CN102180163B - Vehicle state detecting and controlling method applied to electronic mechanical brake system of motor vehicle - Google Patents
Vehicle state detecting and controlling method applied to electronic mechanical brake system of motor vehicle Download PDFInfo
- Publication number
- CN102180163B CN102180163B CN201110085876.7A CN201110085876A CN102180163B CN 102180163 B CN102180163 B CN 102180163B CN 201110085876 A CN201110085876 A CN 201110085876A CN 102180163 B CN102180163 B CN 102180163B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- control unit
- electronic control
- acceleration
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Regulating Braking Force (AREA)
Abstract
The invention discloses a vehicle state detecting and controlling method applied to an electronic mechanical brake system of a motor vehicle. An acceleration sensor and a yaw speed sensor are arranged in an electronic control unit of the motor vehicle; the electronic control unit determines the current running state of the vehicle and estimates information such as a speed and the like through the acceleration sensor; and the electronic control unit judges whether the vehicle drifts and laterally leans through the yaw speed sensor. The technical problems that the conventional electronic mechanical brake (EMB) system takes a wheel speed signal as a unique input signal, an EMB cannot determine the running state of the vehicle and the system fails and cannot control the vehicle after a wheel speed sensor fails, and an accident can be caused under the serious condition can be effectively solved. Through the technical scheme, the vehicle state is accurately and quickly detected and controlled, and related parts work stably and have low cost and long service life.
Description
Technical field
The invention belongs to automobile safety field Detection & Controling method, specifically, relate to the method that is applied to Detection & Controling vehicle-state in motor vehicle electronic mechanical brake system.
Background technology
Along with consumers in general more and more pay attention to vehicle safety, the brake system of power actuated vehicle has also been gone through transition for several times and improvement., there is drum-type, plate disc brake in the leather friction braking from initial, then occurs finally mechanical type abs braking system finally, and then follows the development of Eltec to occur again simulation electronic abs braking system, electrically controlled digital abs braking system etc.At present, development along with technology, some producers start electromechanical brake (Electro-mechanical Brake) to start to carry out research and practice, simple electromechanical brake (EMB) is exactly that the part of former cause hydraulic pressure or compressed air-driven is changed into by electrical motor and being driven, so as to improving speed of response, increasing brake efficiency etc., also greatly simplified the structure, reduced the difficulty of I& M simultaneously.
Electromechanical brake (EMB) system has been abandoned the parts such as hydraulic tubing in former brake system, and directly usings the source that electric energy produces as braking force.Compare with traditional hydraulic brake system, electromechanical brake (EMB) system, with wire harness transmission of signal and energy, can improve the speed of response of brake operating, shortens stopping distance; And the several functions such as integrated ABS, ESP, TCS easily, without extra other annexes that increase; Electromechanical brake (EMB) system architecture is succinct, has reduced the difficulty of I& M, is conducive to the layout of car load; With pedal simulator, replace traditional mechanical pedal force transmitters, with the intention of electric signal transmission chaufeur, the feel while having improved braking, and without pinching phenomenon; Do not need braking liquid, avoided the pollution to environment.Electromechanical brake (EMB) is one of mode of line control brake system, and line control brake system is the main contents of X-by-wire on Automobile.Along with the development of X-by-wire on Automobile, electromechanical brake (EMB) system also will progressively replace traditional hydraulic brake system, becomes the main way of future automobile brake system.
For the mechanical actuating mechanism of electromechanical brake (EMB) system, it directly accepts the moment that electrical motor produces, and amplification is to brake disc, and its structure should meet following several basic requirements: compact conformation, be convenient to arrange; Rotation can be converted into translation; There is deceleration Zeng Ju, self energizing effort mechanism; Can auto-compensation brake clearance; Braking during standstill while stopping can be provided; Safe and reliable, longevity of service.In electromechanical brake (EMB) system, wheel speed signal is an indispensable important input parameter.System obtains wheel speed signal by wheel speed sensors, or is communicated by letter and obtained wheel speed signal from other system (as ABS, ESP etc.) by CAN.By wheel speed signal, system can calculate current vehicle speed, judge whether locking of wheel, the important information such as whether trackslip, and takes accordingly corresponding measure of control.
Along with the continuous application of electromechanical brake (EMB) system on vehicle, the vehicle that this system is installed will inevitably face following technical matters:
Because electromechanical brake of the prior art (EMB) system adopts wheel speed signal as initial conditions, after once wheel speed sensors breaks down, or after the CAN communication module of transmitting wheel speed signal breaks down,, once lose wheel speed signal, system cannot judge travel condition of vehicle, and then cause thrashing, cannot control vehicle, when serious, will lead to a disaster.
Summary of the invention
Technical scheme provided by the invention technical matters to be solved is, because existing electromechanical brake (EMB) system relies on wheel speed signal as unique incoming signal, after once wheel speed sensors breaks down, or after the CAN communication module of transmitting wheel speed signal breaks down, electromechanical brake system cannot judge travel condition of vehicle, and then cause thrashing, cannot control vehicle, the technical matters such as will lead to a disaster when serious, and provide a kind of after wheel speed signal lost efficacy, to adopt other actv. detection and control method more, the control method that vehicle is controlled, , a kind of method of Detection & Controling vehicle-state in motor vehicle electronic mechanical brake system.
Design of the present invention is, after wheel speed sensors breaks down, or after the CAN communication module of transmitting wheel speed signal breaks down, not therefore electromechanical brake (EMB) system can be and cisco unity malfunction, but identify travel condition of vehicle by acceleration pick-up and yaw-rate sensor, guarantee that ECU still can detect travel condition of vehicle and control the attitude of travelling that brake system takes appropriate measures to adjust vehicle under dangerous situation, prevent the accidents such as whipping, rollover.
Technical scheme provided by the present invention is, a kind of method that is applied to Detection & Controling vehicle-state in motor vehicle electronic mechanical brake system, in the electronic control unit of described self-propelled vehicle, be provided with acceleration pick-up and yaw-rate sensor, described electronic control unit receives the signal information transmitting from described acceleration pick-up and described yaw-rate sensor, and described electronic control unit judges the information such as the current motoring condition of vehicle, the estimation speed of a motor vehicle by described acceleration pick-up; Described electronic control unit judges by described yaw-rate sensor whether vehicle the information such as whipping, inclination occur.Described electronic control unit judges the information such as above-mentioned motoring condition, the estimation speed of a motor vehicle, whipping, inclination and standard value relatively; When judging automobile storage at dangerous working conditions such as inclination, whippings, described electronic control unit sends instruction to actuating unit, by described actuating unit, brake wheel is applied to braking force.A kind ofly be applied to measurement and control system in motor vehicle electronic mechanical brake system, it is characterized in that, described measurement and control system comprises electronic control unit, in described electronic control unit, be provided with acceleration pick-up and yaw-rate sensor, described acceleration pick-up is connected by signal line with described electronic control unit respectively with described yaw-rate sensor; Described electronic control unit is connected with other control module by CAN communication module; Between described electronic control unit and described CAN communication module, and be two-way signaling and be connected between described CAN communication module with between other control module; Described electronic control unit is connected with wheel by wheel speed sensors; Described electronic control unit is also connected with wheel by actuating unit simultaneously.
Adopt technical scheme provided by the present invention, can effectively solve existing electromechanical brake (EMB) system relies on wheel speed signal as unique incoming signal, after once wheel speed sensors breaks down, or after the CAN communication module of transmitting wheel speed signal breaks down, electromechanical brake system cannot judge travel condition of vehicle, and then cause thrashing, cannot control vehicle, the technical matters such as will lead to a disaster when serious, simultaneously, technical scheme Detection & Controling provided by the invention are accurate, fast, the parts working stability that this method is related, cost is low, long service life.
Accompanying drawing explanation
Fig. 1 is electromechanical brake of the present invention (EMB) system theory of constitution schematic diagram;
Fig. 2 is acceleration due to gravity decomposing schematic representation on vehicle Po road;
Fig. 3 is vehicle running state decision flow chart;
Fig. 4 is at the uniform velocity or quiescence decision flow chart;
Wherein, 1 is electronic control unit; 2 is acceleration pick-up; 3 is yaw-rate sensor; 4 is wheel speed sensors; 5 is actuating unit; 6 is wheel; 7 is CAN communication module; 8 is other control module.
The specific embodiment
Technical scheme provided by the present invention, after being based on wheel speed sensors 4 and breaking down, or after CAN communication module 7 modules of transmitting wheel speed signal break down, electromechanical brake (EMB) system can be not therefore and cisco unity malfunction.After once the CAN communication module 7 of wheel speed sensors 4 or transmission wheel speed signal breaks down, electromechanical brake (EMB) system is switched to wheel speed sensors 4 Failure Control patterns at once, by acceleration pick-up 2 and yaw-rate sensor 3, identify travel condition of vehicle, guarantee that ECU still can detect travel condition of vehicle and control the attitude of travelling that brake system takes appropriate measures to adjust vehicle under dangerous situation, prevent the accidents such as whipping, rollover.
The connection mode of technical scheme provided by the present invention is that four wheels 6 are connected with wheel speed sensors 4 with actuating unit 5 respectively; Described actuating unit 5 is connected with described electronic control unit 1 (ECU) respectively with described wheel speed sensors 4, and described electron steering power supply is also connected with CAN communication module 7, and described CAN communication module 7 other ends are connected with other control module 8.
Technical scheme provided by the present invention is, a kind of method that is applied to Detection & Controling vehicle-state in motor vehicle electronic mechanical brake system, in the electronic control unit 1 (ECU) of described self-propelled vehicle, be provided with acceleration pick-up 2 and yaw-rate sensor 3, described electronic control unit 1 (ECU) receives the signal information transmitting from described acceleration pick-up 2 and described yaw-rate sensor 3, and described electronic control unit 1 (ECU) judges the information such as the current motoring condition of vehicle, the estimation speed of a motor vehicle by described acceleration pick-up 2; Described electronic control unit 1 (ECU) judges by described yaw-rate sensor 3 whether vehicle the information such as whipping, inclination occur.Described electronic control unit 1 (ECU) judges the information such as above-mentioned motoring condition, the estimation speed of a motor vehicle, whipping, inclination and standard value relatively; When judging automobile storage at dangerous working conditions such as inclination, whippings, described electronic control unit 1 (ECU) sends instruction to actuating unit 5, by 5 pairs of brake wheels of described actuating unit, applies braking force.
The method is: an integrated acceleration pick-up 2 and a yaw-rate sensor 3 in ECU, like this, when wheel speed sensors 4 or time after CAN communication module 7 lost efficacy, system is identified travel condition of vehicle by acceleration pick-up 2 and yaw-rate sensor 3, comprise the current motoring condition of vehicle, the estimation speed of a motor vehicle, judge whether vehicle whipping, inclination occur, when finding that vehicle has the dangerous working conditions such as inclination, whipping, by ECU, control 5 pairs of corresponding brake wheels of actuating unit and apply different braking forces, thereby avoid the generation of accident.
Described acceleration pick-up 2 is 3-axis acceleration sensor 2, comprises X-axis acceleration detection, Y-axis acceleration detection and Z axis acceleration detection; Described electronic control unit 1 (ECU) judges that by acceleration pick-up 2 method of vehicle running state is:
Described electronic control unit 1 (ECU) first judges described acceleration pick-up 2Z axle acceleration value, if Z axis accekeration equals gravity acceleration value, is judged as vehicle at level road state; If Z axis accekeration is less than gravity acceleration value, be judged as vehicle at slope line state.
Described judgement vehicle is when level road state, and described electronic control unit 1 (ECU) judges described acceleration pick-up 2X axle acceleration value, if X-axis accekeration for just, vehicle is at the state of giving it the gun; If X-axis accekeration is for negative, vehicle is at Reduced Speed Now state; If X-axis accekeration is zero, vehicle is at the uniform velocity travelling or quiescence.
Described judgement vehicle is when the line state of slope, and described electronic control unit 1 (ECU) judges described acceleration pick-up 2X axle acceleration value, if X-axis accekeration is greater than acceleration due to gravity along the component of X-direction, vehicle is at the state of giving it the gun; If X-axis accekeration is less than acceleration due to gravity along the component of X-direction, vehicle is at Reduced Speed Now state; If X-axis accekeration equals acceleration due to gravity along the component of X-direction, vehicle is at the uniform velocity travelling or quiescence.
When described X-axis accekeration is zero, judgement vehicle is at the uniform velocity motoring condition or the method for quiescence are, by electronic control unit 1 (ECU), control 5 pairs of wheels 6 of actuating unit and apply an of short duration braking force, then according to the X-axis accekeration judgement during this braking:
Under level road state, if described acceleration pick-up 2X axle acceleration value still equals zero, vehicle remains static; If described acceleration pick-up 2X axle acceleration value is for negative, vehicle is in motoring condition at the uniform velocity;
Under the line state of slope, if acceleration due to gravity still equals zero along the axial component of described acceleration pick-up 2X, vehicle remains static; If described acceleration pick-up 2X axle acceleration value is for negative, vehicle is in motoring condition at the uniform velocity.
Described electronic control unit 1 (ECU) utilizes the method for the acceleration pick-up 2 estimation speed of a motor vehicle to be: gather described acceleration pick-up 2X axle acceleration value, by the method for integration, obtain current vehicle speed.The specific algorithm of described integration is:
By the X-axis acceleration/accel discrete value collecting be made as { a (k) } (k=0,1,2 ..., N), speed of a motor vehicle v (k) is:
In above formula:
V (k)---the speed of a motor vehicle of k sampling point, m/s;
Δ t---sampling time interval, s.
Described electronic control unit 1 (ECU) judges by acceleration pick-up 2 and yaw-rate sensor 3 whether vehicle has the method for whipping, inclination to be, when vehicle is normally travelling or during turn condition:
If described acceleration pick-up 2Y axle acceleration value variation range is in standard value, meanwhile, the deflection angle along the deflection of automobile vertical axis that described yaw-rate sensor 3 detects is in standard value, and vehicle is in normal motoring condition;
If described acceleration pick-up 2Y axle acceleration value variation range is beyond standard value, meanwhile, the deflection angle along the deflection of automobile vertical axis that described yaw-rate sensor 3 detects is beyond standard value, and vehicle is in breakking away or the dangerous working condition of whipping.
Whether have the method for whipping, inclination be: when vehicle is when normally travelling, turning, Y-axis accekeration changes very little, in standard value if by acceleration pick-up 2 and yaw-rate sensor 3, identifying vehicle; But when having whipping, inclination to occur, Y-axis accekeration changes greatly, beyond standard value.Recycling yaw-rate sensor 3 detects along the deflection of automobile vertical axis, and the size of this deflection has represented the degree of stability of vehicle traveling direction.If deflection angle is less than a certain threshold value,, in standard value, vehicle safety travel operating mode is described.If deflection angle is greater than a certain threshold value,, beyond standard value, illustrate that the dangerous working condition of sideslip or whipping occurs automobile.
Comprehensive above information, system just can be learnt the running state that vehicle is current.Like this, when dangerous situation occurs, ECU applies different braking forces and adjusts the vehicle body attitude of travelling by controlling 5 pairs of corresponding brake wheels of actuating unit, thereby prevents the accidents such as whipping, rollover; Meanwhile, can also reduce moment of torsion by CAN communication module 7 notice control unit of engine and export, further guarantee driving safety.
In technical scheme provided by the present invention, the inventive point highlighting is, once after the CAN communication module 7 of wheel speed sensors 4 or transmission wheel speed signal breaks down, electromechanical brake (EMB) system is switched to wheel speed sensors 4 Failure Control patterns at once;
First, by acceleration pick-up 2X axle acceleration signal, judge the motoring condition that vehicle is current.On level road, acceleration pick-up 2X axle acceleration is travelling on acceleration/accel ，Dan Po road of vehicle, and acceleration pick-up 2X axle acceleration also can be subject to the impact of gravitational acceleration component, as shown in Figure 2: gather acceleration pick-up 2Z axle acceleration value α
zif, α
z=G (acceleration due to gravity), illustrates that vehicle is on level road; If α
z< G, illustrates on vehicle Po road, now can be according to α
zcalculate grade angle
And then calculate acceleration due to gravity G along the component α of X-direction
gX:
Further, if vehicle on level road, judges X-axis accekeration α
xif just, illustrating that vehicle is giving it the gun; If negative, illustrate that vehicle is in Reduced Speed Now; If zero, illustrate that vehicle is at the uniform velocity travelling or quiescence.If on vehicle Po road, judgement α
xvalue, if a
x> α
gX, illustrate that vehicle is giving it the gun; If a
x< α
gX, illustrate that vehicle is in Reduced Speed Now; If a
x=α
gX, illustrate that vehicle is at the uniform velocity travelling or quiescence.Decision flow chart as shown in Figure 3.
If judge vehicle at the uniform velocity travelling or quiescence, can further determine it by flow process shown in Fig. 4: by ECU, control 5 pairs of wheels 6 of actuating unit and apply an of short duration braking force, and gather during this period acceleration pick-up 2X axle acceleration value, if negative, illustrate that vehicle is in motoring condition at the uniform velocity; If be still zero, illustrate that vehicle remains static.
Secondly, by acceleration pick-up 2X axle acceleration value estimation current vehicle speed, specific algorithm is as follows:
If the acceleration pick-up 2X axle acceleration discrete value collecting be { a (k) } (k=0,1,2 ..., N), the speed of a motor vehicle can be expressed as:
In above formula:
V (k)---the speed of a motor vehicle of k sampling point, m/s;
Δ t---sampling time interval, s.
Again, by acceleration pick-up 2 and yaw-rate sensor 3, identify vehicle and whether have whipping, inclination: when vehicle is when normally travelling, turning, acceleration pick-up 2Y axle acceleration value changes very little, but when having whipping, inclination to occur, acceleration pick-up 2Y axle acceleration value changes greatly.Recycling yaw-rate sensor 3 detects along the deflection of automobile vertical axis, and the size of this deflection has represented the degree of stability of vehicle traveling direction.If deflection angle is greater than a certain threshold value, illustrate that the dangerous working condition of sideslip or whipping occurs automobile.
Finally, the information such as comprehensive vehicle motoring condition, the speed of a motor vehicle and inclination, whipping judgement: if vehicle is in high-speed travel state and there are the dangerous working conditions such as whipping, inclination to occur, by ECU, by controlling 5 pairs of corresponding brake wheels of actuating unit, apply respectively different braking forces and adjust the vehicle body attitude of travelling, can also reduce moment of torsion by CAN communication module 7 notice control unit of engine simultaneously and export, thereby prevent the accidents such as whipping, rollover.
A kind ofly be applied to measurement and control system in motor vehicle electronic mechanical brake system, it is characterized in that, described measurement and control system comprises electronic control unit 1, in described electronic control unit 1, be provided with acceleration pick-up 2 and yaw-rate sensor 3, described acceleration pick-up 2 is connected by signal line with described electronic control unit 1 respectively with described yaw-rate sensor 3; Described electronic control unit 1 is connected with other control module 8 by CAN communication module 7; Between described electronic control unit 1 and described CAN communication module 7, and be two-way signaling and be connected between described CAN communication module 7 with between other control module 8; Described electronic control unit 1 is connected with wheel 6 by wheel speed sensors 4; Described electronic control unit 1 is also connected with wheel 6 by actuating unit 5 simultaneously.
This method be directed to after wheel speed sensors 4 in electromechanical brake (EMB) system breaks down or CAN communication module 7 modules of transmitting wheel speed signal break down with failure detection and control method, but this method is not limited only in electromechanical brake (EMB) system, in other chassis control systems, as ABS, TCS, applicable too in the systems such as ESP.
Although above the specific embodiment of the present invention is described; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment is only schematic; rather than restrictive; those skilled in the art is under enlightenment of the present invention; in the situation that not departing from aim of the present invention, can also make a lot of distortion, these all belong to protection scope of the present invention.
Claims (6)
1. a method that is applied to Detection & Controling vehicle-state in motor vehicle electronic mechanical brake system, it is characterized in that, in the electronic control unit (1) of described self-propelled vehicle, be provided with acceleration pick-up (2) and yaw-rate sensor (3), described acceleration pick-up (2) is 3-axis acceleration sensor (2), and described electronic control unit (1) receives the signal information transmitting from described acceleration pick-up (2) and described yaw-rate sensor (3):
An integrated acceleration pick-up (2) and a yaw-rate sensor (3) in electronic control unit (1), after wheel speed sensors (4) or CAN communication module (7) inefficacy, system is identified travel condition of vehicle by acceleration pick-up (2) and yaw-rate sensor (3), comprise the motoring condition that vehicle is current, the estimation speed of a motor vehicle, judge whether vehicle whipping occurs, roll, when finding that vehicle has inclination, during whipping dangerous working condition, by electronic control unit (1), control actuating unit (5) corresponding brake wheel is applied to different braking forces, thereby avoid the generation of accident,
Described electronic control unit (1) judges the current motoring condition of vehicle, estimation speed information by described acceleration pick-up (2); Described electronic control unit (1) utilizes the method for acceleration pick-up (2) the estimation speed of a motor vehicle to be: gather the X-axis accekeration of described acceleration pick-up (2), by the method for integration, obtain current vehicle speed; The specific algorithm of described integration is:
By the X-axis acceleration/accel discrete value collecting be made as { a (k) } (k=0,1,2 ..., N), speed of a motor vehicle v (k) is:
In above formula:
V (k)---the speed of a motor vehicle of k sampling point, m/s;
Δ t---sampling time interval, s;
Described electronic control unit (1) judges by described yaw-rate sensor (3) whether vehicle whipping, inclination information occur;
Described electronic control unit (1) judges above-mentioned motoring condition, the estimation speed of a motor vehicle, whipping, inclination information and standard value relatively; When judging automobile storage at inclination, whipping dangerous working condition, described electronic control unit (1) sends instruction to actuating unit (5), by described actuating unit (5), brake wheel is applied to braking force;
Described 3-axis acceleration sensor (2), comprises X-axis acceleration detection, Y-axis acceleration detection and Z axis acceleration detection; Described electronic control unit (1) judges that by acceleration pick-up (2) method of vehicle running state is: described electronic control unit (1) first judges the Z axis accekeration of described acceleration pick-up (2), if Z axis accekeration equals gravity acceleration value, be judged as vehicle at level road state; If Z axis accekeration is less than gravity acceleration value, be judged as vehicle at slope line state.
2. a kind of method that is applied to Detection & Controling vehicle-state in motor vehicle electronic mechanical brake system according to claim 1, it is characterized in that, described judgement vehicle is when level road state, described electronic control unit (1) judges described acceleration pick-up (2) X-axis accekeration, if X-axis accekeration is for just, vehicle is at the state of giving it the gun; If X-axis accekeration is for negative, vehicle is at Reduced Speed Now state; If X-axis accekeration is zero, vehicle is at the uniform velocity travelling or quiescence.
3. a kind of method that is applied to Detection & Controling vehicle-state in motor vehicle electronic mechanical brake system according to claim 1, it is characterized in that, described judgement vehicle is when the line state of slope, described electronic control unit (1) judges described acceleration pick-up (2) X-axis accekeration, if X-axis accekeration is greater than acceleration due to gravity along the component of X-direction, vehicle is at the state of giving it the gun; If X-axis accekeration is less than acceleration due to gravity along the component of X-direction, vehicle is at Reduced Speed Now state; If X-axis accekeration equals acceleration due to gravity along the component of X-direction, vehicle is at the uniform velocity travelling or quiescence.
4. according to a kind of method that is applied to Detection & Controling vehicle-state in motor vehicle electronic mechanical brake system described in claim 2 or 3, it is characterized in that, when described X-axis accekeration is zero, judgement vehicle is at the uniform velocity motoring condition or the method for quiescence are, by electronic control unit (1), control actuating unit (5) wheel (6) is applied to an of short duration braking force, then according to the X-axis accekeration judgement during this braking:
Under level road state, if described acceleration pick-up (2) X-axis accekeration still equals zero, vehicle remains static; If described acceleration pick-up (2) X-axis accekeration is for negative, vehicle is in motoring condition at the uniform velocity;
Under the line state of slope, if acceleration due to gravity still equals zero along the component of described acceleration pick-up (2) X-direction, vehicle remains static; If described acceleration pick-up (2) X-axis accekeration is for negative, vehicle is in motoring condition at the uniform velocity.
5. a kind of method that is applied to Detection & Controling vehicle-state in motor vehicle electronic mechanical brake system according to claim 4, it is characterized in that, described electronic control unit (1) judges by acceleration pick-up (2) and yaw-rate sensor (3) whether vehicle has the method for whipping, inclination to be, when vehicle is normally travelling or during turn condition:
If described acceleration pick-up (2) Y-axis accekeration variation range is in standard value, meanwhile, the deflection angle along the deflection of automobile vertical axis that described yaw-rate sensor (3) detects is in standard value, and vehicle is in normal motoring condition;
If described acceleration pick-up (2) Y-axis accekeration variation range is beyond standard value, simultaneously, the deflection angle along the deflection of automobile vertical axis that described yaw-rate sensor (3) detects is beyond standard value, and vehicle is in breakking away or the dangerous working condition of whipping.
6. a kind of method that is applied to Detection & Controling vehicle-state in motor vehicle electronic mechanical brake system according to claim 5, it is characterized in that, when described electronic control unit (1) judgement vehicle is in breakking away or during the dangerous working condition of whipping, described electronic control unit (1) applies different braking forces to corresponding brake wheel and adjusts the vehicle body attitude of travelling by controlling actuating unit (5), prevents vehicle whipping, rollover; Meanwhile, described electronic control unit (1) also reduces moment of torsion output by CAN communication module (7) notice control unit of engine, further guarantees driving safety.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110085876.7A CN102180163B (en) | 2011-04-07 | 2011-04-07 | Vehicle state detecting and controlling method applied to electronic mechanical brake system of motor vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110085876.7A CN102180163B (en) | 2011-04-07 | 2011-04-07 | Vehicle state detecting and controlling method applied to electronic mechanical brake system of motor vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102180163A CN102180163A (en) | 2011-09-14 |
| CN102180163B true CN102180163B (en) | 2014-03-12 |
Family
ID=44566501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110085876.7A Active CN102180163B (en) | 2011-04-07 | 2011-04-07 | Vehicle state detecting and controlling method applied to electronic mechanical brake system of motor vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102180163B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102493510B (en) * | 2011-12-22 | 2014-04-23 | 山推工程机械股份有限公司 | Hybrid bulldozer, and driving motor control system and method thereof |
| CN103569085B (en) * | 2012-08-03 | 2015-04-15 | 广州汽车集团股份有限公司 | Electronic parking brake running-in device and method, electronic parking system and vehicle |
| CN103336439B (en) * | 2013-06-05 | 2016-05-25 | 清华大学 | Be controlled at the body gesture analogy method of ring emulation for vehicle steadily |
| KR101583926B1 (en) * | 2014-05-12 | 2016-01-08 | 현대자동차주식회사 | Method for detecting malfunction of brake system using yawrate |
| CN104828041A (en) * | 2015-05-29 | 2015-08-12 | 张释文 | Acceleration controller |
| CN104828040A (en) * | 2015-05-29 | 2015-08-12 | 张释文 | Acceleration controller |
| CN105109490B (en) * | 2015-09-22 | 2019-12-13 | 厦门雅迅网络股份有限公司 | Method for judging sharp turn of vehicle based on three-axis acceleration sensor |
| CN106585849A (en) * | 2016-11-21 | 2017-04-26 | 天津逍悦达科技有限公司 | Method for achieving intelligent assistance for bicycle through three-axis acceleration sensor |
| CN108944657A (en) * | 2018-06-15 | 2018-12-07 | 深圳市曹布斯科技有限公司 | A kind of anti-reminding method to knock into the back and rear-end device |
| CN109383306B (en) * | 2018-09-22 | 2021-10-15 | 天津易众腾动力技术有限公司 | Method for processing whole electric vehicle controller when serious vehicle fault occurs |
| CN109739078A (en) * | 2018-12-28 | 2019-05-10 | 芜湖伯特利电子控制***有限公司 | A kind of wheel speed signal processing redundancy approach |
| CN113859217A (en) * | 2020-06-12 | 2021-12-31 | 芜湖伯特利汽车安全***股份有限公司 | Integrated control electromechanical brake system for autonomous vehicle |
| CN113682290B (en) * | 2021-08-31 | 2022-12-16 | 中汽创智科技有限公司 | Braking efficiency factor determining method and device, storage medium and terminal |
| CN118025097A (en) * | 2024-04-07 | 2024-05-14 | 潍坊埃锐制动***有限公司 | Brake control system for preventing trailer from drifting |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1749077A (en) * | 2005-10-14 | 2006-03-22 | 上海燃料电池汽车动力***有限公司 | Electronic stabilizing control system depending on power booster turning system to carrying out active turning |
| CN101509936A (en) * | 2008-02-16 | 2009-08-19 | 威伯科有限公司 | Method and apparatus for calibrating wheel speeds |
| CN101387518B (en) * | 2008-11-05 | 2010-10-27 | 北京科技大学 | Magnetic electron compass for vehicle with accelerating and decelerating compensating function and measurement method thereof |
| CN201998980U (en) * | 2011-04-07 | 2011-10-05 | 芜湖伯特利汽车安全***有限公司 | Detection and control system applied into electronic mechanical brake system of motor vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070052289A1 (en) * | 2005-09-07 | 2007-03-08 | Haldex Brake Products, Ab. | Brake monitoring and control system |
-
2011
- 2011-04-07 CN CN201110085876.7A patent/CN102180163B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1749077A (en) * | 2005-10-14 | 2006-03-22 | 上海燃料电池汽车动力***有限公司 | Electronic stabilizing control system depending on power booster turning system to carrying out active turning |
| CN101509936A (en) * | 2008-02-16 | 2009-08-19 | 威伯科有限公司 | Method and apparatus for calibrating wheel speeds |
| CN101387518B (en) * | 2008-11-05 | 2010-10-27 | 北京科技大学 | Magnetic electron compass for vehicle with accelerating and decelerating compensating function and measurement method thereof |
| CN201998980U (en) * | 2011-04-07 | 2011-10-05 | 芜湖伯特利汽车安全***有限公司 | Detection and control system applied into electronic mechanical brake system of motor vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102180163A (en) | 2011-09-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102180163B (en) | Vehicle state detecting and controlling method applied to electronic mechanical brake system of motor vehicle | |
| KR101714232B1 (en) | Method for controlling regenerative braking co-operative control system for vehicle | |
| CN204750152U (en) | A self -adaptation cruise control system for electric automobile | |
| EP2623380B1 (en) | A method of controlling a brake system for a vehicle | |
| CN101327746B (en) | Electric automobile braking system | |
| CN102700419B (en) | Parallel-type braking energy recovery system and control method thereof | |
| EP3511190A1 (en) | Steep slope slow descending system for vehicle and control method therefor | |
| CN201066322Y (en) | A braking stability detection device based on the car joint braking system | |
| CN105644536B (en) | The control method of brake energy recovering system | |
| CN102975717B (en) | The active safety control system and method for redundancy executing agency electric automobile | |
| US20100030444A1 (en) | Device For Determining A Driving State and Method For The Driving-State-Dependent Operation Of A Combined Vehicle Brake System | |
| CN103366416A (en) | Vehicle data collecting and transmitting device | |
| CN107344510A (en) | A kind of electric vehicle brake pedal signal analytic method | |
| CN108891392A (en) | A kind of emergency braking control system preventing skid | |
| CN108422983A (en) | A kind of vehicle auxiliary braking system based on artificial intelligence | |
| CN104108386B (en) | The method and apparatus for improving vehicle run stability | |
| CN202641404U (en) | Parallel brake energy recycling system | |
| CN108422986A (en) | A kind of intelligence control system for automobile brake | |
| CN2925986Y (en) | Stabilized electronic controlling system for medium-heavy automobile | |
| CN101734163A (en) | Electromechanical combined regenerative braking control system for electric vehicle and control strategy thereof | |
| CN102358274A (en) | Control device and control method for preventing braking deviation of automobile | |
| CN108081960A (en) | A kind of braking energy of electric automobiles recovery method and system | |
| CN109383473A (en) | A kind of automobile-used Electro-mechanical brake system of multiaxis | |
| CN201998980U (en) | Detection and control system applied into electronic mechanical brake system of motor vehicle | |
| KR20200124578A (en) | System and method for controlling torque of eco-friendly car for improving fuction of controling steering |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 241009 Wuhu economic and Technological Development Zone, Anhui, No. 19 Taishan Road Patentee after: WUHU BOTELI AUTOMOBILE SAFETY SYSTEM CO., LTD. Address before: 241009 Wuhu economic and Technological Development Zone, Anhui, No. 19 Taishan Road Patentee before: Wuhu Bethel Automotive Secure Systems Ltd. |