KR102467713B1 - ABS module simulator for car - Google Patents

Abstract

The present invention relates to a test apparatus for an ABS module, which is a brake component of a vehicle. In particular, virtual data generated in a simulator is transmitted to a conventional ABS module, and the output value of the ABS module operated by the virtual data is diagnosed. The diagnostic device relates to an ABS module simulator for a vehicle that determines whether an ABS module operates normally.
The software/hardware simulator for the conventional ABS module has problems in that accurate simulation is difficult due to difficult modeling of nonlinear phenomena during software calculation by a personal computer and excessive costs for hardware production are required. In the present invention, the simulator includes a power supply unit for supplying power to the ABS ECU and the diagnostic device; A speed selection unit that selectively determines the speed of the vehicle, a sensor selection unit that detects measured values of a plurality of wheel speed sensors, and a control unit that converts the value transmitted from the wheel selection unit to an electrical signal to select a wheel of the vehicle Wow; a speed selector, a sensor selector, and a wheel selector for inputting virtual wheel speed sensor signals to wheel ports (FL, FR, RL, RR) of the ABS ECU, respectively; It is composed of a signal output unit that transmits the electrical signal of the control unit to the ABS ECU, and the sensor selection unit is composed of a magnet wound around a coil near the encoder gear wheel, and along one pole of the permanent magnet, the sawtooth magnet of the encoder wheel Passive type (passiv type) generating a sine wave AC signal to the coil in conjunction with the ECU; Alternatively, the magnetic resistance induced by the electrical resistance that changes when a specific material comes into contact with a magnetic field is applied to measure the resistance change due to the change in flux density occurring between the gear mountain gaps. active type, where the amplitude is independent of speed; or outputs a pulse width modulated signal in which additional information such as rotation direction and magnetic field strength are coded, and the encoder wheel is composed of plastic elements of opposite magnetization so that the hall voltage sign changes when rotating; or a VDA type that includes speed pulses and data bits output from all “edges” of the encoder wheel as an active sensor based on the Hall effect; An output signal is generated by selecting one of the wheel speed sensors, and in the ABS ECU, the master cylinder of the brake device is generated through virtual wheel speed sensor signals input to each wheel port (FL, FR, RL, RR). A control signal for operation is generated and transmitted to a diagnostic device, and the diagnostic device compares the control signal of the ABS ECU with a pre-stored reference value to determine whether the ABS module operates normally. suggests
Therefore, the vehicle ABS module simulator according to the present invention has an effect of determining whether the ABS module operates normally by receiving virtual data without directly installing the ABS module in the vehicle. In addition, according to the present invention, the wheel speed sensor signals output according to the selections of the speed selection unit, the sensor selection unit, and the wheel selection unit are variously changed, so that the actual ABS module can effectively perform various tests applied to actual situations.

Description

ABS module simulator for car {ABS module simulator for car}

The present invention relates to a test device for an ABS module, which is an automotive brake component, and in particular, transmits virtual data generated in a simulator to the ABS module, transmits an output value of the ABS module operated by the virtual data to a diagnostic device, , The diagnostic device relates to an ABS module simulator for a vehicle that determines whether an ABS module operates normally.

In general, the ABS (Anti-Lock Brake System) system is a key component used for directional stability, steering stability, tire wear prevention, and smooth braking even on slippery roads in automobiles. ), HCU (Hydraulic Control Unit) that adjusts the wheel cylinder hydraulic pressure by receiving ECU signals, wheel speed sensor that detects the number of revolutions of the front and rear four wheels and transmits them to the ECU, and when the brake pedal is pressed, the signal is sent to the ECU It is composed of a brake switch that transmits to the brake switch and an ABS warning light that warns of an ABS failure signal, and is a key component for a vehicle that enables the vehicle's brake system to operate stably.

1 schematically shows this, in which a signal output from the ABS ring 2 installed on the drive shaft 1 of the vehicle is detected by the sensor unit 2 and transmitted to the ABS module 4, and the ABS module According to the control signal of (4), the brake device 5 is appropriately controlled according to the speed of the vehicle, the condition of the road surface, and the like.

In general, ABS module simulation is roughly divided into software/hardware simulation. Software simulation diagnoses the ABS module by determining the brake pressure considering all variables with a computer, and hardware simulation actually operates the vehicle and inertia wheel and attaches sensors. After measuring the wheel speed, pressure, friction coefficient, etc., the ABS module is diagnosed by calculation.

However, the software simulation has problems in that it is difficult to model a non-linear phenomenon such as brake pressure when calculating variables with a computer, and it is difficult to perform an accurate simulation.

In addition, since it is dangerous to test the inertia of a real vehicle indoors in the hardware simulation, it is necessary to set various road surface conditions such as snowy or rainy roads and driving situations such as curves or hills in order to develop and test the ABS control logic and repeat the experiment. In order to do this, there was a problem in that a lot of cost and time were required to manufacture the vehicle and the inertia wheel.

In order to solve these problems, Patent Registration No. 10-0191260 (hereinafter, referred to as 'prior art') discloses a master cylinder and a brake system including a pneumatic cylinder and a vacuum pump for generating pressure when the driver steps on the brake; A hydraulic system including a motor pump for circulating the flow rate and a solenoid valve for lowering the pressure when the wheel is locked; a relay box for driving the motor pump and the solenoid valve; Pressure measuring device for measuring the braking pressure applied to the front and rear wheels; A/D converter converting the measured pressure value into a digital value; and a control logic that calculates a wheel speed and a vehicle speed using a predetermined initial speed and the pressure value and then calculates a slip ratio accordingly, a drive logic that drives the relay box to reduce or increase pressure according to the slip ratio, and a personal computer including an output logic for outputting simulation results. A simulator is configured by the personal computer and real-time simulation is performed by using the actual hydraulic device as a subroutine in the simulation algorithm (hardware in the loop; HiL). An ABS simulator that can be performed was proposed.

However, since the above prior art is a method of configuring a simulation algorithm separately in a personal computer according to the vehicle and implementing a hydraulic device in the algorithm, the configuration is complicated, and there is a problem in that individual algorithms must be newly produced according to the type of vehicle. .

The present invention is to solve the above problems, and relates to a test apparatus for an ABS module, which is a brake part of a vehicle, and in particular, transmits virtual data generated in a simulator to the ABS module and operates by the virtual data. An object of the present invention is to provide an automotive ABS module simulator that transmits an output value of an ABS module to a diagnosis device and determines whether the ABS module operates normally in the diagnosis device.

The vehicle ABS module simulator according to the present invention generates virtual data and transmits it to the ABS ECU, and transmits the output value of the ABS ECU generated by the virtual data to the diagnosis device to inspect whether the ABS module operates normally. In the ABS module simulator, the simulator includes a power supply unit supplying power to the ABS ECU and the diagnosis device; A speed selection unit that selectively determines the speed of the vehicle, a sensor selection unit that detects measured values of a plurality of wheel speed sensors, and a control unit that converts the value transmitted from the wheel selection unit to an electrical signal to select a wheel of the vehicle Wow; a speed selector, a sensor selector, and a wheel selector for inputting virtual wheel speed sensor signals to wheel ports (FL, FR, RL, RR) of the ABS ECU, respectively; It is composed of a signal output unit that transmits the electrical signal of the control unit to the ABS ECU, and the sensor selection unit is composed of a magnet wound around a coil near the encoder gear wheel, and along one pole of the permanent magnet, the sawtooth magnet of the encoder wheel Passive type (passiv type) generating a sine wave AC signal to the coil in conjunction with the ECU; Alternatively, the magnetic resistance induced by the electrical resistance that changes when a specific material comes into contact with a magnetic field is applied to measure the resistance change due to the change in flux density occurring between the gear mountain gaps. active type, where the amplitude is independent of speed; or outputs a pulse width modulated signal in which additional information such as rotation direction and magnetic field strength are coded, and the encoder wheel is composed of plastic elements of opposite magnetization so that the hall voltage sign changes when rotating; or a VDA type that includes speed pulses and data bits output from all “edges” of the encoder wheel as an active sensor based on the Hall effect; An output signal is generated by selecting one of the wheel speed sensors, and in the ABS ECU, the master cylinder of the brake device is generated through virtual wheel speed sensor signals input to each wheel port (FL, FR, RL, RR). A control signal for operation is generated and transmitted to the diagnostic device, and the diagnostic device compares the control signal of the ABS ECU with a pre-stored reference value to determine whether the ABS module operates normally.

The vehicle ABS module simulator according to the present invention has an effect of determining whether the ABS module operates normally based on virtual data generated by the simulator without directly installing the ABS module in the vehicle.

In addition, the present invention variously changes the wheel speed sensor signal output according to the selections of the speed selection unit, sensor selection unit, and wheel selection unit provided in the simulator, so that the actual ABS module effectively performs various tests applied to actual situations. can do.

1 is a configuration diagram for the operation of a conventional ABS module;
2 is a configuration diagram of a vehicle ABS module simulator according to the present invention;
3 is a detailed configuration diagram of the simulator of FIG. 2;
4 is a schematic diagram of a vehicle ABS module simulator according to the present invention;
5 is an output signal of a passive type wheel speed sensor used in the present invention;
6 is an output signal of an active type wheel speed sensor used in the present invention;
7 is an output signal of a smart type wheel speed sensor used in the present invention;
8 is an output signal of a VDA type wheel speed sensor used in the present invention.

A preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

In the simulator according to the present invention, as shown in FIG. 2, virtual data generated in the simulator 10 is transmitted to the ABS ECU 20, and the output value of the ABS ECU 20 generated by the virtual data is diagnosed. It is proposed to transmit to the device 30 and inspect whether the ABS module operates normally.

At this time, as shown in FIG. 3, the simulator 10 includes a power supply unit 11 supplying power to the ABS ECU 20 and the diagnosis device 30; Transmission from the speed selector 13 that selectively determines the speed of the vehicle, the sensor selector 14 that detects the measured values of the plurality of wheel speed sensors, and the wheel selector 15 that selects the wheels of the vehicle a control unit 12 that converts the resulting value into an electrical signal; A speed selection unit 13, a sensor selection unit 14, and a wheel selection unit ( 15) and; It is configured to include a signal output unit 17 that transfers the electrical signal of the control unit 12 to the ABS ECU (20).

This will be examined in detail through the schematic diagram of FIG. 4 .

The simulator 10 according to the present invention bypasses the power delivered to the power supply unit 11 and supplies it to the ABS ECU 20 and the diagnosis device 30, and the speed selector 13 and sensor selector 14 and The virtual wheel speed sensor signal output according to the selection of the wheel selection unit 15 is input to each of the wheel ports FL, FR, RL, and RR of the ABS ECU 20.

At this time, a separate operation indicator light 16 is provided to visually check whether the sensor signals of the speed selector 13, sensor selector 14, and wheel selector 15 are accurately transmitted to each wheel port. has been added

In addition, the ABS ECU (20) generates a control signal for operating the master cylinder (not shown) of the brake device through the virtual wheel speed sensor signal input to each wheel port (FL, FR, RL, RR) and transmitted to the diagnosis device 30, and the diagnosis device 30 compares the control signal generated from the ABS ECU 20 with a reference value stored in advance to determine whether the ABS module operates normally.

In particular, in the present invention, four types of wheel speed sensors of passive type, active type, smart type, and VDA type shown in FIGS. 5 to 8 are provided, and the vehicle state is selectively applied according to

First, a passiv type wheel speed sensor is a sensor composed of a magnet wound around a coil near an encoder gear wheel. The coil and magnet are mounted on a vehicle or an axle, and the teeth of the encoder wheel along one pole of the permanent magnet. Since the magnet interlocks with the ECU to generate an AC signal to the coil, a sine wave sensor signal as shown in Figure 5 is output as a result. A signal of a certain period is generated from each gear tooth, and the magnitude of the signal varies according to the gap and speed of each gear tooth. That is, as the speed increases and the gap decreases, the induced voltage increases.

However, such a passive wheel speed sensor has a disadvantage of exhibiting a low signal amplitude at a low speed.

In addition, the active type wheel speed sensor, that is, the above sensor applies magnetic resistance induced by the electrical resistance that changes when a specific material comes into contact with a magnetic field. As a measure of the resistance change due to the flux density change, as shown in Figure 6, it is converted to a regulated current of 7mA (gap) and 14mA (thiasan), and the amplitude of the signal is independent of the speed.

Such an active wheel speed sensor has the advantage that it can be applied even when the speed value is 0 because the output signal does not depend on the speed.

In addition, a smart type wheel speed sensor outputs a pulse width modulated signal into which additional information such as rotation direction and magnetic field strength are coded. When rotating, the sign of the Hall voltage changes.

That is, as shown in FIG. 7, the change between the teeth of the encoder wheel and the gap causes a change in the magnetic flux density and thus a change in the Hall voltage, so that the signal ultimately provided by the sensor is proportional to the speed with the frequency A rising edge consists of a current pulse of 14 mA (low = 7 mA) with an exact temporal relationship to the change in segment, the pulse width being determined by the direction of rotation and the field strength, when the encoder wheel is paused or for some other reason the sensor signal changes If there is no stop pulse of about 1 second. A 1.5Hz repetition rate is output.

For example, when a segment is changed on an encoder wheel, a high-level pulse is output, and this pulse is preceded by a short low-phase T0, usually 45 μs long. This phase is called the pre-bit phase. A large gap results in a low magnetic field strength, which is indicated by a high pulse of width T0 (air gap limit 1), so that this signal is output for rotation in both directions. The steady field strength is indicated by a pulse width of 2 T0 (reverse rotation direction) or 4 T0 (forward rotation direction).

At this time, the field strength range exceeding the air gap limit is called the mounting position error range, and pulses of length 8 TO (reverse rotation direction) or 16 TO (forward rotation direction) are generated in this range.

In addition, the VDA wheel speed sensor is an active sensor based on the Hall effect, and as shown in FIG. 8 , it includes speed pulses and data bits.

Velocity pulses are output at all “edges” of the encoder wheel, the current IH of this pulse is 4 times the low level IL = 7mA, and the initial bit that sets the current level to IL overrides this pulse. Also, an additional 9 bits will follow the rate pulse with a current level of IH = 2 IL.

Therefore, the vehicle ABS module simulator according to the present invention transmits virtual data to the ABS module to generate an output value, so that the operating state of the ABS can be repeatedly tested as in the actual vehicle state without a separate hardware configuration, and four types of It can be applied to various vehicles by mounting a wheel speed sensor.

10: simulator 11: power supply
12: control unit 13: speed selection unit
14: sensor selection unit 15: wheel selection unit
16: operation indicator 17: signal output
20: ABS ECU 30: Diagnosis device

Claims (3)

In the ABS module simulator that generates virtual data, transmits it to the ABS ECU, and transmits the output value of the ABS ECU generated by the virtual data to the diagnosis device to check whether the ABS module operates normally,
The simulator 10 includes a power supply unit 11 supplying power to the ABS ECU 20 and the diagnosis device 30; Transmission from the speed selector 13 that selectively determines the speed of the vehicle, the sensor selector 14 that detects the measured values of the plurality of wheel speed sensors, and the wheel selector 15 that selects the wheels of the vehicle a control unit 12 that converts the resulting value into an electrical signal; A speed selection unit 13, a sensor selection unit 14, and a wheel selection unit ( 15) and; It is configured to include a signal output unit 17 that transmits the electrical signal of the control unit 12 to the ABS ECU 20,
The sensor selection unit 14 is composed of a magnet wound around a coil near the encoder gear wheel, and the toothed magnet of the encoder wheel along one pole of the permanent magnet interlocks with the ECU to generate a sinusoidal AC signal to the coil (passive type) passiv type); Alternatively, the magnetic resistance induced by the electrical resistance that changes when a specific material contacts the magnetic field is applied to the gear wheel and measures the resistance change due to the flux density change occurring between the gaps of the gear teeth to obtain a signal. active type, where amplitude is independent of speed; or outputs a pulse width modulated signal in which additional information such as rotation direction and magnetic field strength are coded, and the encoder wheel is composed of plastic elements of opposite magnetization so that the hall voltage sign changes when rotating; or a VDA type including speed pulses and data bits output from all "edges" of the encoder wheel as an active sensor based on the Hall effect; Selecting one of the wheel speed sensors to generate an output signal,
The ABS ECU (20) generates a control signal for operating the master cylinder of the brake device through the virtual wheel speed sensor signal input to each wheel port (FL, FR, RL, RR) to diagnose the device (30) will be delivered to
The vehicle ABS module simulator, characterized in that the diagnosis device (30) compares the control signal of the ABS ECU (20) with a reference value stored in advance to determine whether the ABS module operates normally.
According to claim 1,
In the simulator 10, a separate operation indicator light ( 16) ABS module simulator for vehicles, characterized in that added. delete

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