module;

Execution module: receive the executive signal 001 that ECU sends, reduce braking force by pressure-regulating device; Receive the executive signal 002 that ECU sends, increase braking force by pressure-regulating device.