CN103625459B - The dynamic monitoring of running brake efficiency and warning system - Google Patents
The dynamic monitoring of running brake efficiency and warning system Download PDFInfo
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- CN103625459B CN103625459B CN201210311112.XA CN201210311112A CN103625459B CN 103625459 B CN103625459 B CN 103625459B CN 201210311112 A CN201210311112 A CN 201210311112A CN 103625459 B CN103625459 B CN 103625459B
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Abstract
The dynamic monitoring of running brake efficiency and warning system, belong to automotive electronics and security technology area.Former car card reader, former car CAN, gyroscope and brake pedal sensor described in the system export to be connected with information gathering and control unit input respectively；Described information gathers is not more than 1% with the control unit gyroscope collection vehicle angle of pitch, monitoring road gradient；Vehicle maximum deceleration during ABS works is detected, monitoring coefficient of road adhesion is not less than 0.7；According to vehicle maximum braking deceleration, the operating modes such as pit, deceleration strip, road rank were excluded；With brake pedal displacement transducer, brake-pedal travel is monitored, distinguishes brake hard operating mode.ABS wheel speed signals are gathered by CAN, initial speed of braking is estimated with maximum wheel speed method, with reference to braking deceleration speed signal, calculates MFDD in real time, compared with the standard value prestored, comparative result is issued into warning device driver is alarmed.The present invention service brake efficiency is monitored on-line and evaluated, to prevention because service brake efficiency extremely caused by traffic accident there is great help；System architecture is simple, it is easy to accomplish, cost is cheap.
Description
Technical field
The dynamic monitoring of running brake efficiency and warning system belong to automotive electronics and security technology area.
Background technology
One of an important factor for automobile brake perfrmance is safe driving, and automobile safety testing important indicator it
One.Braking ability is periodically detected according to national relevant regulations, and important function is served to guarantee driving safety.Analysis 2009
Year national road traffic accident situation, in all traffic accidents, because the ratio of motor vehicle mechanical breakdown accounts for 5% or so, and
Traffic accident accounts for 60% or so of overall mechanical failure accident number caused by braking reason is direct, because braking reason causes
Traffic accident it is still of common occurrence, shorten detection cycle can increase cost again.As electronics integrated chip technology and sensor are examined
The development of survey technology, in certain error allowed band, braking ability examines required various parameters to have been able to enter online
Row measurement；The correlative study for monitoring and evaluating on braking ability at present, is directed to bench test and actual road test mostly.On car
The correlative study of braking ability on-line monitoring and assessment technique is less.Therefore, it is necessary to develop a kind of running braking effect
Dynamic monitors and warning system, realizes and braking ability is monitored in vehicle operation and abnormal alarm, further
Support vehicles are safe for operation.
The content of the invention
The object of the invention is exactly to develop a kind of running brake efficiency dynamic monitoring and warning system, and the system is in vehicle
In line computation MFDD in braking procedure, and ensure the precondition that MFDD is calculated, including 1. road surface evenness, detection road gradient is not
It should be greater than 1%；2. disengaged engine, clutch pedal switch signal is detected during braking；3. the attachment system between tire and road surface
Number is no less than 0.7.By monitoring MFDD situations of change in real time, wanted with judging whether running brake efficiency meets regulation
Ask, and remind driver to take safety measures in time, ensure safety driving.The monitoring and warning system are on the whole to garage
Car brake efficiency is monitored, and warning information is provided to driver in time when its service brake efficiency declines, even more important
It is that service brake efficiency that can be to vehicle carries out on-line evaluation, driver actively should go measuring station to be examined according to warning message
Survey, confirm and eliminate safe hidden trouble, guarantee driving safety.Warning message can also be transmitted into monitoring by remote communication module
The heart, when find that vehicle is continuous or repeatedly occur braking ability it is not up to standard when, it can be notified to be detected and repaired.
The present invention is the important content of vehicle operational safety performance monitoring, passes through the real-time prison to running brake efficiency
Survey, judge the state of running brake efficiency, warning message, prevention are provided to driver in time in the case of non-compliant
Traffic accident.The structure composition of running brake efficacy monitoring and warning system on hardware is as shown in Figure 1.
The system utilizes the gyroscope collection vehicle angle of pitch, and monitoring road gradient is not more than 1%；During detecting ABS work
Vehicle maximum deceleration, monitoring coefficient of road adhesion are not less than 0.7；Braking deceleration is gathered using gyroscope, according to vehicle most
Big braking deceleration, excluded the operating modes such as pit, deceleration strip, road rank or even collision；With brake pedal displacement transducer, to braking
Pedal travel is monitored, and distinguishes brake hard operating mode.ABS wheel speed signals are gathered by CAN, with maximum wheel speed method to system
Dynamic initial velocity is estimated, with reference to braking deceleration rate signal, calculates MFDD in real time.Information gathering and control unit are deposited in advance
It is good and meet MFDD values in the case of relevant national standard basic demand to store up the vehicle driving brake efficiency, vehicle is run
During, MFDD situation of change is monitored in real time, is made if there is reasons such as braking dielectric leakage, brake component abrasion, overload
Into the reduction of driving brake efficiency, corresponding MFDD values reduce.As shown in Fig. 2 curve 1 is vehicle driving brake efficiency good situations
Under curve, if service brake efficiency reduce, the curve shown in curve 2 may be changed into.Information gathering and control unit according to
Certain decision criteria, judge whether to need to provide the braking warning message that effect reduces to driver, to remind driver.Information
Collection and control unit with the situation of change of periodic logging automobile MFDD values, can predict the trend of service brake efficiency change,
Warning information is provided for driver, helps driver to pinpoint the problems early, ensures that vehicle can be in the driving good feelings of brake efficiency
Run under condition.
The present invention by braking procedure in real time calculate MFDD value changes situations, monitor service brake efficiency change,
Its outstanding feature is embodied in：First, the limitation that vehicle driving brake efficiency is examined in road test is breached, realizes vehicle driving braking
Efficiency is monitored on-line and evaluation.Second, the situation of brakes is monitored on the whole, is monitored alarm respectively with single part
Device compare, both added the reliability of system, reduced cost again；3rd, it is able to record the change of service brake efficiency
Whole process, the trend of service brake efficiency change can be predicted, to preventing the traffic thing caused by service brake efficiency exception
Therefore there is great help；4th, warning system by the way of voice reading, can also both use the side of buzzing
Formula is carried out, and the degree that can change according to service brake efficiency, provides the alarm of different stage to driver by the way of classification；
5th, system architecture is simple, it is easy to accomplish, cost is cheap, can both apply in vehicle newly developed, and can also change on in-use automotive
Dress uses.
Brief description of the drawings
Fig. 1 runnings brake efficiency is monitored on-line and warning system structural representation
Fig. 2 runnings brake efficiency (MFDD) curve
Each module relation diagram in Fig. 3 information gatherings of the present invention and control unit
Embodiment
Fig. 1 show the hardware block diagram of apparatus of the present invention, and it mainly includes three parts：Signal perceives part, letter
Number collection and control unit, alarm unit.Each several part of the present invention is described further respectively with reference to figure and example.
1st, signal perceives part
Signal perceives part and is made up of former car CAN, former car card reader, gyroscope, brake pedal sensor, former car
CAN will send wheel speed, ABS switching values to information gathering and control unit, and former car card reader gathers carrying number and exported extremely
Information gathering and control unit, gyroscope collection vehicle braking deceleration, the angle of pitch are simultaneously exported to information gathering and control unit.
Brake pedal sensor perceives brake-pedal travel and exported to information gathering and control unit.
To ensure the convenience of the validity of early warning and driver's operation, main frame is arranged on the right side of driver's instrument board
Side.
2nd, information gathering and control unit
It is good and meet relevant national standard base in driving brake efficiency that information gathering and control unit prestore vehicle
MFDD values in the case of this requirement.During vehicle use, using above-mentioned signal perceive part in real time collection MFDD calculate and
Various parameters needed for its condition monitoring, MFDD is calculated in real time and monitors its situation of change, if there is because if there is braking
The vehicle side service brake efficiency caused by reason such as dielectric leakage, brake component abrasion, overload reduce, and MFDD values then diminish, such as
Shown in Fig. 2.Curve 2 is the curve under running brake efficiency good situations.Curve 1 is to be only capable of meeting that national standard is most basic
It is required that service brake efficacy curve.For example, vehicle is different from vehicle-state, curve 1 will be different be, it is necessary to enter in advance to it
Rower is determined.By taking the motor bus more than 3500kg as an example,《The motor vehicle safe and technical specifications of GB 7258》Middle predetermined brake initial velocity
30km/h is spent, the average retardation rate that its fully loaded inspection is fully sent answers >=5.0, zero load >=5.4, so as to draw out curve 1.
Initial speed of braking specified in regulation is 30km/h, and when initial speed of braking increases, MFDD increases or holding are stable, institute
During monitoring on-line, MFDD threshold values specified in regulation are used for 30km/h and its initial speed of braking of the above, when braking is first
When speed is less than 30km/h, without monitoring.In vehicle braking procedure, the MFDD being calculated in real time is expressed as Mf, curve 1
Corresponding MFDD is M1, MFDD corresponding to curve 2 is M2, M2≥M1, it is as follows to set alert levels G：
The alert levels of table 1
| Mf | G | Explanation |
| Mf≥M1 | 0 | Performance is normal |
| Mf＜ M1 | 1 | Service brake efficiency declines |
Information gathering and each module of control unit are as shown in figure 3, be described in detail below.
(1) handling capacity of passengers monitoring and threshold adjustment module
Information gathering and control unit are based on former car CAN collection door contact interrupter signal, when car door, which has out, to be turned to close, obtain
Former car card reader handling capacity of passengers signal handling capacity of passengers N is taken, MFDD is adjusted according to curve 1min；
(2) brake monitoring module out of supply
Information gathering and control unit are based on CAN collection vehicle clutch pedal switch amount signal, brake pedal is opened
Signal is measured in pass, and when the two is simultaneously 1, vehicle starts braking out of supply.
(3) MFDD is monitored on-line
T0The time stepped on for brake pedal, the state of brake pedal is gathered by CAN.
Sb--- speed is tested from VoTo VbBetween vehicle travel distance, unit is rice (m)；
Se--- speed is tested from VoTo VeBetween vehicle travel distance, unit is rice (m).
V (t)=V0-axt (3)
Initial speed of braking V is determined using maximum wheel speed method0, deceleration a is directly measured by acceleration transducerx, simultaneous public affairs
Formula 1,2,3,4, calculate MFDD.
(4) road surface top rake monitoring modular
It should be met using the angle of pitch α, α of the real-time collection vehicle of gyroscope：
α ＜ 0.6 ° (5)
For the frequency of vehicle response typically in more than 0.5HZ, road gradient belongs to low frequency signal, carries out LPF, by
Frequency is 0.5HZ,
(5) coefficient of road adhesion monitoring modular
ABS working condition switching values can be gathered by CAN, when ABS starts working, collection vehicle body longitudinally accelerates
Degree, when ABS is stopped, collection stops, and selects maximum axmax, then coefficient of road adhesion can be expressed as：
μ=axmax/g (6)
(6) exclusive PCR module
Occur the operating modes such as pit, deceleration strip, road rank or even collision in braking procedure, cause the change of braking deceleration, should
Excluded.
During normal brake application, the equation of motion in x directions is：
max=FXb+Fw+Ff (7)
FXbFor ground brake force, FwFor air drag, FfFor rolling resistance.
General FwAbout 0.03g deceleration, F can be providedfAbout 0.01g deceleration can be provided.
max≤FXbmax+Fw+Ff (8)
ax≤(μ+0.04)g (9)
(7) brake-pedal travel
During brake hard, brake-pedal travel d first increases, and keeps constant after reaching maximum, until parking.Collection braking
Pedal displacement sensor signal, if in 0.8V0-0.1V0Period, brake-pedal travel d are continuously increased and reach maximum dmax,
Meet formula 7, then it is assumed that be brake hard.
Process description is as follows：
(1) handling capacity of passengers N is monitored, MFDD is adjusted according to curve 1min；
(2) monitor brake pedal switch and monitoring clutch switch, all for 1 when, carry out in next step, otherwise return (2)；
(3) picking rate V0；
(4)V0>=30km/h, it is then to carry out in next step, otherwise returning to (2)；
(5) braking deceleration a is gatheredx；
(6) simultaneous formula 1,8,9,10, MFDD is calculated；
(7) 0.6 ° of road gradient α ＜ when braking, it is then to carry out in next step, otherwise returning to (2)；
(8) coefficient of road adhesion μ=a when brakingxmax/ g ＞ 0.7, it is then to carry out in next step, otherwise returning to (2)；
(9) longitudinal maximum deceleration a when brakingxmax＜ (μ+0.04) g, it is then to carry out in next step, otherwise returning to (2)；
(10) brake-pedal travel d ' >=0, during and d '=0, d=dmax, it is then to carry out in next step, otherwise returning to (2)；
(11) MFDD ＜ MFDDmin, it is to be alarmed, otherwise returns to (2).
3rd, alarm unit
Alarm unit mainly includes voice reading module and buzzer.The type of alarm of alarm unit such as table 2
It is shown
The type of alarm of table 2
| Alert levels | Description | Buzzing | Voice |
| 1 | Warning | Beep frequencies 1HZ | Service brake efficiency declines |
| 0 | Safety | Alarm free | Alarm free |
In summary, apparatus of the present invention include signal perceive, information gathering and control unit, alarm unit etc. three
Point.Information Perception part is calculated using former car card reader, former car CAN, gyroscope and brake pedal sensor collection MFDD
And its various parameters needed for condition monitoring, and it is entered into information gathering and monitoring unit.Information gathering and control unit
And alarm unit is based on same microcomputer development, its major function is that reception signal is perceived into the various of part output
Signal, alarm algorithm is run, and provides whether service brake efficiency reduces to driver using modes such as voice reading, buzzings,
Help driver to pinpoint the problems early, ensure that vehicle can be in driving brake efficiency lower operation in good condition, guarantee driving safety.
Claims (1)
1. the dynamic monitoring of running brake efficiency and warning system, the system include CAN module, former car card reader, gyroscope,
Brake pedal sensor, information gathering and control unit and warning device；
CAN module receives former car CAN and sends wheel speed, ABS switching values, brake pedal switch amount, clutch pedal switch amount simultaneously
Information gathering and control unit are output to, former car card reader gathers carrying number and exported to information gathering and control unit, gyro
Instrument collection vehicle braking deceleration, the angle of pitch are simultaneously exported to information gathering and control unit, and brake pedal sensor, which perceives, brakes
Pedal travel is simultaneously exported to information gathering and control unit, and information gathering and control unit receive above- mentioned information and handled,
Signal is passed to by warning device according to result；
CAN module, former car card reader, gyroscope, brake pedal sensor output input with information gathering and control unit respectively
It is connected；Information gathering and control unit output are connected with warning device input；
Described information gathers and control unit is according to standard GB/T 7258《Motor vehicle safe and technical specification》Demarcation meets
The good curve of the brake efficiency curve and brake efficiency of the requirements of the national standard, and by the good curve of the brake efficiency
As the benchmark M for judging vehicle brake efficacy height1；
In vehicle braking procedure, the MFDD being calculated in real time is expressed as Mf, corresponding to the good curve of the brake efficiency
MFDD is M1, MFDD corresponding to the brake efficiency curve is M2, M2≥M1, it is as follows to set alert levels G：
The alert levels of table 1
Described information gathers and each module principle of control unit is as follows：
(1) handling capacity of passengers monitoring and threshold adjustment module
Information gathering and control unit are based on former car CAN collection door contact interrupter signal, when car door, which has out, to be turned to close, obtain former
Car card reader handling capacity of passengers signal handling capacity of passengers N, MFDD is adjusted according to the brake efficiency curvemin；
(2) brake monitoring module out of supply
Information gathering and control unit are based on CAN collection vehicle clutch pedal switch amount signal, brake pedal switch amount
Signal, when the two is simultaneously 1, vehicle starts braking out of supply；
(3) MFDD is monitored on-line
T0The time stepped on for brake pedal, the state of brake pedal is gathered by CAN；
Sb--- speed is tested from VoTo VbBetween vehicle travel distance, unit is rice (m)；
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Initial speed of braking V is determined using maximum wheel speed method0, deceleration a is directly measured by acceleration transducerx, simultaneous formula 1,
2nd, 3,4, calculate MFDD；
(4) road surface top rake monitoring modular
It should be met using the angle of pitch α, α of the real-time collection vehicle of gyroscope：
α ＜ 0.60 (5)
For the frequency of vehicle response typically in more than 0.5HZ, road gradient belongs to low frequency signal, LPF is carried out, by frequency
For 0.5HZ；
(5) coefficient of road adhesion monitoring modular
ABS working condition switching values can be gathered by CAN, when ABS starts working, gather vehicle body longitudinal acceleration,
When ABS is stopped, collection stops, and selects maximum axmax, then coefficient of road adhesion can be expressed as：
μ=axmax/g (6)
(6) exclusive PCR module
Occur pit, deceleration strip, road rank in braking procedure or even collide operating mode, cause the change of braking deceleration, the row of should give
Remove；
During normal brake application, the equation of motion in x directions is：
max=FXb+Fw+Ff (7)
FXbFor ground brake force, FwFor air drag, FfFor rolling resistance；
General FwAbout 0.03g deceleration, F can be providedfAbout 0.01g deceleration can be provided；
max≤FXbmax+Fw+Ff (8)
ax≤(μ+0.04)g (9)
(7) brake-pedal travel
During brake hard, brake-pedal travel d first increases, and keeps constant after reaching maximum, until parking；Gather brake pedal
Displacement transducer signal, if in 0.8V0-0.1V0Period, brake-pedal travel d are continuously increased and reach maximum dmax, i.e., it is full
Sufficient formula 10, then it is assumed that be brake hard：
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| CN201210311112.XA CN103625459B (en) | 2012-08-29 | 2012-08-29 | The dynamic monitoring of running brake efficiency and warning system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210311112.XA CN103625459B (en) | 2012-08-29 | 2012-08-29 | The dynamic monitoring of running brake efficiency and warning system |
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| CN117664602B (en) * | 2024-02-02 | 2024-04-12 | 中国科学院自动化研究所 | Method and device for monitoring braking performance of unmanned mine car |
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