CN105946824B - A kind of autobrake system and its brake method based on suspension vibration energy regenerating - Google Patents
A kind of autobrake system and its brake method based on suspension vibration energy regenerating Download PDFInfo
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- CN105946824B CN105946824B CN201610392364.8A CN201610392364A CN105946824B CN 105946824 B CN105946824 B CN 105946824B CN 201610392364 A CN201610392364 A CN 201610392364A CN 105946824 B CN105946824 B CN 105946824B
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000001172 regenerating effect Effects 0.000 title claims abstract description 23
- 239000000725 suspension Substances 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 20
- 239000003921 oil Substances 0.000 claims abstract description 13
- 238000004064 recycling Methods 0.000 claims abstract description 7
- 238000000605 extraction Methods 0.000 claims abstract description 5
- 239000002828 fuel tank Substances 0.000 claims description 25
- 238000011084 recovery Methods 0.000 claims description 21
- 239000012530 fluid Substances 0.000 claims description 16
- 230000006835 compression Effects 0.000 claims description 14
- 238000007906 compression Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 12
- 239000007788 liquid Substances 0.000 claims description 8
- 238000012360 testing method Methods 0.000 claims description 7
- 239000000203 mixture Substances 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000009825 accumulation Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 239000003086 colorant Substances 0.000 claims description 2
- 230000008030 elimination Effects 0.000 claims 1
- 238000003379 elimination reaction Methods 0.000 claims 1
- 238000004146 energy storage Methods 0.000 abstract description 7
- 239000006096 absorbing agent Substances 0.000 abstract description 3
- 230000007812 deficiency Effects 0.000 abstract description 2
- 230000035945 sensitivity Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
Classifications
-
- 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/14—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers accumulating utilisable energy, e.g. compressing air
-
- 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
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/44—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating braking action or preparation for braking, e.g. by detection of the foot approaching the brake pedal
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of autobrake systems and its brake method based on suspension vibration energy regenerating, energy is fed back by hydraulic motor in hydraulic circuit by absorber vibrational energy again, and using hydraulic motor drive hydraulic pump, by hydraulic oil reservoir there are in accumulator so as to recover energy.During automobile normal running, when judging that front truck spacing belongs to danger vehicle distance, discharge hydraulic oil of the recycling in accumulator rapidly by oil outlet passage, oil extraction process drives hydraulic motor work, brake pedal is pulled by transmission mechanism, hydraulic motor is replaced to pull brake pedal, while emergency cut-off engine by servo motor in energy storage pressure deficiency, realize automobile automatic brake.The present invention is based on recovering energy to realize automobile automatic brake, vehicle safety is not only increased, also achieves the purpose of automotive energy-saving emission-reducing, improves energy efficiency；Acquiring signal in real time using sensor realizes the real-time dynamic regulation of system, improves the sensitivity and reliability of autobrake system.
Description
Technical field
The invention belongs to automobile energy recovery technologies and self-actuating brake technical field, and in particular to one kind is based on suspension vibration
The autobrake system and its brake method of energy regenerating.
Background technology
With the rapid economic development in our country, car ownership rapid development, traffic accident also increases year by year, traffic safety
Problem is of increasing concern.When galloping, as there is barrier or front vehicles emergency brake suddenly in front
When, since driver needs certain reaction time, it is easy to which brake not in time, leads to traffic accident or even draws
The a chain of collision of hair.Therefore, self-actuating brake technology is come into being, new according to U.S. Highway Insurance Association (IIHS) portion
Studies have shown that self-actuating brake technology can make rear-end collision incidence averagely reduce by 40%, and major automobile factory commercial city strongly pushes newly
Vehicle is equipped with technique.The active brake technique initially occurred is the system that brake speed and dynamics judgement are stepped on according to driver
There are the BAS PLUS for adding in radar or camera system, develops on this basis newest later in dynamic auxiliary system (BAS)
Self-actuating brake technology.The technology of representative has benz PRE-SAFE systems, Toyota Pre-Collision System, Subaru
EyeSight systems and Volvo City Safety systems.
At the same time, with the shortage of the energy and the deterioration of environment, development automobile energy-saving technology has become automotive engineering hair
Open up another important trend.Automobile consumes a large amount of energy due to vibration in the process of moving, if after these energy are converted
It is recycled, it is possible to reach energy-efficient purpose and improve energy use efficiency.Therefore, the present invention proposes one kind and is based on
The autobrake system and its control method of energy regenerating utilize self-actuating brake in the case of the realization automobile emergency that recovers energy.
Invention content
The purpose of the invention is to realize automobile self-actuating brake in emergency situations, and the one kind provided is shaken based on suspension
The autobrake system and its control method of energy recycling.By absorber vibrational energy again by hydraulic pressure in hydraulic circuit
Motor feed back energy, and using hydraulic motor drive hydraulic pump, by hydraulic oil reservoir there are in accumulator so as to recover energy.Automobile
During normally travel, whether this vehicle safe condition is detected according to speed real-time judge.According to passing through electricity when needing to detect safe condition
Sub-control unit receives and handles sensing data, calculates minimum safe spacing s1 and minimum warning spacing s2, and and front truck
Spacing judges automotive safety state more afterwards, while utilizes warning prompt lamp prompting automotive safety state.Judging front truck vehicle
During away from belonging to danger vehicle distance, the rapid hydraulic oil discharged in accumulator drives hydraulic motor work, is pulled and made by transmission mechanism
Dynamic pedal replaces hydraulic motor to pull brake pedal, while emergency cut-off is sent out in energy storage pressure deficiency by servo motor
Motivation realizes automobile automatic brake.Realize that technical scheme is as follows：
A kind of autobrake system based on suspension vibration energy regenerating, including energy recovery mechanism, testing agency, electronics
Control unit and executing agency；
The energy recovery mechanism includes damper, hydraulic motor a and hydraulic motor b, hydraulic pump a and hydraulic pump b, unidirectional
Valve a and check valve b, check valve c and check valve d, solenoid valve a and solenoid valve b, safety valve, fuel tank and accumulator；The solenoid valve
A, hydraulic motor a, check valve a are sequentially connected by hydraulic pipeline and form compression circuit；It is the solenoid valve b, hydraulic motor b, unidirectional
Valve b, which is sequentially connected to form by hydraulic pipeline, upholds circuit；Pass through the compression and back between the rod chamber of the damper, rodless cavity
Road, the extension circuit are connected, and realize that hydraulic oil flows back and forth between the rod chamber and the rodless cavity；The hydraulic pressure
Pump a is connected respectively with the fuel tank, the hydraulic motor a；The hydraulic pump b respectively with the fuel tank, the hydraulic motor b phases
Even；The hydraulic pump a is connected to the accumulator by hydraulic pipeline via the check valve c, and the hydraulic pump b passes through hydraulic pressure
Pipeline is connected to the accumulator via the check valve d；The hydraulic pump a, the hydraulic pump b are respectively in hydraulic motor a, liquid
It works under the drive of pressure motor b, by the fluid in fuel tank by check valve special delivery to accumulator, realizes energy regenerating；
The testing agency includes vehicle speed sensor, laser radar sensor, brake-pedal-travel sensor and pressure and passes
Sensor；The vehicle speed sensor is for acquisition speed signal in real time and is sent to electronic control unit；The laser radar sensing
Device is for measurement front spacing in real time and is sent to electronic control unit；The brake-pedal-travel sensor is braked for detecting
Whether pedal is operated and is sent to electronic control unit；The pressure sensor is for detection energy storage pressure in real time and sends
Electron control unit；
The executing agency includes accumulator, solenoid valve c, hydraulic motor c, fuel tank, bevel gear, transmission case, drag-line, braking
Pedal；The accumulator, the solenoid valve c, the hydraulic motor c, the fuel tank pass sequentially through hydraulic pipeline connection, the row of composition
Oily access；The bevel gear, the transmission case and the drag-line are sequentially connected composition transmission mechanism；The hydraulic motor c's is defeated
Go out to connect the bevel gear, the drag-line connects the brake pedal；During oil extraction, hydraulic motor c work is driven；Hydraulic pressure horse
Brake force is passed to by the brake pedal by the transmission mechanism up to c；
The electronic control unit when judgement needs electric control braking, is opened in executing agency according to the information of testing agency
Solenoid valve c so that the hydraulic oil recycled in energy recovery mechanism is transmitted to by accumulator in fuel tank by the oil outlet passage,
During oil extraction, brake force is passed to the brake pedal by the hydraulic motor c in executing agency by the transmission mechanism,
Realize self-actuating brake.
Further, the executing agency further includes servo motor, and the servo motor is on the one hand by electronic control unit
On the other hand control acts on the brake pedal by drag-line.
Further, the executing agency further includes warning prompt lamp, brake lamp and engine；The warning prompt lamp cloth
It is placed on automobile center console, opening and closing and different colours is controlled to show by electronic control unit, for reminding driver's automotive safety
State；The brake lamp is arranged in automobile rear end both sides, being controlled and is opened and closed by electronic control unit, rear vehicle is reminded during for braking
；The engine is controlled by electronic control unit in self-actuating brake and is closed, for auxiliary brake.
Further, the energy recovery mechanism further includes safety valve, and the safety valve is mounted on the check valve c, institute
It states on the hydraulic pipeline between check valve d and the accumulator.
Further, the vehicle speed sensor is arranged in the driving axle housing of automobile, the laser radar sensor arrangement
In automobile front end, the brake-pedal-travel sensor is arranged in brake pedal, and the pressure sensor is arranged in accumulation of energy
On device.
Further, the transmission case uses gear ＆ rack structure.
According to above-mentioned autobrake system, the invention also provides a kind of self-actuating brake method, including the use of damper
Compression and extension carry out the method for energy regenerating and the energy of recycling are utilized to carry out self-stopping method.
Further, the method for the energy regenerating includes：In running car, elastic element is due to road in the damper
Face is uneven and generates reciprocating motion, which is divided into compression travel and extension stroke；When compression travel occurs, rodless cavity pressure
Increase, the reduction of rod chamber pressure, therefore a part of hydraulic oil are from rodless cavity by hydraulic pipeline via the solenoid valve a, hydraulic pressure
Motor a, check valve a flow to rod chamber, and hydraulic motor a described in this process starts to work, and drive institute simultaneously since fluid moves
State hydraulic pump a work；When extension stroke occurs, rodless cavity pressure reduces, the increase of rod chamber pressure, therefore a part of hydraulic oil
Rodless cavity is flowed to via the solenoid valve b, hydraulic motor b, check valve b from rod chamber by hydraulic pipeline, liquid described in this process
Pressure motor b starts to work since fluid moves, and the hydraulic pump b is driven to work simultaneously；When the hydraulic pump a works, oil
Fluid in case is inhaled into hydraulic pipeline and is stored in the accumulator via the check valve c；When the hydraulic pump b works
When, the fluid in fuel tank is inhaled into hydraulic pipeline and is stored in the accumulator via the check valve d, completes energy regenerating.
Further, it is described to be included using the self-stopping method of energy progress of recycling：
A. the pressure signal real-time judge energy storage pressure that electronic control unit receiving is acquired by pressure sensor is
It is no to reach rated value, if not up to rated value, energy recovery mechanism work on；If reaching rated value, electronic control unit is defeated
Go out signal-off solenoid valve a and solenoid valve b, stop energy recovery mechanism work；
B. the vehicle speed sensor acquires speed signal and is sent to electronic control unit in real time, according to speed real-time judge
Whether this vehicle safe condition is detected.If speed up to rated value, does not detect this vehicle safe condition；If speed reaches rated value, start
This vehicle safe condition is detected, c is performed, otherwise performs b；
C. the laser radar sensor measures front spacing and is sent to electronic control unit, and by being controlled electronically in real time
Unit calculates opposite speed according to frequency acquisition, and front truck speed is calculated further according to the speed signal of vehicle speed sensor acquisition；Root
Calculate minimum safe spacing s1 and minimum warning spacing s2 according to this vehicle speed, front speed and Ben Che setup parameters, and with it is preceding
This vehicle safe condition is judged after vehicle spacing, if s >=s1, front truck spacing belongs to safe distance between vehicles, if s1>S >=s2, front truck spacing
Belong to warning spacing, if s<S2, front truck spacing belong to danger vehicle distance；
If d. front truck spacing belongs to safe distance between vehicles, control warning prompt lamp gives a green light, and automobile continues normally travel；If front truck
Spacing belongs to warning spacing, controls the bright orange lamp of warning prompt lamp, reminds this vehicle that deceleration is needed to pull open spacing；If front truck spacing belongs to
Danger vehicle distance, control warning prompt lamp send out a warning, and open brake lamp；
E. when front truck spacing belongs to danger vehicle distance, believed according to the brake-pedal travel that brake-pedal-travel sensor detects
Number judge whether brake pedal is operated, if having stepped on pedal, automobile normal brake application；If not stepping on pedal, according to pressure sensing
Device signal judges whether energy storage pressure reaches rated value, if reaching rated value, controls opens solenoid valve c, discharges accumulation of energy rapidly
The hydraulic oil that device is stored by energy recovery mechanism, while hydraulic motor c is driven to work, and braking is pulled to step on by transmission mechanism
Plate makes automobile automatic braking, after end of braking, opens solenoid valve a, solenoid valve b, closes solenoid valve c；If energy storage pressure does not arrive
Rated value, then control unlatching servo motor, and servo motor pulls brake pedal to make automobile automatic braking by drag-line；In automobile certainly
Simultaneously, engine is closed in control for dynamic braking, reduces braking distance using engine braking, realizes auxiliary self-actuating brake.
Further, front truck speed is calculated in the c, minimum safe spacing is calculated, calculates the minimum method for warning spacing and is：
Calculate front truck speed：ua1=ua0+(s-s′)f；
Calculate minimum safe spacing：
Calculate minimum warning spacing：
Wherein, ua1- front truck speed, ua0- this vehicle speed, the front truck spacing of s-front truck spacing, s '-previous measurement,
F-frequency acquisition, s1- warning spacing, λ1- warning spacing safety coefficient, λ1>=1, τ1- time of driver's reaction, τ '2- disappear
Except brake clearance time, τ "2The time required to-brake braking force propagation process, abmax- maximum braking deceleration, s2- danger
Dangerous spacing, λ2- danger vehicle distance safety coefficient, λ2>=1, τ '1- system response time, ε-minimum warning spacing lower limit, ε >=
10m。
Beneficial effects of the present invention：
1st, since recycling suspension vibration energy is for automobile automatic brake, vehicle safety is not only increased, is also achieved
The purpose of automotive energy-saving emission-reducing, improves energy use efficiency.
2nd, since energy recovery mechanism is using Double-hydraulic circuit, make damper that can have in compression travel and extension stroke
Effect recovers energy, and improves energy recovery efficiency.
3rd, due to the use of accumulator recycle suspension vibration energy, so as to be effectively reduced automobile vibrational energy to driver with
And the influence of passenger, be conducive to improve automobile process comfort.
4th, due to using Electromagnetic Control, the response speed of solenoid valve is very fast, the time needed for braking process is made to shorten, favorably
In reduction braking distance.
5th, it due to acquiring speed and spacing signal in real time by sensor, and is carried out using electronic control unit according to formula
Real-time operation and judgement realize the real-time dynamic regulation of system, are conducive to improve the sensitivity of autobrake system.
6th, due to emergency cut-off engine while brake pedal is pulled down, reduce braking distance using engine braking,
Be conducive to improve the stability of autobrake system.
7th, due to whether detecting this vehicle safe condition according to speed real-time judge, autobrake system is avoided under the low speed
Accidental activation is conducive to improve the reliability of autobrake system.
8th, it is prompted, is reduced using self-actuating brake system stage by stage according to front truck spacing as a result of warning indicator light
The probability of system is conducive to improve stability and the safety of vehicle traveling process.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is present invention electronic control schematic diagram；
Fig. 3 is module arrangement schematic diagram of the present invention；
Fig. 4 is automobile distance schematic diagram of the present invention；
Fig. 5 is control flow chart of the present invention.
In Fig. 1,1, damper；2nd, solenoid valve b；3rd, hydraulic motor b；4th, hydraulic pump b；5th, check valve a；6th, hydraulic motor a；
7th, hydraulic pump a；8th, brake pedal；9th, drag-line；10th, transmission case；11st, servo motor；12nd, bevel gear；13rd, fuel tank；14th, pressure passes
Sensor；15th, hydraulic motor c；16th, accumulator；17th, solenoid valve c；18th, safety valve；19th, check valve c；20th, electronic control unit；
21st, vehicle speed sensor；22nd, laser radar sensor；23rd, brake-pedal-travel sensor；24th, warning prompt lamp；25th, it brakes
Lamp；26th, control unit of engine；27th, check valve d；28th, solenoid valve a；29th, check valve b.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments, but protection scope of the present invention is simultaneously
It is without being limited thereto.
A kind of autobrake system structure based on suspension vibration energy regenerating as shown in Figure 1 is mainly returned including energy
Receive mechanism, testing agency, electronic control unit and executing agency.
The energy recovery mechanism includes damper 1, hydraulic motor a6 and hydraulic motor b3, hydraulic pump a7 and hydraulic pump
B4, check valve a5 and check valve b29, check valve c19 and check valve d27, solenoid valve a28 and solenoid valve b2, safety valve 18, fuel tank
13 and accumulator 16.The damper 1 absorbs vibrational energy and feeds back energy by two hydraulic circuits, and two hydraulic circuits are divided into
Compression circuit is with upholding circuit.The solenoid valve a28, hydraulic motor a6, check valve a5 are sequentially connected by hydraulic pipeline forms pressure
Retraction road, the solenoid valve b2, hydraulic motor b3, check valve b29, which are sequentially connected to form by hydraulic pipeline, upholds circuit.The liquid
Press pump a7 and hydraulic pump b4 is connected respectively with the hydraulic motor a6 and hydraulic motor b3, and respectively by hydraulic pipeline via institute
It states check valve c19 and check valve d27 and is connected to the accumulator 16.The accumulator 16 stores liquid using the compressibility of gas
Pressure oil is so as to recover energy.The safety valve 18 is mounted on the hydraulic tube between check valve c19 and check valve d27 and accumulator 16
On road.
The course of work of the energy recovery mechanism is as follows：In automobile normal running, elasticity member in the damper
Part generates reciprocating motion due to Uneven road, which is divided into compression travel and extension stroke.When compression travel occurs, nothing
The increase of rod cavity pressure, the reduction of rod chamber pressure, therefore a part of hydraulic oil are from rodless cavity by hydraulic pipeline via the electromagnetism
Valve a28, hydraulic motor a6, check valve a5 flow to rod chamber, and hydraulic motor a6 described in this process starts to work since fluid moves,
And the hydraulic pump a7 is driven to work simultaneously.When extension stroke occurs, rodless cavity pressure reduces, the increase of rod chamber pressure, because
This part of hydraulic oil flows to nothing by hydraulic pipeline from rod chamber via the solenoid valve b2, hydraulic motor b3, check valve b29
Rod cavity, hydraulic motor b3 described in this process starts to work since fluid moves, and the hydraulic pump b4 is driven to work simultaneously.Work as institute
When stating hydraulic pump a7 work, the fluid in fuel tank 13 is inhaled into hydraulic pipeline and is stored in the accumulation of energy via the check valve c19
In device 16.When the hydraulic pump b4 works, the fluid in fuel tank 13 is inhaled into hydraulic pipeline and is deposited via the check valve d27
Enter in the accumulator 16.It is more than safety value that the safety valve 18, which prevents 16 pressure of accumulator,；When solenoid valve a, solenoid valve b are initial
It opens.
As shown in figure 3, the testing agency includes vehicle speed sensor 21, laser radar sensor 22, brake-pedal travel
Sensor 23 and pressure sensor 14.The vehicle speed sensor 21 is arranged in the driving axle housing of automobile, for real-time collecting vehicle
Fast signal is simultaneously sent to electronic control unit, and whether detect this vehicle safe condition according to speed real-time judge.The laser thunder
Automobile front end is arranged in up to sensor 22, for measuring front spacing in real time and being sent to electronic control unit, and by electronics
Control unit 20 calculates opposite speed and front speed according to frequency acquisition.The brake-pedal-travel sensor 23 is arranged in
In brake pedal, whether it is operated for detecting brake pedal and is sent to electronic control unit.14 cloth of pressure sensor
It is placed on accumulator 16, for detecting 16 pressure of accumulator in real time and being sent to electronic control unit 20, present invention electronic control
Unit uses vehicle-mounted ECU.
As shown in Fig. 2, the electronic control unit 20 includes input module, computing module, solenoid valve control module, warning
Prompt lamp control module, brake lamp control module, control module for servo motor, engine electronic control system module and output module.
The spacing that the input module receives speed signal acquire from vehicle speed sensor 21, laser radar sensor 22 measures is believed
Number, the pressure signal that acquires of the pedal travel signal that detects of brake-pedal-travel sensor 23 and pressure sensor 14, and will connect
The signal received sends computing module to and carries out operation and processing, is as a result separately sent to solenoid valve control module, warning prompt lamp
Control module, brake lamp control module, control module for servo motor and engine electronic control system module.The solenoid valve control mould
Block controls the opening and closing of solenoid valve a28, solenoid valve b2 and solenoid valve c17 via output module；The warning prompt lamp control module
Opening and closing and color via output module control warning prompt lamp 24；The brake lamp control module is controlled via output module to be stopped
The opening and closing of car light 25；The control module for servo motor controls servo motor 11 via output module；The Motronic control maps control
Molding block controls engine via output module and control unit of engine 26, and control unit of engine 26 is by closing air throttle
And closing electronic ignition system makes engine stop work.
The spacing signal and frequency acquisition that the computing module is measured according to laser radar sensor calculate opposite vehicle
Speed, and front truck speed is calculated according to the speed signal that vehicle speed sensor acquires.Meanwhile according to this vehicle speed, front speed and sheet
Vehicle setup parameter calculates minimum safe spacing s1 and minimum warning spacing s2, and with judging this vehicle safety after front truck spacing
State.If as shown in figure 4, s >=s1, front truck spacing belongs to safe distance between vehicles, if s1>S >=s2, front truck spacing belong to warning spacing,
If s<S2, front truck spacing belong to danger vehicle distance.
Calculate front truck speed：ua1=ua0+(s-s′)f
Calculate minimum safe spacing：
Calculate minimum warning spacing：
Wherein, ua1- front truck speed, ua0- this vehicle speed, the front truck spacing of s-front truck spacing, s '-previous measurement,
F-frequency acquisition, s1- warning spacing, λ1- warning spacing safety coefficient, τ1- time of driver's reaction, τ '2- eliminate and brake
Device off time, τ "2The time required to-brake braking force propagation process, abmax- maximum braking deceleration, s2- danger vehicle
Away from λ2- danger vehicle distance safety coefficient, τ '1- system response time, ε-minimum warning spacing lower limit.
The solenoid valve control module course of work is divided into two parts：First part, the solenoid valve control module receive
The pressure signal acquired via input module judges whether energy storage pressure reaches rated value.If reaching rated value, solenoid valve control
Molding block closes solenoid valve a28 and solenoid valve b2 via output module, stops energy-recuperation system work.Second part, it is described
Solenoid valve control module receives to judge after being calculated according to vehicle speed sensor signal and laser radar sensor signal by computing module
The automotive safety state control solenoid valve c17 gone out.If front truck spacing belongs to danger vehicle distance, sentence further according to brake-pedal travel signal
Whether disconnected brake pedal 8 is operated.If brake pedal 8 is not operated, accumulator 16 is judged further according to 14 signal of pressure sensor
Whether pressure reaches rated value.If reaching rated value, solenoid valve control module makes vapour via output module opens solenoid valve c17
Vehicle self-actuating brake.
The course of work of the warning prompt lamp control module is as follows：It does not work under the warning prompt lamp original state, institute
Warning prompt lamp control module is stated to receive to be calculated according to vehicle speed sensor signal and laser radar sensor signal by computing module
The automotive safety state control warning prompt lamp 24 judged afterwards is opened and closed and color.If front truck spacing belongs to safe distance between vehicles, warning
Prompting lamp control module gives a green light via output module control warning prompt lamp 24.If front truck spacing belongs to warning spacing, warning
Lamp control module is prompted via 24 bright orange lamp of output module control warning prompt lamp.If front truck spacing belongs to danger vehicle distance, warning
Prompting lamp control module sends out a warning via output module control warning prompt lamp 24.
The course of work of the brake lamp control module is as follows：It does not work under 25 original state of brake lamp, the brake
Lamp control module receives what is judged after being calculated by computing module according to vehicle speed sensor signal and laser radar sensor signal
The control brake lamp opening and closing of automotive safety state.If front truck spacing belongs to danger vehicle distance, the brake lamp control module is via output
Module opens brake lamp.
The course of work of the control module for servo motor is as follows：The control module for servo motor receives by computing module
Judge automotive safety state, then receive to be stepped on by braking after being calculated according to vehicle speed sensor signal and laser radar sensor signal
The brake-pedal travel signal that plate stroke sensor 23 transmits judges whether brake pedal 8 is operated, later according to pressure sensing
Device signal judges whether 16 pressure of accumulator reaches rated value, finally controls servo motor 11 via output module.If front truck vehicle
Away from danger vehicle distance is belonged to, judge whether brake pedal 8 is operated further according to brake-pedal travel signal.If brake pedal 8 not by
It steps on, judges whether 16 pressure of accumulator reaches rated value further according to 14 signal of pressure sensor.If not up to rated value, servo electricity
Machine control module opens servo motor 11 via output module, makes automobile automatic brake；The self-stopping original of Serve Motor Control
It manages and is：The output shaft of servo motor is connect by shaft coupling with ball-screw, put on ball-screw nut rotary device and with drawing
Suo Xianglian, servo motor output shaft rotation drive ball-screw rotation, make ball-screw nut axially movable and pull drag-line.
(ball-screw movement it is reversible, i.e., return when drag-line drive the reversed displacement of ball-screw nut, ball-screw nut drive ball wire
Thick stick rotates backward, and servo motor no power output shaft can turn).
The course of work of the engine electronic control system module is as follows：The engine electronic control system module receives by operation
Module judges automotive safety state, then receive by making after being calculated according to vehicle speed sensor signal and laser radar sensor signal
The brake-pedal travel signal that dynamic pedal travel sensor 23 transmits judges whether brake pedal 8 is operated, finally via output
Module and control unit of engine control engine.If front truck spacing belongs to danger vehicle distance, further according to brake-pedal travel signal
Judge whether brake pedal 8 is operated, if brake pedal 8 is not operated, engine electronic control system module via output module and
Control unit of engine 26 closes engine.
The executing agency includes accumulator 16, solenoid valve c17, hydraulic motor c15, fuel tank 13, bevel gear 12, transmission
Case 10, servo motor 11, drag-line 9, brake pedal 8, warning prompt lamp 24, brake lamp 25 and control unit of engine 26.It is described
Accumulator 16 stores hydraulic oil by energy recovery mechanism.The solenoid valve c17 is normally closed, and solenoid valve control module is via output mould
Block controls solenoid valve c17, and solenoid valve c17 can be just opened when needing braking.The hydraulic motor c15 is used to drive driver
Structure.The fuel tank 13 is used to recycling or discharging fluid.The accumulator 16, solenoid valve c17, hydraulic motor c15, fuel tank 13 are by liquid
Pressure pipeline is sequentially connected composition oil outlet passage.The transmission case 10 uses gear ＆ rack structure, and input is engaged with bevel gear 12, structure
Into deceleration mechanism, increase square and change transmission direction for subtracting power；Stretching motion is done in output, is connected with drag-line 9.The drag-line 9 is used
Brake pedal 8 is pulled to make automobile brake in transmitting pulling force.The bevel gear 12, transmission case 10 and drag-line 9 form transmission mechanism.Institute
Servo motor 11 is stated for hydraulic motor c15 being replaced to work during 16 insufficient pressure of accumulator, brake pedal 8 is pulled by drag-line 9
Make automobile brake.As shown in figure 3, warning prompt lamp 24 is arranged on automobile center console；Brake lamp 25 is arranged in automobile rear end two
Side；Control unit of engine 26 is arranged on engine.Warning prompt lamp 24 is used to remind driver's automotive safety state；Brake
Lamp 25 is used to remind front vehicle when braking；Control engine emergency is closed when control unit of engine 26 is used for self-actuating brake,
Reduce braking distance using engine braking.
The course of work of the executing agency is as follows：The solenoid valve control module receives by computing module according to speed
The automotive safety state control solenoid valve c17 that sensor signal and laser radar sensor signal are judged after calculating.If front truck
Spacing belongs to danger vehicle distance, judges whether brake pedal 8 is operated further according to brake-pedal travel signal.If brake pedal 8 is not
It is operated, judges whether 16 pressure of accumulator reaches rated value further according to 14 signal of pressure sensor.If reaching rated value, electromagnetism
Valve control module is via output module opens solenoid valve c17, the rapid liquid for discharging accumulator 16 and being stored by energy recovery mechanism
Pressure oil.Hydraulic oil in accumulator 16 is quickly discharged to via hydraulic pipeline in fuel tank 13 by hydraulic motor c15.Hydraulic motor
C15 drives and is worked by the deceleration mechanism that bevel gear 12 and transmission case 10 form since fluid quickly flows start-up operation, warp
Cross deceleration mechanism subtract power increase square and change transmission direction after pass through by drag-line 9 transmit pulling force pull brake pedal 8 realize self-actuating brake.
If not arriving rated value, 11 control module of servo motor opens servo motor 11 via output module, and servo motor 11 passes through drag-line 9
Brake pedal 8 is pulled to realize self-actuating brake.At the same time, warning prompt lamp control module controls warning prompt via output module
Lamp 24 sends out a warning；The lamp control module that brakes opens brake lamp 25 via output module；Engine electronic control system module is via output
Module delivers a signal to control unit of engine 26, by control unit of engine emergency cut-off engine, utilizes engine braking
Reduce braking distance.
As shown in figure 5, a kind of idiographic flow of autobrake system and its control method based on energy regenerating is as follows：
During automobile normal running, the absorber is due to vibrational energy caused by Uneven road and feeds back to energy-recovering machine
Structure, energy recovery mechanism are started to work, and by hydraulic oil reservoir, there are in accumulator 16.The electronic control unit receiving is passed by pressure
Whether 16 pressure of pressure signal real-time judge accumulator that sensor 14 acquires reaches rated value, if not up to rated value, energy returns
Mechanism is received to work on；If reaching rated value, solenoid valve a28 and solenoid valve b2 is closed by solenoid valve control module output signal,
Stop energy-recuperation system work.The vehicle speed sensor 21 acquires speed signal and is sent to electronic control unit 20 in real time,
And whether this vehicle safe condition is detected according to speed real-time judge.If speed does not reach rated value, this volume is set in the embodiment of the present invention
Definite value is 60km/h, does not detect this vehicle safe condition；If speed reaches rated value, start to detect this vehicle safe condition, and described
Laser radar sensor 22 measures front spacing and is sent to electronic control unit 20, and by 20 basis of electronic control unit in real time
Frequency acquisition calculates opposite speed, and front speed is calculated further according to the speed signal that vehicle speed sensor 21 acquires.According to this vehicle
Speed, front speed and Ben Che setup parameters calculate minimum safe spacing s1 and minimum warning spacing s2, and with front truck spacing
After judge this vehicle safe condition.If s >=s1, front truck spacing belongs to safe distance between vehicles, if s1>S >=s2, front truck spacing belong to alert
Show spacing, if s<S2, front truck spacing belong to danger vehicle distance.If front truck spacing belongs to safe distance between vehicles, warning prompt lamp control module
It gives a green light via output module control warning prompt lamp 24, automobile continues normally travel；It is alert if front truck spacing belongs to warning spacing
It accuses prompting lamp control module and controls the bright orange lamp of warning prompt lamp via output module, remind this vehicle that deceleration is needed to pull open spacing；If
Front truck spacing belongs to danger vehicle distance, and warning prompt lamp control module sends out a warning via output module control warning prompt lamp 24, stops
Vehicular light control module opens brake lamp 25 via output module, the brake pedal detected further according to brake-pedal-travel sensor 23
Stroke signal judges whether brake pedal 8 is operated.If having stepped on pedal, automobile normal brake application；If pedal 8 is not stepped on, then root
Judge whether 16 pressure of accumulator reaches rated value according to 14 signal of pressure sensor, open autobrake system.If reach specified
Value, the solenoid valve control module pass through energy-recovering machine via output module opens solenoid valve c17, the rapid accumulator 16 that discharges
The hydraulic oil of structure storage drives hydraulic motor c15 work, and brake pedal 8 is pulled to make automobile brake by transmission mechanism, brakes
After, solenoid valve a, solenoid valve b are opened, closes solenoid valve c；If not arriving rated value, the control module for servo motor via
Output module opens servo motor 11, and servo motor 11 pulls brake pedal to make automobile brake by drag-line 9.At the same time, it sends out
Motivation electronic control module delivers a signal to control unit of engine 26 via output module, is promptly closed by control unit of engine
Engine is closed, reduces braking distance using engine braking, finally realizes automobile automatic brake.
Those listed above is a series of to be described in detail only for feasibility embodiment of the invention specifically
Bright, they are not to limit the scope of the invention, all equivalent implementations made without departing from skill spirit of the present invention
Or change should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of autobrake system based on suspension vibration energy regenerating, which is characterized in that including energy recovery mechanism, detection
Mechanism, electronic control unit and executing agency；
The energy recovery mechanism includes damper (1), hydraulic motor a (6) and hydraulic motor b (3), hydraulic pump a (7) and hydraulic pressure
Pump b (4), check valve a (5) and check valve b (29), check valve c (19) and check valve d (27), solenoid valve a (28) and solenoid valve b
(2), safety valve (18), fuel tank (13) and accumulator (16)；The solenoid valve a (28), hydraulic motor a (6), check valve a (5) by
Hydraulic pipeline is sequentially connected composition compression circuit；The solenoid valve b (2), hydraulic motor b (3), check valve b (29) are by hydraulic tube
Road is sequentially connected composition and upholds circuit；Pass through the compression circuit, the extension between the rod chamber of the damper, rodless cavity
Circuit is connected, and realizes that hydraulic oil flows back and forth between the rod chamber and the rodless cavity；The hydraulic pump a (7) is respectively
It is connected with the fuel tank (13), the hydraulic motor a (6)；The hydraulic pump b (4) respectively with the fuel tank (13), the hydraulic pressure
Motor b (3) is connected；The hydraulic pump a (7) is connected to the accumulator by hydraulic pipeline via the check valve c (19)
(16), the hydraulic pump b (4) is connected to the accumulator (16) by hydraulic pipeline via the check valve d (27)；The liquid
Press pump a (7), the hydraulic pump b (4) respectively hydraulic motor a (6), hydraulic motor b (3) drive under work, by fuel tank (13)
In fluid accumulator (16) is transmitted to by check valve, realize energy regenerating；
The testing agency includes vehicle speed sensor (21), laser radar sensor (22), brake-pedal-travel sensor (23)
With pressure sensor (14)；The vehicle speed sensor (21) for acquiring speed signal and be sent to electronic control unit in real time
(20)；The laser radar sensor (22) spacing and is sent to electronic control unit (20) for measuring front in real time；It is described
Whether brake-pedal-travel sensor (23) is operated for detecting brake pedal (8) and is sent to electronic control unit (20)；
The pressure sensor (14) for detecting accumulator (16) pressure and be sent to electronic control unit (20) in real time；
The executing agency include accumulator (16), solenoid valve c (17), hydraulic motor c (15), fuel tank (13), bevel gear (12),
Transmission case (10), drag-line (9), brake pedal (8)；The accumulator, the solenoid valve c, the hydraulic motor c, the fuel tank
Hydraulic pipeline connection is passed sequentially through, forms oil outlet passage；The bevel gear (12), the transmission case (10) and the drag-line (9)
It is sequentially connected composition transmission mechanism；The output of the hydraulic motor c (15) connects the bevel gear (12), and the drag-line (9) is even
Connect the brake pedal (8)；During oil extraction, hydraulic motor c (15) is driven to work；Hydraulic motor c (15) passes through the transmission
Brake force is passed to the brake pedal (8) by mechanism；
The electronic control unit (20) when judgement needs electric control braking, is opened in executing agency according to the information of testing agency
Solenoid valve c (17) so that the hydraulic oil recycled in energy recovery mechanism by the oil outlet passage by accumulator (16) transmit
Into fuel tank (13), during oil extraction, the hydraulic motor c (15) in executing agency is passed brake force by the transmission mechanism
The brake pedal (8) is passed, realizes self-actuating brake.
A kind of 2. autobrake system based on suspension vibration energy regenerating according to claim 1, which is characterized in that institute
It states executing agency and further includes servo motor (11), the servo motor (11) is on the one hand controlled by electronic control unit (20), is another
On the one hand the brake pedal (8) is acted on by drag-line (9).
A kind of 3. autobrake system based on suspension vibration energy regenerating according to claim 1, which is characterized in that institute
It states executing agency and further includes warning prompt lamp (24), brake lamp (25) and engine；The warning prompt lamp (24) is arranged in vapour
On vehicle console, opening and closing and different colours is controlled to show by electronic control unit (20), for reminding driver's automotive safety shape
State；The brake lamp (25) is arranged in automobile rear end both sides, is controlled and is opened and closed by electronic control unit (20), for braking when reminds
Front vehicle；The engine is controlled by electronic control unit (20) in self-actuating brake and is closed, for auxiliary brake.
A kind of 4. autobrake system based on suspension vibration energy regenerating according to claim 1, which is characterized in that institute
It states energy recovery mechanism and further includes safety valve (18), the safety valve (18) is mounted on the check valve c (19), the check valve
On hydraulic pipeline between d (27) and the accumulator (16).
A kind of 5. autobrake system based on suspension vibration energy regenerating according to claim 1, which is characterized in that institute
It states vehicle speed sensor (21) to be arranged in the driving axle housing of automobile, before the laser radar sensor (22) is arranged in automobile most
End, the brake-pedal-travel sensor (23) are arranged in brake pedal, and the pressure sensor (14) is arranged in accumulator
(16) on.
A kind of 6. autobrake system based on suspension vibration energy regenerating according to claim 1, which is characterized in that institute
Transmission case (10) is stated using gear ＆ rack structure.
7. a kind of autobrake system based on suspension vibration energy regenerating is automatic according to claim 1-6 any one
Brake method, which is characterized in that carry out the method for energy regenerating including the use of the compression and extension of damper (1) and utilize back
The energy of receipts carries out self-stopping method.
8. self-actuating brake method according to claim 7, which is characterized in that the method for the energy regenerating includes：In vapour
When driving, the interior elastic element of the damper (1) generates reciprocating motion due to Uneven road to vehicle, which is divided into compression travel
With extension stroke；When compression travel occurs, rodless cavity pressure increase, rod chamber pressure reduce, therefore a part of hydraulic oil from
Rodless cavity flows to rod chamber by hydraulic pipeline via the solenoid valve a (28), hydraulic motor a (6), check valve a (5), this mistake
Cheng Suoshu hydraulic motors a (6) starts to work since fluid moves, and the hydraulic pump a (7) is driven to work simultaneously；When stretching
During Zhang Hangcheng, rodless cavity pressure reduces, the increase of rod chamber pressure, therefore a part of hydraulic oil is passed through from rod chamber by hydraulic pipeline
Rodless cavity is flowed to by the solenoid valve b (2), hydraulic motor b (3), check valve b (29), hydraulic motor b (3) described in this process by
It moves and starts to work in fluid, and the hydraulic pump b (4) is driven to work simultaneously；When the hydraulic pump a (7) works, fuel tank
(13) fluid in is inhaled into hydraulic pipeline and is stored in the accumulator (16) via the check valve c (19)；When the liquid
When press pump b (4) works, the fluid in fuel tank (13) is inhaled into hydraulic pipeline and is stored in the storage via the check valve d (27)
In energy device (16), energy regenerating is completed.
9. self-actuating brake method according to claim 7, which is characterized in that the energy using recycling carries out automatic brake
The method of vehicle includes：
The pressure signal real-time judge accumulation of energy that electronic control unit (20) receiving described in step a. is acquired by pressure sensor (14)
Whether device (16) pressure reaches rated value, if not up to rated value, energy recovery mechanism work on；If reaching rated value, electricity
Sub-control unit output signal closes solenoid valve a (28) and solenoid valve b (2), stops energy-recuperation system work；
Vehicle speed sensor (21) described in step b. acquires speed signal and is sent to electronic control unit (20) in real time, according to speed
Whether real-time judge detects this vehicle safe condition；If speed up to rated value, does not detect this vehicle safe condition；If speed reaches specified
Value starts to detect this vehicle safe condition, performs c, otherwise perform b；
Laser radar sensor (22) described in step c. measures front spacing and is sent to electronic control unit (20) in real time, and by
Electronic control unit (20) calculates opposite speed according to frequency acquisition, further according to the speed signal of vehicle speed sensor (21) acquisition
Calculate front truck speed；Minimum safe spacing s1 and minimum police are calculated according to this vehicle speed, front speed and Ben Che setup parameters
Show spacing s2, and with judging this vehicle safe condition after front truck spacing, if s >=s1, front truck spacing belongs to safe distance between vehicles, if s1
＞ s >=s2, front truck spacing belong to warning spacing, if s ＜ s2, front truck spacing belong to danger vehicle distance；
If step d. front truck spacings belong to safe distance between vehicles, control warning prompt lamp (24) gives a green light, and automobile continues normally travel；If
Front truck spacing belongs to warning spacing, controls the bright orange lamp of warning prompt lamp, reminds this vehicle that deceleration is needed to pull open spacing；If front truck spacing
Belong to danger vehicle distance, control warning prompt lamp (24) sends out a warning, and open brake lamp (25)；
Step e. is when front truck spacing belongs to danger vehicle distance, according to the brake pedal row of brake-pedal-travel sensor (23) detection
Journey signal judges whether brake pedal (8) is operated, if having stepped on pedal, automobile normal brake application；If pedal (8), root are not stepped on
Judge whether accumulator (16) pressure reaches rated value according to pressure sensor (14) signal, if reaching rated value, electricity is opened in control
Magnet valve c (17) discharges rapidly the hydraulic oil that accumulator (16) is stored by energy recovery mechanism, while drives hydraulic motor c
(15) work, and brake pedal (8) pulled to make automobile automatic braking by transmission mechanism, after end of braking, open solenoid valve a,
Solenoid valve b closes solenoid valve c；If accumulator (16) pressure does not arrive rated value, control and open servo motor (11), servo electricity
Machine (11) pulls brake pedal to make automobile automatic braking by drag-line (9)；In automobile automatic braking simultaneously, control is closed and is started
Machine reduces braking distance using engine braking, realizes auxiliary self-actuating brake.
10. self-actuating brake method according to claim 9, which is characterized in that front truck speed, meter are calculated in the step c
It calculates minimum safe spacing, calculate the minimum method for warning spacing and be：
Calculate front truck speed：ua1=ua0+(s-s′)f；
Calculate minimum safe spacing：
Calculate minimum warning spacing：
Wherein, ua1- front truck speed, ua0- this vehicle speed, the front truck spacing of s-front truck spacing, s '-previous measurement, f-acquisition
Frequency, s1- warning spacing, λ1- warning spacing safety coefficient, τ1- time of driver's reaction, τ '2- elimination brake clearance
Time, τ "2The time required to-brake braking force propagation process, abmax- maximum braking deceleration, s2- danger vehicle distance, λ2—
Danger vehicle distance safety coefficient, τ '1- system response time, ε-minimum warning spacing lower limit.
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| CN201610392364.8A CN105946824B (en) | 2016-06-12 | 2016-06-12 | A kind of autobrake system and its brake method based on suspension vibration energy regenerating |
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| CN106828006B (en) * | 2017-02-28 | 2018-12-11 | 杭州衡源汽车科技有限公司 | A kind of braking method, system and vehicle based on air suspension control |
| US11027713B2 (en) * | 2017-12-27 | 2021-06-08 | Robert Bosch Gmbh | Brake NVH countermeasure |
| CN108248597B (en) * | 2018-01-25 | 2019-08-06 | 吉林大学 | A kind of hydraulic hybrid power system control method for road sweeper |
| CN109050538B (en) * | 2018-06-20 | 2019-05-07 | 湘潭大学 | A kind of safe distance between vehicles estimation device and method |
| CN111959216B (en) * | 2020-07-01 | 2021-10-29 | 武汉理工大学 | Automobile energy recovery system |
| CN114604215A (en) * | 2022-02-28 | 2022-06-10 | 浙江吉尚汽车部件有限公司 | Electronic brake system |
Citations (1)
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| CA2745856A1 (en) * | 2008-12-09 | 2010-06-17 | Developpement Effenco Inc. | Braking energy recovery system for a vehicle and vehicle equipped with same |
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| CA2745856A1 (en) * | 2008-12-09 | 2010-06-17 | Developpement Effenco Inc. | Braking energy recovery system for a vehicle and vehicle equipped with same |
| WO2010066024A1 (en) * | 2008-12-09 | 2010-06-17 | Developpement Effenco Inc. | Braking energy recovery system for a vehicle and vehicle equipped with same |
| AU2009326879A1 (en) * | 2008-12-09 | 2011-07-28 | 14156048 Canada Inc. | Braking energy recovery system for a vehicle and vehicle equipped with same |
| CN102300754A (en) * | 2008-12-09 | 2011-12-28 | 伊凡克发展有限公司 | Braking energy recovery system for a vehicle and vehicle equipped with same |
| CN102300754B (en) * | 2008-12-09 | 2013-12-04 | 伊凡克发展有限公司 | Braking energy recovery system for a vehicle and vehicle equipped with same |
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