CN105644537A - Method and system for controlling travel direction after tire of vehicle bursts - Google Patents
Method and system for controlling travel direction after tire of vehicle bursts Download PDFInfo
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- CN105644537A CN105644537A CN201510273335.5A CN201510273335A CN105644537A CN 105644537 A CN105644537 A CN 105644537A CN 201510273335 A CN201510273335 A CN 201510273335A CN 105644537 A CN105644537 A CN 105644537A
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- tire
- quick
- fried
- vehicle
- front wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
- B60T2240/03—Tire sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention relates to a method and system for controlling the travel direction after a tire of a vehicle bursts. Tire pressure data of each tire, wheel rotation speed data, steering wheel pointing direction data and vehicle travel lane information data of the vehicle are obtained; the data are processed according to the obtained data; if it is judged that the tire of the vehicle bursts, the non-bursting tire which is coaxial with the flat tire and arranged on the other side is braked, the rotation speed of the non-bursting tire which is coaxial with the flat tire and arranged on the other side is reduced and controlled, and the rotation speed of the coaxial non-busting tire is kept within a safe and reasonable range compared with that of the flat tire. The method and system have the beneficial effects that the adverse effects generated due to the wheel diameter reduction, the rolling resistance increase and the like can be eliminated in time after the tire of the vehicle bursts, the vehicle travels according to a planned track or the pointing direction of a steering wheel or a lane track, the situation that the travel direction is out of control suddenly after the tire of the vehicle bursts is avoided, and tire burst derivative accidents are eradicated.
Description
(1) technical field
The invention belongs to technical field of vehicle control, in particular to travel direction control method and Controlling System after a kind of vehicle flat tire.
(2) background technology
In vehicle movement process, owing to the reason of road surface or tire all may cause tyre explosion, tire is made to lose air pressure instantaneously. After tire loses air pressure, vehicle movement is had an impact by it: one is that wheel effectively travels radius and reduces instantaneously, and wheel rolling wire speed when rotating speed is constant reduces instantaneously; Two is that the shrivelled rear wheel traveling resistance of loss of tyre pressure increases suddenly, causes tire rolling circular frequency and linear velocity to reduce further; Three is the vehicle adopting front-wheel drive, and differential mechanism such as is at the moment transmission, when wheel of blowing out travel resistance increase time, another single wheel will obtain relatively high rotating speed. Triple factor superposition above, the wheel driving line speed that will cause blowing out sharply reduces, and another side wheel driving line speed of not blowing out sharply increases, and causes vehicle movement linear velocity to be compared and blows out premutation and overbalance. If front-wheel is blown out, owing to front-wheel plays the vital role of vehicle guidance, vehicle will be caused when front-wheel direction is pointed to constant, because the greatest differences moment of both sides wheel driving line speed turns to side of blowing out, make direction of traffic moment out of hand, lead to severe traffic accidents. If trailing wheel is blown out, cause vehicle to get rid of tail the greatest differences because of both sides tire rolling speed of blowing out, vehicle can be caused equally to deviate correct travel direction, jeopardize vehicle driving safety.
Prior art ABS, ESP etc. can only solve vehicle tyre and skid and turning driving stable problem, patent application " a kind of vehicle flat tire classification control for brake device and control method " (open/notification number CN103587516A) and TBSS blow out steady to system, vehicle can only be made to slow down, all cannot solve direction of traffic problem out of control. (application number: 201410354891), adopts the method for locking direction dish, cannot solve the direction out of control problem that vehicle causes because of both sides vehicle wheel rotational speed difference equally in patent application " a kind of automobile tyre blow out after safety parking device and parking method thereof ". ?reeze steal nine gate of a village �� encircle step on low field, the wise bad order Dao Pin Jiao��Tu Dao Portugal of ? and penalize �� ? ? ? ? Jing Kun N103723143A), adjustment wheel is adopted to point to and then control the method for direction of traffic by force, for overcoming the direction sideslip that both sides tire rotational speed difference produces, must by wheel to the opposite direction deflection certain angle blown out, wheel will be caused to point to and to produce angle between travel direction, produce horizontal shear force in the face of tire with causing, will cause tyre explosion and come off, and there is bigger potential safety hazard.
(3) summary of the invention
The present invention is in order to make up the deficiencies in the prior art, provide travel direction control method and Controlling System after a kind of vehicle flat tire, the driving line velocity jump caused because of wheel footpath difference, rolling resistance increase etc. can be eliminated between quick-fried tire and not quick-fried tire in time, avoid the disadvantageous effect because vehicle movement direction is produced by the sudden change of this linear velocity, it is made to keep correct travel direction, fundamentally solve rear vehicle sideslip and the direction out of control problem of blowing out, ensure that vehicle driving safety is stablized.
The present invention is achieved through the following technical solutions:
A kind of travel direction control method after vehicle flat tire, is characterized in that: the tire pressure data of acquisition each tire of vehicle, vehicle wheel rotational speed data, bearing circle point to data and vehicle movement lane information data; According to the data obtained, carry out data processing; If judging, vehicle is blown out, and the not quick-fried tire in another side coaxial with quick-fried tire is implemented braking, reduces and control the rotating speed of another side not quick-fried tire coaxial with quick-fried tire.
Preferably, taking quick-fried tire real-time rotate speed as reference, according to tire wheel footpath data before and after this vehicle flat tire set in advance and each tire rotational speed data, calculate the required rotating speed of the not quick-fried tire in another side coaxial with quick-fried tire when this vehicle travels by planned trajectory, implement control for brake according to the not quick-fried tire in another side that this rotating speed pair is coaxial with quick-fried tire.
Preferably, taking quick-fried tire real-time rotate speed as reference, data are pointed to according to tire wheel footpath data before and after this vehicle flat tire set in advance, each tire rotational speed and bearing circle, calculate the required rotating speed that this vehicle points to the not quick-fried tire in another side coaxial with quick-fried tire when travelling by bearing circle, implement control for brake according to the not quick-fried tire in another side that this rotating speed pair is coaxial with quick-fried tire.
Preferably, taking quick-fried tire real-time rotate speed as reference, according to tire wheel footpath data, each tire rotational speed and traveling lane information data before and after this vehicle flat tire set in advance, calculate the required rotating speed of this vehicle by the not quick-fried tire in another side coaxial with quick-fried tire during former lanes, implement control for brake according to the not quick-fried tire in another side that this rotating speed pair is coaxial with quick-fried tire.
Preferably, according to vehicle movement lane information data, directly the not quick-fried tire in another side coaxial with quick-fried tire is implemented braking, vehicle is remained in former track and travels.
Preferably, the rotating speed of the not quick-fried tire in another side that this vehicle is coaxial with quick-fried tire is: ��Not=a RQuick-fried����Quick-fried/RNot, wherein, ��NotFor not quick-fried tire rotational speed, a be coaxial on the ratio of not quick-fried tire and quick-fried tire rolling speed, RQuick-friedFor tire wheel footpath of blowing out, ��Quick-friedFor quick-fried tire rotational speed, RNotFor tire wheel footpath of not blowing out.
Preferably, while the not quick-fried tire in another side coaxial with quick-fried tire is implemented braking, send sound, light, image warning, remind the personnel that drive and around pedestrian note dodging.
Travel direction Controlling System after a kind of vehicle flat tire, comprise the near front wheel, off-front wheel, the differential mechanism being installed between the near front wheel and off-front wheel, connect the direction machine of the near front wheel and off-front wheel, with the bearing circle that direction machine is connected, it is characterized in that: the near front wheel is separately installed with left front tire pressure sensor, the near front wheel tachogenerator and the near front wheel stopper, off-front wheel is separately installed with right front fire pressure sensor, off-front wheel tachogenerator and off-front wheel stopper, bearing circle is provided with bearing circle orientation sensor, traveling lane sensor is installed between the near front wheel and off-front wheel.
Preferably, left front tire pressure sensor, the near front wheel tachogenerator, the near front wheel stopper, right front fire pressure sensor, off-front wheel tachogenerator, off-front wheel stopper, bearing circle orientation sensor are connected with controller respectively with traveling lane sensor.
Preferably, controller is connected with acousto-optic image alarming device.
The invention has the beneficial effects as follows: adopt and the not quick-fried tire in another side coaxial with quick-fried tire is carried out control for brake, the vehicle that after eliminating vehicle flat tire, tire running linear velocity sudden change in coaxial both sides causes turns to instantaneously, ensure that vehicle movement direction safety and stability, stop the generation of the derivative traffic accident of vehicle flat tire, it is ensured that vehicle driving safety. Control for brake is carried out, it is possible to, navigating mate higher in the speed of a motor vehicle has little time reflection, take measures to guarantee that vehicle travels according to planned trajectory rapidly according to the not quick-fried tire in another side that planned trajectory pair is coaxial with quick-fried tire; Point to according to bearing circle and the not quick-fried tire in another side coaxial with quick-fried tire is carried out control for brake, it is possible to effective maneuver vehicle, navigating mate lower in speed can effectively manipulate, and manual control travel direction, drive vehicle and drive to safety area; Control for brake is carried out, it is possible to keep vehicle to travel in former track, prevent the traffic accident that the unexpected lane change of vehicle or other reasons cause according to the not quick-fried tire in another side that lane information pair is coaxial with quick-fried tire.
(4) accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further illustrated.
Accompanying drawing 1 is the schematic flow sheet of the control method of the present invention;
Accompanying drawing 2 is the structural representation of the Controlling System of the present invention;
In figure, 1 the near front wheel, 2 off-front wheels, 3 differential mechanisms, 4 direction machines, 5 bearing circle, 6 left front tire pressure sensors, 7 the near front wheel tachogenerators, 8 the near front wheel stoppers, 9 right front fire pressure sensors, 10 off-front wheel tachogenerators, 11 off-front wheel stoppers, 12 bearing circle orientation sensor, 13 traveling lane sensors, 14 controllers, 15 acousto-optic image alarming devices.
(5) embodiment
Accompanying drawing is a kind of specific embodiment of the present invention. This embodiment comprises the near front wheel 1, off-front wheel 2, the differential mechanism 3 being installed between the near front wheel 1 and off-front wheel 2, connects the bearing circle 5 that is connected with direction machine 4 with the direction machine 4 of off-front wheel 2 of the near front wheel 1, the near front wheel 1 is separately installed with left front tire pressure sensor 6, the near front wheel tachogenerator 7 and the near front wheel stopper 8, off-front wheel 2 is separately installed with right front fire pressure sensor 9, off-front wheel tachogenerator 10 and off-front wheel stopper 11, bearing circle 5 is provided with bearing circle orientation sensor 12, traveling lane sensor 13 is installed between the near front wheel 1 and off-front wheel 2. Left front tire pressure sensor 6, the near front wheel tachogenerator 7, the near front wheel stopper 8, right front fire pressure sensor 9, off-front wheel tachogenerator 10, off-front wheel stopper 11, bearing circle orientation sensor 12 are connected with controller 14 respectively with traveling lane sensor 13.Controller 14 is connected with acousto-optic image alarming device 15.
Travel direction control method after a kind of vehicle flat tire of employing the present invention, obtains the tire pressure data of each tire of vehicle; Obtain vehicle wheel rotational speed data; Obtain bearing circle and point to data; Obtain vehicle movement lane information data; According to the data obtained, carry out data processing; If it is determined that vehicle is blown out, immediately the not quick-fried tire in another side coaxial with quick-fried tire is implemented braking, reduce and control the rotating speed of another side not quick-fried tire coaxial with quick-fried tire, make the rotating speed of the not quick-fried tire on coaxially compare the rotating speed of quick-fried tire, remain within the scope of safe and reasonable.
When vehicle is blown out, immediately the not quick-fried tire in another side on coaxial with quick-fried tire is braked, this not quick-fried tire rotational speed of rapid reduction, eliminate between quick-fried tire and not quick-fried tire the driving line velocity jump caused because of wheel footpath difference, rolling resistance increase etc. in time, avoid the disadvantageous effect because vehicle movement direction is produced by the sudden change of this linear velocity, fundamentally solve rear vehicle sideslip and the direction out of control problem of blowing out.
After judging vehicle flat tire, also comprise: taking quick-fried tire real-time rotate speed as reference, tire wheel footpath, front and back data of blowing out according to this axletree set in advance and each tire rotational speed data of front and back of blowing out, calculate rotating speed needed for the not quick-fried tire in another side coaxial with quick-fried tire that this vehicle travels by planned trajectory, according to this rotating speed, the not quick-fried tire in another side is implemented control for brake so that it is rotating speed remains within the scope of permissible error.
After judging vehicle flat tire, also comprise: taking quick-fried tire real-time rotate speed as reference, according to this axletree set in advance blow out tire wheel footpath, front and back data, blow out before and after each vehicle wheel rotational speed and bearing circle point to data, calculate this vehicle and point to rotating speed needed for the not quick-fried tire in another side travelled by bearing circle, control for brake is implemented so that it is rotating speed remains within the scope of permissible error according to the not quick-fried tire in another side that this rotating speed pair is coaxial with quick-fried tire.
After judging vehicle flat tire, also comprise: taking quick-fried tire real-time rotate speed as reference, according to this axletree set in advance blow out tire wheel footpath, front and back data, blow out before and after each vehicle wheel rotational speed and traveling lane information, calculate vehicle by rotating speed needed for the not quick-fried tire in another side coaxial with quick-fried tire of former lanes, according to this rotating speed, the not quick-fried tire in another side is implemented control for brake so that it is rotating speed remains within the scope of permissible error.
After judging vehicle flat tire, also comprise: according to vehicle movement lane information, directly the not quick-fried tire in another side coaxial with quick-fried tire is implemented braking, vehicle is remained in former track and travels.
After judging vehicle flat tire, also comprise: quick-fried tire and other axletree tires to vehicle carry out control for brake, rationally reduce Vehicle Speed, keep vehicle body driving stability.
After judging vehicle flat tire, also comprise: the inside and outside acousto-optic image warning device of unlocking vehicle, remind driver and crew and vehicles and pedestrians around to note keeping spacing, it is ensured that traffic safety.
The acquisition of vehicle driving trace is by the analysis of vehicle both sides tire rolling speed being obtained, and when both sides tire rolling speed is identical, vehicle driving trace is a branch line; When left side tire rolling speed is lower than right side tire rolling speed, vehicle driving trace is a camber line bending to the left, otherwise is the camber line of lateral bend to the right. If the ratio of the both sides tire rolling speed on coaxial represents with a, blown out tire wheel footpath RQuick-friedRepresent, quick-fried tire rotational speed ��Quick-friedRepresenting, do not blow out tire wheel footpath RNotRepresent, not quick-fried tire rotational speed ��NotRepresent, then the rotating speed of the not quick-fried tire in another coaxial with quick-fried tire side: ��Not=a RQuick-fried����Quick-fried/RNot.Taking quick-fried tire real-time rotate speed as with reference to not quick-fried tire rotational speed is carried out control for brake, the ratio of the tire rolling linear velocity of the left and right sides is changed and change by the ratio a required for certain track, vehicle just can be made to travel according to certain track determined, if a is a variable, vehicle just can be made to do and to become rail traveling, as travelled by planned trajectory, point to by bearing circle and travel, by track track traveling etc.
Travel direction control method after a kind of vehicle flat tire of employing the present invention, its flow process comprises the following steps:
S1, starts.
Concrete, power-on, startup vehicle.
S2, obtains data.
Specifically, the tyre pressure sensor of each tire, detects the tire pressure of each tire; The vehicle wheel rotational speed sensor of each wheel, detects the rotating speed of each wheel; Bearing circle orientation sensor, detection bearing circle points to; Traveling lane sensor, detection vehicle traveling lane information; The data information and control device of acquisition is communicated by each sensor.
S3, data processing.
Specifically, the information obtained is carried out record by controller, and Vehicle Speed, driving trace, travel direction, traveling state etc. are carried out analyzing and processing.
S4, judges whether to blow out.
If blown out, perform step S5, otherwise circulation performs this step.
Concrete, according to the tire pressure changing conditions of each wheel of vehicle, in conjunction with the ANOMALOUS VARIATIONS of the sensing of vehicle wheel rotational speed relative direction dish and traveling lane, judge whether each tire of vehicle blows out. If blown out, perform next step, otherwise continue to carry out cycle criterion to blowing out.
S5, starts sound of blowing out, light, image warning.
Concrete, controller sends warning instruction to sound, light, image warning device, and acousto-optic image warning device sends acousto-optic image warning.
S6, brakes the not quick-fried tire in another side coaxial with tire of blowing out.
Concrete, controller is to the tire stopper generation braking instruction of the not quick-fried tire in another side coaxial with tire of blowing out, and affiliated tire is braked by the not quick-fried tire stopper in this another side. Tire stopper comprises various form, as comprised brake power (brake fluid pressure) generation device, control device (switch) and executive device (clamp or brake drum) etc.
S7, judges that whether another side not quick-fried tire rotational speed coaxial with quick-fried tire be lower than regulation rotating speed 1.
If it does, then perform step S8, otherwise perform step S6.
Concrete, not quick-fried for another side coaxial with quick-fried tire tire rotational speed data and regulation rotating speed 1 are contrasted by controller, judge with this. It should be understood that regulation rotating speed 1 is not a fixed value, this value is the required rotating speed of the not quick-fried tire in another side coaxial with not quick-fried tire of vehicle " travelling by planned trajectory ", is a variable changed with the change of quick-fried tire rotational speed.
S8, releases braking.
Concrete, controller sends releasing braking instruction to the wheel braking device of the not quick-fried tire in another side coaxial with quick-fried tire, and wheel braking device releases the wheel braking to affiliated tire.
S9, judges that whether the speed of a motor vehicle is lower than set(ting)value.
If it does, perform step S10, otherwise perform step S7.
Concrete, speed of a motor vehicle numerical value and set(ting)value are compared by controller, if the speed of a motor vehicle performs next step lower than a certain set(ting)value, otherwise the rotating speed of the not quick-fried tire in another side coaxial with quick-fried tire is judged by circulation execution. This set(ting)value is " vehicle controls travel direction automatically " and the speed of a motor vehicle dividing point of " artificial Non-follow control travel direction ", is " vehicle controls travel direction automatically " higher than this speed of a motor vehicle, is " artificial Non-follow control travel direction " lower than this speed of a motor vehicle.Can set in advance according to practical situation and test-results, such as, be set as 30 kilometers/hour. If it does, execution next step, otherwise return to a circulation.
S10, judges that whether the not quick-fried tire rotational speed in another side is lower than regulation rotating speed 2.
If it does, then perform step S13, otherwise perform step S11.
Concrete, rotary speed data and the regulation rotating speed 2 of not quick-fried for another side coaxial with quick-fried tire tire are contrasted by controller, judge that whether the rotating speed of the not quick-fried tire in another side coaxial with quick-fried tire is lower than this regulation rotating speed 2 with this. It should be understood that regulation rotating speed 2 is not a fixed value equally, this value is the required rotating speed of vehicle " point to by bearing circle and travel " the not quick-fried tire in another side, is a variable changed with the change of quick-fried tire rotational speed. If it does, enter next step, otherwise return to a circulation.
S11, brakes the not quick-fried tire in another side coaxial with quick-fried tire.
Concrete, controller is to the wheel braking device generation braking instruction of the not quick-fried tire in another side coaxial with quick-fried tire, and affiliated tire is braked by wheel braking device.
S12, returns to S10.
Concrete, continue the not quick-fried tire rotational speed in another side coaxial with quick-fried tire to be detected.
S13, judges whether the speed of a motor vehicle is zero.
If it does, perform step S14, otherwise perform step 10.
Vehicle according to the invention blow out after travel direction control method, when vehicle is blown out, braking is implemented according to the not quick-fried tire in another side that the running data pair previously collected is coaxial with quick-fried tire, the not quick-fried tire rotational speed in another side coaxial with quick-fried tire is reduced, the detrimentally affect that tyre explosion trailing wheel footpath reduces the driving line decrease in velocity caused and produces is eliminated within the extremely short time, keep blowing out side and the consistent of single wheel driving line speed of not blowing out, preventing because of the sudden change of both sides linear velocity that to cause vehicle movement direction to turn to suddenly even out of control, simultaneously, by the rotating speed of the not quick-fried tire in another side coaxial with quick-fried tire is controlled, the rotating speed of the not quick-fried tire in another side coaxial with quick-fried tire is kept and " travelling by planned trajectory " respectively, the vehicle wheel rotational speed that " press bearing circle point to travel " and " by traveling lanes " is consistent, after having ensured vehicle flat tire, travel direction is controlled, ensure that rear vehicle safety of blowing out.
Travel direction Controlling System after a kind of vehicle flat tire of employing the present invention, comprising: the tyre pressure sensor of each tire corresponding, for detecting the tire pressure of each tire, the vehicle wheel rotational speed sensor of each wheel corresponding, for detecting the rotating speed of each wheel, bearing circle orientation sensor, points to for detecting bearing circle, traveling lane sensor, for detecting traveling lane information, the wheel braking device of each wheel corresponding, for carrying out independent brake control to each wheel, controller, described controller respectively with described tyre pressure sensor, vehicle wheel rotational speed sensor, bearing circle orientation sensor, traveling lane sensor, wheel braking device communicates, vehicle running state is made record according to sensing data and is analyzed and judges by described controller, if it is determined that blow out, the wheel braking device of the not quick-fried tire in another side coaxial with quick-fried tire is sent braking instruction by described controller immediately, the not quick-fried tire in another side coaxial with quick-fried tire is braked by wheel braking device immediately, reduce and control the rotating speed of another side not quick-fried tire coaxial with quick-fried tire, eliminate between quick-fried tire and not quick-fried tire because of wheel footpath difference, the driving line velocity jump that rolling resistance increase etc. causes, its rotating speed is made to remain within the scope of safe and reasonable, meanwhile, controller is warned device to acousto-optic image and is sent warning instruction, acousto-optic image warning device sends sound, light, image is warned, prompting drive personnel and around pedestrian note dodging.
This Controlling System controller also communicates with vehicle-mounted ABS, ESP etc., and each system is carried out cooperation control, it is ensured that vehicle flat tire rear is stablized to controlled, driving safety.
This Controlling System also comprises display screen, for showing described vehicle flat tire information pattern picture.
This Controlling System also comprises: instrument and pilot lamp, points out for carrying out and reports to the police; Securing band pretensioner systems; Described controller is used for when described vehicle is blown out, and control warning lamp is opened to remind pedestrian, and controls the work of described securing band pretensioner systems.
If the near front wheel 1 is blown out, the near front wheel 1 reduces instantaneously because taking turns footpath, and its tire rolling linear velocity is compared off-front wheel and must be reduced instantaneously. For addressing this problem, left front tire pressure sensor 6 signal of tyre burst detected and by Signal transmissions to controller 14, controller 14 starts treatment procedures of blowing out immediately, send acousto-optic image warning instruction and to off-front wheel braking instruction of blowing out, acousto-optic image alarming device 15 sends warning signal, off-front wheel 2 is carried out control for brake by off-front wheel stopper 11, makes off-front wheel 2 rotating speed rapid reduction, and keeps the rolling speed of secure synchronization with the near front wheel 1. The rolling speed of this secure synchronization, constantly revising according to vehicle driving trace, bearing circle sensing, lane information, keeping vehicle to require constantly to reduce the speed of a motor vehicle according to safe disposal, until stopping, thus ensure that rear vehicle travel direction safety and stability of blowing out, vice versa.
In sum, vehicle according to the invention blow out after travel direction control method, when vehicle is blown out, controller is according to Vehicle Speed, driving trace, travel direction, lane information etc., the not quick-fried tire in another side coaxial with quick-fried tire is carried out control for brake, completely eliminate the disadvantageous effect blown out and produced in vehicle movement direction, and by the rotating speed of the not quick-fried tire in another side coaxial with quick-fried tire is controlled, make the rolling speed support of left and right tire, adapt to the requirement of vehicle movement direction change, reach the control completely to vehicle movement direction, ensure that rear vehicle driving safety of blowing out.
Claims (10)
1. travel direction control method after a vehicle flat tire, is characterized in that: the tire pressure data of acquisition each tire of vehicle, vehicle wheel rotational speed data, bearing circle point to data; According to the data obtained, carry out data processing; If judging, vehicle is blown out, and the not quick-fried tire in another side coaxial with quick-fried tire is implemented braking, reduces and control the rotating speed of another side not quick-fried tire coaxial with quick-fried tire.
2. travel direction control method after a kind of vehicle flat tire according to claim 1, it is characterized in that: taking quick-fried tire real-time rotate speed as reference, according to tire wheel footpath data before and after this vehicle flat tire set in advance and each tire rotational speed data, calculate the required rotating speed of the not quick-fried tire in another side coaxial with quick-fried tire when this vehicle travels by planned trajectory, implement control for brake according to the not quick-fried tire in another side that this rotating speed pair is coaxial with quick-fried tire.
3. travel direction control method after a kind of vehicle flat tire according to claim 1, it is characterized in that: taking quick-fried tire real-time rotate speed as reference, data are pointed to according to tire wheel footpath data before and after this vehicle flat tire set in advance, each tire rotational speed and bearing circle, calculate the required rotating speed that this vehicle points to the not quick-fried tire in another side coaxial with quick-fried tire when travelling by bearing circle, implement control for brake according to the not quick-fried tire in another side that this rotating speed pair is coaxial with quick-fried tire.
4. travel direction control method after a kind of vehicle flat tire according to claim 1, it is characterized in that: obtain vehicle movement lane information data, taking quick-fried tire real-time rotate speed as reference, according to tire wheel footpath data, each tire rotational speed and traveling lane information data before and after this vehicle flat tire set in advance, calculate the required rotating speed of this vehicle by the not quick-fried tire in another side coaxial with quick-fried tire during former lanes, implement control for brake according to the not quick-fried tire in another side that this rotating speed pair is coaxial with quick-fried tire.
5. travel direction control method after a kind of vehicle flat tire according to claim 1, is characterized in that: according to vehicle movement lane information data, directly the not quick-fried tire in another side coaxial with quick-fried tire is implemented braking, vehicle is remained in former track and travels.
6., according to travel direction control method after the arbitrary described a kind of vehicle flat tire of claim 1-5, it is characterized in that: the rotating speed of the not quick-fried tire in another side that this vehicle is coaxial with quick-fried tire is: ��Not=a RQuick-fried����Quick-fried/RNot, wherein, ��NotFor not quick-fried tire rotational speed, a be coaxial on the ratio of not quick-fried tire and quick-fried tire rolling speed, RQuick-friedFor tire wheel footpath of blowing out, ��Quick-friedFor quick-fried tire rotational speed, RNotFor tire wheel footpath of not blowing out.
7. travel direction control method after a kind of vehicle flat tire according to claim 1, it is characterized in that: while the not quick-fried tire in another side coaxial with quick-fried tire is implemented braking, send sound, light, image warning, remind the personnel that drive and surrounding pedestrian to note dodging.
8. travel direction Controlling System after a vehicle flat tire, comprise the near front wheel (1), off-front wheel (2), the differential mechanism (3) being installed between the near front wheel (1) and off-front wheel (2), connect the direction machine (4) of the near front wheel (1) and off-front wheel (2), the bearing circle (5) being connected with direction machine (4), it is characterized in that: the near front wheel (1) is separately installed with left front tire pressure sensor (6), the near front wheel tachogenerator (7) and the near front wheel stopper (8), off-front wheel (2) is separately installed with right front fire pressure sensor (9), off-front wheel tachogenerator (10) and off-front wheel stopper (11), bearing circle (5) is provided with bearing circle orientation sensor (12), traveling lane sensor (13) is installed between the near front wheel (1) and off-front wheel (2).
9. travel direction Controlling System after a kind of vehicle flat tire according to claim 8, is characterized in that: left front tire pressure sensor (6), the near front wheel tachogenerator (7), the near front wheel stopper (8), right front fire pressure sensor (9), off-front wheel tachogenerator (10), off-front wheel stopper (11), bearing circle orientation sensor (12) are connected with controller (14) respectively with traveling lane sensor (13).
10. travel direction Controlling System after a kind of vehicle flat tire according to claim 9, is characterized in that: controller (14) is connected with acousto-optic image alarming device (15).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510273335.5A CN105644537A (en) | 2015-05-26 | 2015-05-26 | Method and system for controlling travel direction after tire of vehicle bursts |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510273335.5A CN105644537A (en) | 2015-05-26 | 2015-05-26 | Method and system for controlling travel direction after tire of vehicle bursts |
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| CN105644537A true CN105644537A (en) | 2016-06-08 |
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| CN201510273335.5A Pending CN105644537A (en) | 2015-05-26 | 2015-05-26 | Method and system for controlling travel direction after tire of vehicle bursts |
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