CN106042978B - A kind of self-adaption cruise system and control method - Google Patents

A kind of self-adaption cruise system and control method Download PDF

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Publication number
CN106042978B
CN106042978B CN201610541510.9A CN201610541510A CN106042978B CN 106042978 B CN106042978 B CN 106042978B CN 201610541510 A CN201610541510 A CN 201610541510A CN 106042978 B CN106042978 B CN 106042978B
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vehicle
brake
self
switching valve
wheel
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CN106042978A (en
Inventor
初亮
孙成伟
李天骄
蔡健伟
杨毅
朱鹏昊
郭建华
赵迪
许楠
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • 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
    • 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
    • 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
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60T8/34—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 having a fluid pressure regulator responsive to a speed condition
    • B60T8/36—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 having a fluid pressure regulator responsive to a speed condition including a pilot valve responding to an electromagnetic force
    • B60T8/3605—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 having a fluid pressure regulator responsive to a speed condition including a pilot valve responding to an electromagnetic force wherein the pilot valve is mounted in a circuit controlling the working fluid system
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/44—Control modes by parameter estimation
    • 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
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Fluid Mechanics (AREA)
  • Power Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention belongs to car steering field of auxiliary, it is related to a kind of self-adaption cruise system and control method.Including entire car controller, drive motor controller, motor, battery management system, battery pack, former car abs controller, wheel speed sensors, the millimetre-wave radar being fixed in vehicle front bumper, the Wheel cylinder pressure sensors on the brake piping before wheel cylinder, ESC hydraulic regulations unit, dSPACE Micro Autobox controllers and dSPACE Rapid pro drivers；Vehicle judges whether to enter self-adaption cruise system active brake state of a control first according to vehicle transport condition；Then the response of vehicle target severity of braking is realized by controlling the dutycycle of switching valve to carry out the control of pressure of wheel braking cylinder in the control of self-adaption cruise system active brake；ESC hydraulic regulations unit carries out initialization Decompression Controlling.The present invention uses rapid prototype development technology, realizes the early stage design and active brake function of pure electric automobile self-adaption cruise system.

Description

A kind of self-adaption cruise system and control method
Technical field
The invention belongs to car steering field of auxiliary, and in particular to a kind of self-adaption cruise system and control method.
Background technology
In recent years, with the increase of car ownership, traffic accident incidence is also growing day by day.Drive assist system Research and development are gradually subject to the people's attention, and wherein adaptive cruise technology is gathered around to solve traffic safety, driver comfort and traffic Stifled the problems such as, provides an effective solution route.
Adaptive cruise control system is a kind of intelligentized automatic control system, by coordinating spacing and speed so that car With front vehicles remain safe distance.The self-adaption cruise system of pure electric vehicle is generally configured with radar system, adaptive Cruise control, active brake system.When vehicle is in self-adaption cruise system, adaptive learning algorithms device is according to radar system System is detected carries out decision-making with target carriage relative velocity, relative spacing, and vehicle driving or braking are carried out in real time.Drive control can lead to Cross controlled motor and realize that target torque is exported.Control for brake can be by controlling active brake system to carry out vehicle braking.And to tool How the pure electric automobile of standby tradition abs braking system, changed by the smaller hardware of vehicle, realize self-adaption cruise system control Early stage research and development, and the active brake function of vehicle can be realized, the problem of be urgent need to resolve.
The Chinese patent of Application No. 201410743865.7 proposes a kind of system based on adaptive cruise control system Energy recovery system and its method.The control method that it is invented is based on the self-adaption cruise system carried with car, when vehicle is patrolled It is preferential to reclaim electric energy using motor braking during boat automatic retarding, when the generated output of motor is not enough or motor goes out When existing failure can not meet brake request, adaptive cruise control system and anti-blocking brake system coordination fit wheel Work as braking, vehicle is remained safe distance with front truck, but its patent does not address the implementation method of active brake.
The content of the invention
The technical problems to be solved by the invention are：The pure electric automobile for possessing traditional abs braking system can not realize master Dynamic braking function, changes by less hardware to vehicle, using rapid prototype development technology, realizes that pure electric automobile is adaptive The early stage design and active brake function of cruise system, the skill of early stage is provided for the research of pure electric automobile self-adaption cruise system Art is accumulated.
In order to solve the above technical problems, the present invention adopts the following technical scheme that realization, it is described with reference to the drawings as follows：
A kind of self-adaption cruise system, including entire car controller, drive motor controller, motor, battery management system System, battery pack, former car abs controller, wheel speed sensors；Also include being fixed on millimetre-wave radar in vehicle front bumper, Wheel cylinder pressure sensors, ESC hydraulic regulations unit, dSPACE Micro on the brake piping before wheel cylinder Autobox controllers and dSPACE Rapid pro drivers；
The dSPACE Micro Autobox controllers respectively with millimetre-wave radar, Wheel cylinder pressure sensors, vehicle CAN Bus is connected；
The dSPACE Micro Autobox controllers pass through thunder not connector and dSPACE Rapid pro drivers It is connected；
The dSPACE Rapid pro drivers are connected with ESC hydraulic regulation units.
The units of ESC hydraulic regulations described in technical scheme include front axle high pressure valve 1, front axle switching valve 2, front axle check valve 30th, rear axle switching valve 3, rear axle check valve 31, rear axle high pressure valve 4, front left liquid inlet electromagnetic valve 8, front left feed liquor check valve 32, front right Liquid inlet electromagnetic valve 9, front right feed liquor check valve 33, rear left liquid inlet electromagnetic valve 10, rear left feed liquor check valve 34, rear right liquid inlet electromagnetic valve 11st, rear right feed liquor check valve 35, front left liquid outlet electromagnetic valve 14, front right liquid outlet electromagnetic valve 15, rear left liquid outlet electromagnetic valve 16, rear right go out Liquid electromagnetic valve 17, front axle plunger pump 6, rear axle plunger pump 7, front axle low pressure accumulator 12, rear axle low pressure accumulator 13；Outer connecting portion Part includes master cylinder 26, preceding revolver 22, front right wheel 23, revolver after 24, rear right wheel 25；
The Wheel cylinder pressure sensors, front and back wheel totally four, respectively front left Wheel cylinder pressure sensors 18, front right wheel cylinder pressure Force snesor 19, rear left Wheel cylinder pressure sensors 20, rear right Wheel cylinder pressure sensors 21；
The p mouths of front axle high pressure valve 1, a mouths of front axle switching valve 2, front axle check valve 30 p mouths respectively with master cylinder 26 A mouthfuls of pipeline connections；The p mouths of rear axle high pressure valve 4, a mouths of rear axle switching valve 3, rear axle check valve 31 p mouths respectively with master cylinder 26 B mouths pipeline connection；
The a mouths of front axle high pressure valve 1 are connected with the p mouth pipelines of front axle plunger pump 6, a mouths and the rear axle plunger of rear axle high pressure valve 4 The p mouths pipeline connection of pump 7；
The p mouths of front axle switching valve 2, a mouths of front axle check valve 30, front left liquid inlet electromagnetic valve 8 p mouths, front left feed liquor it is unidirectional The a mouths of a mouths of valve 32, the p mouths of front right liquid inlet electromagnetic valve 9, a mouths of front right feed liquor check valve 33 respectively with front axle plunger pump 6 are managed Road is connected；
The p mouths of rear axle switching valve 3, a mouths of rear axle check valve 31, rear left liquid inlet electromagnetic valve 10 p mouths, rear left feed liquor it is unidirectional The a mouths of a mouths of valve 34, the p mouths of rear right liquid inlet electromagnetic valve 11, a mouths of rear right feed liquor check valve 35 respectively with rear axle plunger pump 7 are managed Road is connected；
The a mouths of front left liquid inlet electromagnetic valve 8, the p mouths of front left feed liquor check valve 32, the p mouths of front left liquid outlet electromagnetic valve 14, front left Wheel cylinder pressure sensors 18 are connected with the preceding pipeline of revolver 22 respectively；
The a mouths of front right liquid inlet electromagnetic valve 9, the p mouths of front right feed liquor check valve 33, the p mouths of front right liquid outlet electromagnetic valve 15, front right Wheel cylinder pressure sensors 19 are connected with the pipeline of front right wheel 23 respectively；
The a mouths of rear left liquid inlet electromagnetic valve 10, the p mouths of rear left feed liquor check valve 34, the p mouths of rear left liquid outlet electromagnetic valve 16, after Revolver cylinder pressure transducer 20 is connected with the pipeline of revolver after 24 respectively；
The a mouths of rear right liquid inlet electromagnetic valve 11, the p mouths of rear right feed liquor check valve 35, the p mouths of rear right liquid outlet electromagnetic valve 17, after Right wheel cylinder pressure transducer 21 is connected with the pipeline of rear right wheel 25 respectively；
Front axle low pressure accumulator 12, a mouths of front left liquid outlet electromagnetic valve 14, a mouths of front right liquid outlet electromagnetic valve 15, front axle high pressure The a mouths of valve 1 are connected with the p mouth pipelines of front axle plunger pump 6 respectively；
Rear axle low pressure accumulator 13, a mouths of rear left liquid outlet electromagnetic valve 16, a mouths of rear right liquid outlet electromagnetic valve 17, rear axle high pressure The a mouths of valve 4 are connected with the p mouth pipelines of rear axle plunger pump 7 respectively.
Front axle switching valve described in technical scheme 2, rear axle switching valve 3, front left liquid inlet electromagnetic valve 8, front right liquid inlet electromagnetic valve 9th, rear left liquid inlet electromagnetic valve 10, rear right liquid inlet electromagnetic valve 11 are linear normally open solenoid valve, can be by pulse width modulation side Method is controlled；Front left liquid inlet electromagnetic valve 8, front right liquid inlet electromagnetic valve 9, rear left liquid inlet electromagnetic valve 10, rear right liquid inlet electromagnetic valve 11 It is used to rate of pressurization control；Front axle switching valve 2, rear axle switching valve 3 are controlled for fluid pressure line oil pressure relief, make pressure of wheel braking cylinder Stabilization is in demand brake pressure；
The front axle high pressure valve 1, rear axle high pressure valve 4, front left liquid outlet electromagnetic valve 14, front right liquid outlet electromagnetic valve 15, rear left go out Liquid electromagnetic valve 16, rear right liquid outlet electromagnetic valve 17 are switch normally closed solenoid valve, can be controlled by low and high level signal；Before Left liquid outlet electromagnetic valve 14, front right liquid outlet electromagnetic valve 15, rear left liquid outlet electromagnetic valve 16, rear right liquid outlet electromagnetic valve 17 are used to braking system The Decompression Controlling of system；Supply of the front axle high pressure valve 1 for the p mouth brake fluid of front axle plunger pump 6 during active boost, rear axle is high Supply of the pressure valve 4 for the p mouth brake fluid of rear axle plunger pump 7 during active boost.
A kind of self-adaption cruise system control method, vehicle judges whether to enter adaptive first according to vehicle transport condition Cruise system active brake state of a control；
Then by controlling the dutycycle of switching valve to carry out pressure of wheel braking cylinder in the control of self-adaption cruise system active brake Control, realize the response of vehicle target severity of braking；
It is being 0km/h when speed, and the duration, more than 2s, ESC hydraulic regulations unit carries out initialization Decompression Controlling.
It is as follows that the control of active brake described in technical scheme implements step：
(1) judge whether vehicle enters self-adaption cruise system active brake state of a control
Vehicle includes vehicle driving pedal signal, vehicle brake pedal signal, vehicle Travel vehicle according to whole vehicle state signal Fast signal, judges whether vehicle enters in self-adaption cruise system, and when self-adaption cruise system is run by braking flag bit Judge whether vehicle enters the control of self-adaption cruise system active brake；
(2) wheel cylinder demand pressure is calculated
According to parameters such as target severity of braking, complete vehicle quality, vehicle wheel roll radius, wheel cylinder radiuses, by target severity of braking Wheel cylinder demand pressure is scaled, formula is as follows：
Wherein：M is kerb weight (kg), and z is target severity of braking, and g is gravity accelerating velocity (m/s2), rfRolled for front-wheel Dynamic radius (m), rrFor trailing wheel rolling radius (m), DfFor front-wheel wheel cylinder diameter (m), DrFor rear wheel rotation cylinder diameter (m), RfFor preceding system Moving plate useful effect radius (m), RrFor rear brake disc useful effect radius (m), KbfFor front wheel brake braking effectiveness factor, Kbr For rear wheel brake braking effectiveness factor, p is wheel cylinder demand pressure (Pa).
(3) table look-up and obtain switching valve dutycycle
Wheel cylinder demand pressure and switching valve dutycycle are one-to-one relations, by consulting switching valve dutycycle-wheel cylinder Static oil pressure relief relation table, takes switching valve dutycycle, the static oil pressure relief relation of specific switching valve dutycycle-wheel cylinder Table is demarcated by pre-stage test；
(4) ESC hydraulic regulations unit active brake is pressurized
The ESC hydraulic regulations unit active brake pressurization need to utilize dSPACE Micro in signal control aspect Autobox controllers send high pressure valve switching signal, switching valve duty cycle signals, plunger to dSPACE Rapid pro drivers Pump motor duty cycle signals, dSPACE Rapid pro drivers respond and are converted to output current, are adjusted respectively for ESC hydraulic pressure Save the high pressure valve in unit, switching valve, piston pump motor and carry out current control；High pressure valve controls for switching signal；Switching valve is accounted for It is empty to be tabled look-up acquisition according to switching valve dutycycle than signal；Piston pump motor duty cycle signals are chosen for 70%.
(5) whether judge speed is 0km/h, and the duration is more than 2s
If so, to avoid ESC hydraulic regulation unit magnetic valves from working long hours, causing heating to burn out, then ESC hydraulic regulations Unit carries out initialization Decompression Controlling, performs step (6)；If it is not, then continuing executing with active brake, step (2) is performed；
(6) control ESC hydraulic regulations unit initialization decompression.
Judge whether vehicle is specifically held into self-adaption cruise system active brake state of a control described in technical scheme Row step is as follows：
A. vehicle driving pedal signal is detected
Vehicle driving pedal signal is transmitted to dSPACE Micro via vehicle CAN by entire car controller In Autobox controllers；If driving pedal signal is not 0, driver's intervention self-adaption cruise system, self-adaption cruise system is moved back Go out, perform step d；If driving pedal signal is 0, step b is performed；
B. vehicle brake pedal signal is detected
Vehicle brake pedal signal is transmitted to dSPACE Micro via vehicle CAN by entire car controller In Autobox controllers；If brake pedal signal is not 0, driver's intervention self-adaption cruise system, self-adaption cruise system is moved back Go out, perform step d；If brake pedal signal is 0, step c is performed；
C. vehicle speed of operation signal is detected
Vehicle speed of operation signal is transmitted to dSPACE Micro via vehicle CAN by former car abs controller In Autobox controllers；If vehicle speed of operation is more than or equal to 120km/h obtained by vehicle speed of operation signal, to ensure traveling Security, self-adaption cruise system is automatically exited from, and is performed step d, is travelled by pilot control vehicle；If vehicle speed of operation is believed Vehicle speed of operation is less than 120km/h obtained by number, and self-adaption cruise system is normally run, and performs step e；
D. pilot control vehicle is travelled
Driver carries out vehicle driving and the manipulation of braking, adaptive cruise system by manipulating driving pedal and brake pedal System is not involved in vehicle operation control；
E. judge whether braking flag bit is 1
The self-adaption cruise system control strategy of vehicle can provide in real time braking flag bit size, for vehicle driving or The judgement of braking；Judge whether braking flag bit is 1, if it is not, then vehicle enters self-adaption cruise system drive control, performs step Rapid f；If so, then vehicle is controlled into self-adaption cruise system active brake, step g is performed；
F. self-adaption cruise system drive control
DSPACE Micro Autobox controllers send demand torque to entire car controller by vehicle CAN, whole Vehicle controller is sent to drive motor controller by vehicle CAN, controls motor, realizes the sound of vehicle demand torque Should；
G. self-adaption cruise system active brake is controlled
The relative distance with front vehicles that dSPACE Micro Autobox controllers are obtained according to millimetre-wave radar, With respect to speed information, target severity of braking is calculated, current control ESC hydraulic pressure is produced by dSPACE Rapid pro drivers Adjustment unit, realizes the active brake control of self-adaption cruise system.
Tabled look-up described in technical scheme and obtain comprising the following steps that for switching valve dutycycle：
A. piston pump motor dutycycle is controlled
Using dSPACE Micro Autobox controllers piston pump motor is sent to dSPACE Rapid pro drivers Duty cycle signals, dSPACE Rapid pro drivers respond and are converted to output current, control the post of ESC hydraulic regulation units Pump motor is filled in, the power source control of active brake system is realized；Piston pump motor dutycycle has influence on active brake control process In rate of pressurization, it is 70% to choose piston pump motor dutycycle, be disclosure satisfy that in active brake control process to rate of pressurization Demand；
B. switching valve dutycycle is controlled
Using dSPACE Micro Autobox controllers switching valve duty is sent to dSPACE Rapid pro drivers Than dSPACE Rapid pro drivers respond and are converted to output current, control the front axle switching valve of ESC hydraulic regulation units 2nd, rear axle switching valve 3, realizes the magnetic valve turbulent behavior control of active brake system；
C. the static oil pressure relief of wheel cylinder is obtained
Pressure of wheel braking cylinder signal is converted to voltage signal by pressure sensor, and voltage signal is through overcompensation, amplification and filters, warp The static oil pressure relief of wheel cylinder is obtained by dSPACE Micro Autobox controllers, and the static oil pressure relief of wheel cylinder is carried out Record；
D. switching valve dutycycle is increased
Front axle switching valve 2, the initial value of the switching valve dutycycle of rear axle switching valve 3 are chosen for 10%, and step-length is used as using 5% Increased, until switching valve dutycycle reaches 90%；
E. judge whether switching valve dutycycle reaches 90%
If it is not, then going to the switching valve dutycycle control that step b carries out the front axle switching valve 2, rear axle switching valve 3 of a new round The acquisition of the lower static oil pressure relief of wheel cylinder of system；If it is, terminating the staking-out work of the static oil pressure relief of early stage wheel cylinder；
F. the static oil pressure relief of statistic record switching valve dutycycle and wheel cylinder
Obtain switching valve dutycycle and the relation table of the static oil pressure relief of wheel cylinder.
In technical scheme in ESC hydraulic regulations unit active brake pressurization, the A mouths of master cylinder 26 and B mouthfuls are simultaneously Give
ESC hydraulic regulations unit provides brake fluid；
Front axle and rear axle are separately flowed into the brake fluid in ESC hydraulic regulation units；
Brake fluid for flowing into front axle, front axle plunger pump 6 is driven by the piston pump motor 5 in ESC hydraulic regulation units Work, is flowed into by the A mouths of master cylinder 26, and the p mouths of front axle plunger pump 6 are entered through front axle high pressure valve 1, and front axle plunger pump 6 is stream The brake fluid supercharging entered, high-pressure brake liquid is flowed out by a mouths of front axle plunger pump 6；High-pressure brake liquid flow to three directions simultaneously, the One direction is flowed into front left liquid inlet electromagnetic valve 8, the pressure of wheel braking cylinder for controlling preceding revolver 22, the supercharging of revolver 22 before realizing； Second direction is flowed into front right liquid inlet electromagnetic valve 9, and the pressure of wheel braking cylinder for controlling front right wheel 23 realizes the increasing of front right wheel 23 Pressure；3rd direction will be flowed into front axle switching valve 2, and front axle switching valve 2 has the effect for stablizing oil pressure relief, works as high-pressure brake When hydraulic coupling is higher than oil pressure relief, A mouth of the liquid through master cylinder 26 is flowed into master cylinder 26, realizes high-pressure brake hydraulic pressure The voltage stabilizing control of power；
Brake fluid for flowing into rear axle, rear axle plunger pump 7 is driven by the piston pump motor 5 in ESC hydraulic regulation units Work, is flowed into by the B mouths of master cylinder 26, and the p mouths of rear axle plunger pump 7 are entered through rear axle high pressure valve 4, and rear axle plunger pump 7 is stream The brake fluid supercharging entered, high-pressure brake liquid is flowed out by a mouths of rear axle plunger pump 7；High-pressure brake liquid flow to three directions simultaneously, the One direction is flowed into rear left liquid inlet electromagnetic valve 10, and the pressure of wheel braking cylinder for controlling revolver after 24 realizes the supercharging of revolver after 24； Second direction is flowed into rear right liquid inlet electromagnetic valve 11, and the pressure of wheel braking cylinder for controlling rear right wheel 25 realizes the increasing of rear right wheel 25 Pressure；3rd direction will be flowed into rear axle switching valve 3, and rear axle switching valve 3 has the effect for stablizing oil pressure relief, works as high-pressure brake When hydraulic coupling is higher than oil pressure relief, B mouth of the liquid through master cylinder 26 is flowed into master cylinder 26, realizes high-pressure brake hydraulic pressure The voltage stabilizing control of power；
Specific initialization decompression process is described in technical scheme：Preceding revolver 22, front right wheel 23, revolver after 24, rear right wheel 25 carry out Decompression Controlling simultaneously；
High-pressure brake liquid in preceding revolver 22 flows into front axle switching valve 2, most Zhongdao via front left feed liquor check valve 32 Up to the A mouths of master cylinder 26, the Decompression Controlling of revolver 22 before realizing；
High-pressure brake liquid in front right wheel 23 flows into front axle switching valve 2, most Zhongdao via front right feed liquor check valve 33 Up to the A mouths of master cylinder 26, the Decompression Controlling of front right wheel 23 is realized；
High-pressure brake liquid in revolver after 24 flows into rear axle switching valve 3, most Zhongdao via rear left feed liquor check valve 34 Up to the B mouths of master cylinder 26, the Decompression Controlling of revolver after 24 is realized；
High-pressure brake liquid in rear right wheel 25 flows into rear axle switching valve 3, most Zhongdao via rear right feed liquor check valve 35 Up to the B mouths of master cylinder 26, the Decompression Controlling of rear right wheel 25 is realized.
Compared with prior art the beneficial effects of the invention are as follows：
1. self-adaption cruise system of the present invention, the pure electric automobile for solving to be provided with ABS can not be realized certainly Cruise system function is adapted to, by installing millimetre-wave radar, ESC hydraulic regulation units, less variation is carried out to vehicle, is carried out Rapid Control Prototype Development of Dual, the function of realizing the self-adaption cruise system of pure electric automobile is developed with prior art.
2. self-adaption cruise system of the present invention, to ensure that running status is stable after vehicle transformation, by the ABS of former car Controller is retained, so that vehicle bus signal transmission is normal, it is to avoid occurred caused by vehicle is changed Vehicle bus signals bug.
3. in the active brake control method of self-adaption cruise system of the present invention, it is proposed that switching valve dutycycle- The pre-stage test demarcation flow and method of wheel cylinder static state oil pressure relief relation table, for brake pressure accurately control provide test according to According to.
4. the active brake control method of self-adaption cruise system of the present invention, it is proposed that according to target severity of braking Wheel cylinder demand pressure is scaled, wheel cylinder demand pressure is actively set up by piston pump motor driving plunger pump, pressure of wheel braking cylinder accurately may be used Adjust, realize the demand of self-adaption cruise system target severity of braking real-time change.
Brief description of the drawings
The present invention is further illustrated below in conjunction with the accompanying drawings：
Fig. 1 is of the present invention a kind of based on the self-adaption cruise system configuration picture for possessing traditional ABS pure electric automobiles；
Fig. 2 is ESC hydraulic regulations cellular system configuration picture of the present invention；
Fig. 3 is ESC hydraulic regulation unit liquid streams in self-adaption cruise system active brake pressurization of the present invention Figure；
Fig. 4 is ESC hydraulic regulation lists in self-adaption cruise system active brake of the present invention initialization decompression process First effluogram；
Fig. 5 is self-adaption cruise system active brake control flow chart of the present invention；
Fig. 6 is the entrance escape mechanism flow chart that self-adaption cruise system active brake of the present invention is controlled；
Fig. 7 is the pre-stage test demarcation flow chart that self-adaption cruise system active brake of the present invention is controlled.
In figure：1. front axle high pressure valve；2. front axle switching valve；3. rear axle switching valve；4. rear axle high pressure valve；5. plunger pump is electric Machine；6. front axle plunger pump；7. rear axle plunger pump；8. front left liquid inlet electromagnetic valve；9. front right liquid inlet electromagnetic valve；10. rear left feed liquor is electric Magnet valve；11. rear right liquid inlet electromagnetic valve；12. front axle low pressure accumulator；13. rear axle low pressure accumulator；14. front left liquid outlet electromagnetic valve； 15. front right liquid outlet electromagnetic valve；16. rear left liquid outlet electromagnetic valve；17. rear right liquid outlet electromagnetic valve；18. front left Wheel cylinder pressure sensors； 19. front right Wheel cylinder pressure sensors；20. rear left Wheel cylinder pressure sensors；21. rear right Wheel cylinder pressure sensors；22. before revolver； 23. front right wheel；24. revolver after；25. rear right wheel；26. master cylinder；27. fluid reservoir；28. vacuum booster；29. braking is stepped on Plate；30. front axle check valve；31. rear axle check valve；32. front left feed liquor check valve；33. front right feed liquor check valve；34. rear left is entered Liquid check valve；35. rear right feed liquor check valve.
Embodiment
The present invention is explained in detail below in conjunction with the accompanying drawings：
Refering to Fig. 1, it is based on possessing traditional ABS (anti-blocking brake system) pure electric automobile for one kind that the present invention is provided Self-adaption cruise system configuration picture, is the design of the vehicle self-adaption cruise system carried out on the basis of the existing part of former car. The part of self-adaption cruise system includes entire car controller, drive motor controller, motor, battery management system, battery Group, former car abs controller, 4 wheel speed sensors, millimetre-wave radar, ESC (body electronics stabilitrak) hydraulic regulations Unit, 4 Wheel cylinder pressure sensors, (the rapid prototyping controls of dSPACE companies of dSPACE Micro Autobox controllers Device), dSPACE Rapid pro drivers (the rapid prototyping driver of dSPACE companies).
For the existing part of former car, the part not changed includes entire car controller, drive motor controller, driving electricity Mechanical, electrical pond management system, battery pack, wheel speed sensors.The entire car controller is the core component of former car control, for controlling The action of lower floor's vehicle miscellaneous part controller.The drive motor controller integrates control and driven, and receives from whole Direct current is changed into three-phase alternating current electricity output by the signal of vehicle controller, the inverter inside drive motor controller.It is described Battery management system is interacted by signal wire with vehicle miscellaneous part controller, exports cell operating status, and realization pair The functions such as charge and discharge control, inline diagnosis, the heat management of battery.The motor is used for the advance for realizing vehicle or fallen Car.The battery pack provides power resources for the driving traveling of vehicle.The wheel speed sensors use Hall wheel speed sensor, Vehicle wheel speed is obtained using Hall effect principle, is sent in abs controller.The present invention is by model not to above-mentioned part, portion Annexation between part position, part carries out any design for changing, retaining former car.
For the existing part of former car, the part changed is ABS portion part.The former car abs controller is by former car ABS portion part is disassembled, and only retains abs controller part, and ABS portion part executing agency is included into magnetic valve, plunger pump and post Plug pump motor whole removing is removed.Due to the reservation of former car abs controller, wheel speed sensors, which obtain signal, can be transferred to former car ABS controls In device processed, from without influenceing the estimation of vehicle speed of operation to obtain, abs controller still passes through CAN (controller local area network) Bus carries out data interaction with the other Parts Controllers of vehicle.
For increasing part newly, that millimetre-wave radar is selected is Delphi ESR (electronically scanning Radar) millimetre-wave radar, is that frequency is 76GHz over long distances, and distance is 1~175m, and speed is -100~+25m/s, it is necessary to defeated Enter voltage for direct current 12V, for monitoring the condition of road surface in front of vehicle.Wheel cylinder pressure sensors are produced using BOSCH companies The active pressure sensor of model 303, has three wire harness, wherein two be supply lines, it is necessary to input 5V power supply electricity Pressure, one is signal wire in addition, and output pressure value is 0~5 volt of analog signal, the size for detecting pressure of wheel braking cylinder.ESC liquid Adjustment unit is pressed to use the ESC products of BOSCH companies, version number is 8.0, altogether by a piston pump motor, two plunger pumps, two Individual low pressure accumulator, six check valves, 12 solenoid valve blocks are into for adjusting pressure of wheel braking cylinder, and can realizing active brake work( Energy.DSPACE Micro Autobox controllers are using 1505/1507 series, it is necessary to which 12V supply voltages, embed adaptive cruise The driving algorithm of system and active brake algorithm, the control strategy for running self-adaption cruise system.dSPACE Rapid Pro drivers need 12V supply voltages, corresponding driving current are produced according to the control signal of input, for carrying out ESC hydraulic pressure The magnetic valve of adjustment unit is controlled with piston pump motor.
Become the installation site and annexation of dynamic component and newly-increased part for former car：
Former car abs controller is placed in front engine cabin, and it is suitably idle using band to be fixed on front engine cabin At position, it need to ensure that installation site does not influence the operation of vehicle part, the signal wire harness that abs controller passes through former car ABS Information exchange is carried out with the other Parts Controllers of vehicle.Millimetre-wave radar can be fixed before vehicle by making support by oneself In the middle part of portion's bumper, it is ensured that millimetre-wave radar front portion is blocked without other vehicle parts, and can detect road conditions immediately ahead of vehicle. It is identical with the bolt arrangement size on former car ABS that ESC hydraulic regulation units carry installation bolt, can be directly mounted at former car ABS On position, ESC hydraulic regulation units are used as by two fluid pressure lines by former car master cylinder output when pipeline is connected Input, and four fluid pressure lines are exported by ESC hydraulic regulations unit, control pressure of wheel braking cylinder.Wheel cylinder pressure sensors are arranged on On brake piping before wheel cylinder, front and back wheel totally four, respectively front left Wheel cylinder pressure sensors, front right wheel cylinder pressure sensing Device, rear left Wheel cylinder pressure sensors, rear right Wheel cylinder pressure sensors.DSPACE Micro Autobox controllers utilize signal wire It is respectively connected with described millimetre-wave radar, Wheel cylinder pressure sensors, vehicle CAN, dSPACE Micro Autobox controls Device output end processed utilizes the LEMO connectors (thunder not connector) with 4 stitch to be driven with dSPACE Rapid pro Device is connected；DSPACE Rapid pro driver output ends are connected using wire harness with 38 pin interfaces of ESC hydraulic regulation units. DSPACE Micro Autobox controllers and dSPACE the Rapid pro drivers are placed in compartment at copilot.
To further illustrate the system configuration and pipeline annexation of the ESC hydraulic regulations unit, and point out adaptive The supercharging of cruise system active brake and active brake is answered to initialize the working condition of ESC hydraulic regulation units in decompression process, can Refering to Fig. 2, Fig. 3, Fig. 4.
It is ESC hydraulic regulation cellular system configuration pictures in dotted line frame refering to Fig. 2.Before the ESC hydraulic regulations unit includes Axle high pressure valve 1, front axle switching valve 2, front axle check valve 30, rear axle switching valve 3, rear axle check valve 31, rear axle high pressure valve 4, front left Liquid inlet electromagnetic valve 8, front left feed liquor check valve 32, front right liquid inlet electromagnetic valve 9, front right feed liquor check valve 33, rear left liquid inlet electromagnetic valve 10th, rear left feed liquor check valve 34, rear right liquid inlet electromagnetic valve 11, rear right feed liquor check valve 35, front left liquid outlet electromagnetic valve 14, front right go out Liquid electromagnetic valve 15, rear left liquid outlet electromagnetic valve 16, rear right liquid outlet electromagnetic valve 17, piston pump motor 5, front axle plunger pump 6, rear axle plunger Pump 7, front axle low pressure accumulator 12, rear axle low pressure accumulator 13.Its outer connection component includes brake pedal 29, vacuum booster 28th, fluid reservoir 27, master cylinder 26, front left Wheel cylinder pressure sensors 18, front right Wheel cylinder pressure sensors 19, rear left pressure of wheel braking cylinder Sensor 20, rear right Wheel cylinder pressure sensors 21, preceding revolver 22, front right wheel 23, revolver after 24, rear right wheel 25.
The p mouths of front axle high pressure valve 1, a mouths of front axle switching valve 2, front axle check valve 30 p mouths respectively with master cylinder 26 A mouthfuls of pipeline connections；The p mouths of rear axle high pressure valve 4, a mouths of rear axle switching valve 3, rear axle check valve 31 p mouths respectively with master cylinder 26 B mouths pipeline connection.
The a mouths of front axle high pressure valve 1 are connected with the p mouth pipelines of front axle plunger pump 6, a mouths and the rear axle plunger of rear axle high pressure valve 4 The p mouths pipeline connection of pump 7.
The p mouths of front axle switching valve 2, a mouths of front axle check valve 30, front left liquid inlet electromagnetic valve 8 p mouths, front left feed liquor it is unidirectional The a mouths of a mouths of valve 32, the p mouths of front right liquid inlet electromagnetic valve 9, a mouths of front right feed liquor check valve 33 respectively with front axle plunger pump 6 are managed Road is connected；
The p mouths of rear axle switching valve 3, a mouths of rear axle check valve 31, rear left liquid inlet electromagnetic valve 10 p mouths, rear left feed liquor it is unidirectional The a mouths of a mouths of valve 34, the p mouths of rear right liquid inlet electromagnetic valve 11, a mouths of rear right feed liquor check valve 35 respectively with rear axle plunger pump 7 are managed Road is connected.
The a mouths of front left liquid inlet electromagnetic valve 8, the p mouths of front left feed liquor check valve 32, the p mouths of front left liquid outlet electromagnetic valve 14, front left Wheel cylinder pressure sensors 18 are connected with the preceding pipeline of revolver 22 respectively；
The a mouths of front right liquid inlet electromagnetic valve 9, the p mouths of front right feed liquor check valve 33, the p mouths of front right liquid outlet electromagnetic valve 15, front right Wheel cylinder pressure sensors 19 are connected with the pipeline of front right wheel 23 respectively；
The a mouths of rear left liquid inlet electromagnetic valve 10, the p mouths of rear left feed liquor check valve 34, the p mouths of rear left liquid outlet electromagnetic valve 16, after Revolver cylinder pressure transducer 20 is connected with the pipeline of revolver after 24 respectively.
The a mouths of rear right liquid inlet electromagnetic valve 11, the p mouths of rear right feed liquor check valve 35, the p mouths of rear right liquid outlet electromagnetic valve 17, after Right wheel cylinder pressure transducer 21 is connected with the pipeline of rear right wheel 25 respectively.
Front axle low pressure accumulator 12, a mouths of front left liquid outlet electromagnetic valve 14, a mouths of front right liquid outlet electromagnetic valve 15, front axle high pressure The a mouths of valve 1 are connected with the p mouth pipelines of front axle plunger pump 6 respectively.
Rear axle low pressure accumulator 13, a mouths of rear left liquid outlet electromagnetic valve 16, a mouths of rear right liquid outlet electromagnetic valve 17, rear axle high pressure The a mouths of valve 4 are connected with the p mouth pipelines of rear axle plunger pump 7 respectively.
The front axle switching valve 2, rear axle switching valve 3, front left liquid inlet electromagnetic valve 8, front right liquid inlet electromagnetic valve 9, rear left feed liquor Magnetic valve 10, rear right liquid inlet electromagnetic valve 11 are linear normally open solenoid valve, can be controlled by pulse-width modulation method.Its Middle front left liquid inlet electromagnetic valve 8, front right liquid inlet electromagnetic valve 9, rear left liquid inlet electromagnetic valve 10, rear right liquid inlet electromagnetic valve 11 are used to be pressurized speed Rate is controlled.Front axle switching valve 2, rear axle switching valve 3 are controlled for fluid pressure line oil pressure relief, make pressure of wheel braking cylinder stable in demand system Dynamic pressure.
The front axle high pressure valve 1, rear axle high pressure valve 4, front left liquid outlet electromagnetic valve 14, front right liquid outlet electromagnetic valve 15, rear left go out Liquid electromagnetic valve 16, rear right liquid outlet electromagnetic valve 17 are switch normally closed solenoid valve, can be controlled by low and high level signal.Wherein Front left liquid outlet electromagnetic valve 14, front right liquid outlet electromagnetic valve 15, rear left liquid outlet electromagnetic valve 16, rear right liquid outlet electromagnetic valve 17 can be used for braking The Decompression Controlling of system；Supply of the front axle high pressure valve 1 for the p mouth brake fluid of front axle plunger pump 6 during active boost, rear axle Supply of the high pressure valve 4 for the p mouth brake fluid of rear axle plunger pump 7 during active boost.
In the supercharging of self-adaption cruise system active brake and active brake initialization decompression process is carried out, ESC is required for The cooperation of magnetic valve, plunger pump, piston pump motor in hydraulic regulation unit, embodiment see Fig. 3, Fig. 4.
It is ESC hydraulic regulation unit effluograms in self-adaption cruise system active brake pressurization refering to Fig. 3.Supercharging During pass through the front axle high pressure valve 1 of ESC hydraulic regulation units, rear axle high pressure valve 4, front axle switching valve 2, rear axle switching valve 3, preceding Axle plunger pump 6, rear axle plunger pump 7, piston pump motor 5, front left liquid inlet electromagnetic valve 8, front right liquid inlet electromagnetic valve 9, rear left feed liquor electricity Magnet valve 10, rear right liquid inlet electromagnetic valve 11, which coordinate, to be completed.The A mouths of master cylinder 26 are provided to ESC hydraulic regulations unit simultaneously with B mouthfuls Brake fluid, is respectively used to control the brake force of front axle and rear axle.Specific work process is：Front axle is directed to, by piston pump motor 5 Front axle plunger pump 6 is driven to work, the A mouth brake fluid from master cylinder 26 enters the p of front axle plunger pump 6 through front axle high pressure valve 1 Mouthful, front axle plunger pump 6 is the brake fluid supercharging flowed into, and high-pressure brake liquid is flowed out by a mouths of front axle plunger pump 6.High-pressure brake liquid Three directions are flow to simultaneously, and first direction is flowed into front left liquid inlet electromagnetic valve 8, the pressure of wheel braking cylinder for controlling preceding revolver 22, The supercharging of revolver 22 before realizing, second direction is flowed into front right liquid inlet electromagnetic valve 9, the wheel cylinder pressure for controlling front right wheel 23 Power, realizes the supercharging of front right wheel 23, and the 3rd direction will be flowed into front axle switching valve 2, and front axle switching valve 2, which has, stablizes overflow pressure The effect of power, when high-pressure brake hydraulic coupling is higher than oil pressure relief, the converted valve 2 of liquid, the A mouths of master cylinder 26 flow into system In dynamic master cylinder 26, the voltage stabilizing control of high-pressure brake hydraulic coupling is realized；Rear axle is directed to, rear axle plunger is driven by piston pump motor 5 Pump 7 is worked, the B mouth brake fluid from master cylinder 26, and the p mouths of rear axle plunger pump 7, rear axle plunger are entered through rear axle high pressure valve 4 Pump 7 is the brake fluid supercharging flowed into, and high-pressure brake liquid is flowed out by a mouths of rear axle plunger pump 7.High-pressure brake liquid flow to three simultaneously Direction, first direction is flowed into rear left liquid inlet electromagnetic valve 10, and the pressure of wheel braking cylinder for controlling revolver after 24 realizes revolver after 24 Supercharging, second direction flowed into rear right liquid inlet electromagnetic valve 11, and the pressure of wheel braking cylinder for controlling rear right wheel 25 realizes rear right wheel 25 supercharging, the 3rd direction will be flowed into rear axle switching valve 3, and rear axle switching valve 3 has the effect for stablizing oil pressure relief, works as height When hydraulic brake fluid pressure is higher than oil pressure relief, the converted valve 3 of liquid, the B mouths of master cylinder 26 are flowed into master cylinder 26, real The voltage stabilizing control of existing high-pressure brake hydraulic coupling.
It is ESC hydraulic regulation unit liquid streams in self-adaption cruise system active brake initialization decompression process refering to Fig. 4 Figure.In decompression process the magnetic valve of ESC hydraulic regulations unit in a state of nature, i.e., front axle high pressure valve 1, at rear axle high pressure valve 4 In closed mode；Front axle switching valve 2, rear axle switching valve 3 are in opening；Front left liquid inlet electromagnetic valve 8, front right liquid inlet electromagnetic valve 9th, rear left liquid inlet electromagnetic valve 10, rear right liquid inlet electromagnetic valve 11 are in opening；Front left liquid outlet electromagnetic valve 14, front right go out liquid electromagnetic Valve 15, rear left liquid outlet electromagnetic valve 16, rear right liquid outlet electromagnetic valve 17 are closed, while piston pump motor 5 does not work.Front left Wheel 22, front right wheel 23, revolver after 24, rear right wheel 25 carry out Decompression Controlling simultaneously, wherein the high-pressure brake in preceding revolver 22 Liquid flows into front axle switching valve 2 via front left feed liquor check valve 32, eventually arrives at the A mouths of master cylinder 26, revolver 22 before realizing Decompression Controlling；High-pressure brake liquid in front right wheel 23 flows into front axle switching valve 2, most Zhongdao via front right feed liquor check valve 33 Up to the A mouths of master cylinder 26, the Decompression Controlling of front right wheel 23 is realized；High-pressure brake liquid in revolver after 24 enters via rear left Liquid check valve 34 flows into rear axle switching valve 3, eventually arrives at the B mouths of master cylinder 26, realizes the Decompression Controlling of revolver after 24；It is located at High-pressure brake liquid in rear right wheel 25 flows into rear axle switching valve 3 via rear right feed liquor check valve 35, eventually arrives at master cylinder 26 B mouths, realize the Decompression Controlling of rear right wheel 25.
Based on the above-mentioned hardware modifications for self-adaption cruise system, the present invention proposes a kind of based on adaptive cruise system The active brake system control method of system.Adaptively patrolled specifically, vehicle judges whether to enter according to vehicle transport condition first Boat system active brake state of a control, then by controlling switching valve dutycycle in the control of self-adaption cruise system active brake The control of pressure of wheel braking cylinder is carried out, the response of vehicle target severity of braking is realized.When speed be 0km/h, and the duration exceed 2s, to avoid magnetic valve from being worked long hours with piston pump motor, causes ESC hydraulic regulation assembly of elements service life reductions or even burning Bad, ESC hydraulic regulations unit carries out initialization Decompression Controlling.
It is the active brake control flow chart in self-adaption cruise system of the invention refering to Fig. 5.Specific active brake Control realizes that step is as follows：
(1) judge whether vehicle enters self-adaption cruise system active brake state of a control
Refering to Fig. 6, vehicle needs to include vehicle driving pedal signal, vehicle brake pedal letter according to whole vehicle state signal Number, vehicle speed of operation signal, judge whether vehicle enters in self-adaption cruise system, and when self-adaption cruise system is run Judge whether vehicle enters the control of self-adaption cruise system active brake by braking flag bit, specific execution step is as follows：
A. vehicle driving pedal signal is detected
Vehicle driving pedal signal is transmitted to dSPACE Micro via vehicle CAN by entire car controller In Autobox controllers.If driving pedal signal is not 0, driver's intervention self-adaption cruise system, self-adaption cruise system is moved back Go out, perform step d；If driving pedal signal is 0, step b is performed.
B. vehicle brake pedal signal is detected
Vehicle brake pedal signal is transmitted to dSPACE Micro via vehicle CAN by entire car controller In Autobox controllers.If brake pedal signal is not 0, driver's intervention self-adaption cruise system, self-adaption cruise system is moved back Go out, perform step d；If brake pedal signal is 0, step c is performed.
C. vehicle speed of operation signal is detected
Vehicle speed of operation signal is transmitted to dSPACE Micro via vehicle CAN by former car abs controller In Autobox controllers.If vehicle speed of operation is more than or equal to 120km/h obtained by vehicle speed of operation signal, to ensure traveling Security, self-adaption cruise system is automatically exited from, and is performed step d, is travelled by pilot control vehicle；If vehicle speed of operation is believed Vehicle speed of operation is less than 120km/h obtained by number, and self-adaption cruise system is normally run, and performs step e.
D. pilot control vehicle is travelled
Driver carries out vehicle driving and the manipulation of braking, adaptive cruise system by manipulating driving pedal and brake pedal System is not involved in vehicle operation control.
E. judge whether braking flag bit is 1
The self-adaption cruise system control strategy of vehicle can provide in real time braking flag bit size, for vehicle driving or The judgement of braking.Judge whether braking flag bit is 1, if it is not, then vehicle enters self-adaption cruise system drive control, performs step Rapid f；If so, then vehicle is controlled into self-adaption cruise system active brake, step g is performed.
F. self-adaption cruise system drive control
DSPACE Micro Autobox controllers send demand torque to entire car controller by vehicle CAN, whole Vehicle controller is sent to drive motor controller by vehicle CAN, controls motor, realizes the sound of vehicle demand torque Should.
G. self-adaption cruise system active brake is controlled
The relative distance with front vehicles that dSPACE Micro Autobox controllers are obtained according to millimetre-wave radar, With respect to speed information, target severity of braking is calculated, current control ESC hydraulic pressure is produced by dSPACE Rapid pro drivers Adjustment unit, realizes the active brake control of self-adaption cruise system.
(2) wheel cylinder demand pressure is calculated
According to parameters such as target severity of braking, complete vehicle quality, vehicle wheel roll radius, wheel cylinder radiuses, by target severity of braking It is scaled wheel cylinder demand pressure.It is as follows with specific reference to formula：
Wherein：M is kerb weight (kg), and z is target severity of braking, and g is gravity accelerating velocity (m/s2), rfRolled for front-wheel Dynamic radius (m), rrFor trailing wheel rolling radius (m), DfFor front-wheel wheel cylinder diameter (m), DrFor rear wheel rotation cylinder diameter (m), RfFor preceding system Moving plate useful effect radius (m), RrFor rear brake disc useful effect radius (m), KbfFor front wheel brake braking effectiveness factor, Kbr For rear wheel brake braking effectiveness factor, p is wheel cylinder demand pressure (Pa).
(3) table look-up and obtain switching valve dutycycle
Wheel cylinder demand pressure and switching valve dutycycle are one-to-one relations, thus can be by consulting switching valve duty Than-static oil pressure relief the relation table of wheel cylinder, switching valve dutycycle is taken.The specific static overflow of switching valve dutycycle-wheel cylinder Pressure dependence table is demarcated by pre-stage test, and specific steps see Fig. 7.
A. piston pump motor dutycycle is controlled
Using dSPACE Micro Autobox controllers piston pump motor is sent to dSPACE Rapid pro drivers Duty cycle signals, dSPACE Rapid pro drivers respond and are converted to output current, control the post of ESC hydraulic regulation units Pump motor is filled in, the power source control of active brake system is realized.Piston pump motor dutycycle has influence on active brake control process In rate of pressurization, it is 70% to choose piston pump motor dutycycle, can be met in active brake control process to rate of pressurization Demand.
B. switching valve dutycycle is controlled
Using dSPACE Micro Autobox controllers switching valve duty is sent to dSPACE Rapid pro drivers Than dSPACE Rapid pro drivers respond and are converted to output current, control the front axle switching valve of ESC hydraulic regulation units 2nd, rear axle switching valve 3, realizes the magnetic valve turbulent behavior control of active brake system.
C. the static oil pressure relief of wheel cylinder is obtained
Pressure of wheel braking cylinder signal is converted to voltage signal by pressure sensor, and voltage signal is through overcompensation, amplification and filters, warp The static oil pressure relief of wheel cylinder is obtained by dSPACE Micro Autobox controllers, and the static oil pressure relief of wheel cylinder is carried out Record.
D. switching valve dutycycle is increased
Front axle switching valve 2, the initial value of the switching valve dutycycle of rear axle switching valve 3 are chosen for 10%, and step-length is used as using 5% Increased, until switching valve dutycycle reaches 90%.
E. judge whether switching valve dutycycle reaches 90%
If it is not, then going to the switching valve dutycycle control that step b carries out the front axle switching valve 2, rear axle switching valve 3 of a new round The acquisition of the lower static oil pressure relief of wheel cylinder of system；If it is, terminating the staking-out work of the static oil pressure relief of wheel cylinder.
F. the static oil pressure relief of statistic record switching valve dutycycle and wheel cylinder
According to the result of above-mentioned experiment, switching valve dutycycle and the relation table of the static oil pressure relief of wheel cylinder are obtained.
(4) ESC hydraulic regulations unit active brake is pressurized
The ESC hydraulic regulations unit active brake pressurization need to utilize dSPACE Micro in signal control aspect Autobox controllers send high pressure valve switching signal, switching valve duty cycle signals, plunger to dSPACE Rapid pro drivers Pump motor duty cycle signals, dSPACE Rapid pro drivers respond and are converted to output current, are adjusted respectively for ESC hydraulic pressure Save the high pressure valve in unit, switching valve, piston pump motor and carry out current control.Wherein high pressure valve controls for switching signal；Conversion Valve duty cycle signals are tabled look-up acquisition according to the static oil pressure relief relation table of switching valve dutycycle-wheel cylinder；Piston pump motor dutycycle Signal is chosen for 70%.
After the signal control of response ESC hydraulic regulation unit active brake pressurizations, ESC hydraulic regulations unit is actively Brake oil flow see Fig. 3 in braking pressurization, and the wherein A mouths of master cylinder 26 give ESC hydraulic regulation lists simultaneously with B mouthfuls Member provides brake fluid.
Front axle and rear axle are separately flowed into the brake fluid in ESC hydraulic regulation units.
Brake fluid for flowing into front axle, front axle plunger pump 6 is driven by the piston pump motor 5 in ESC hydraulic regulation units Work, is flowed into by the A mouths of master cylinder 26, and the p mouths of front axle plunger pump 6 are entered through front axle high pressure valve 1, and front axle plunger pump 6 is stream The brake fluid supercharging entered, high-pressure brake liquid is flowed out by a mouths of front axle plunger pump 6.High-pressure brake liquid flow to three directions simultaneously, the One direction is flowed into front left liquid inlet electromagnetic valve 8, the pressure of wheel braking cylinder for controlling preceding revolver 22, the supercharging of revolver 22 before realizing, Second direction is flowed into front right liquid inlet electromagnetic valve 9, and the pressure of wheel braking cylinder for controlling front right wheel 23 realizes the increasing of front right wheel 23 Pressure, the 3rd direction will be flowed into front axle switching valve 2, and front axle switching valve 2 has the effect for stablizing oil pressure relief, works as high-pressure brake When hydraulic coupling is higher than oil pressure relief, A mouth of the liquid through master cylinder 26 is flowed into master cylinder 26, realizes high-pressure brake hydraulic pressure The voltage stabilizing control of power；
Brake fluid for flowing into rear axle, drives rear axle plunger pump 7 to work, by the B of master cylinder 26 by piston pump motor 5 Mouth is flowed into, and the p mouths of rear axle plunger pump 7 is entered through rear axle high pressure valve 4, rear axle plunger pump 7 is pressurized for the brake fluid flowed into, by rear axle The a mouths outflow high-pressure brake liquid of plunger pump 7.High-pressure brake liquid flow to three directions simultaneously, and first direction flows into rear left feed liquor In magnetic valve 10, the pressure of wheel braking cylinder for controlling revolver after 24 realizes the supercharging of revolver after 24, and second direction flows into rear right and entered In liquid electromagnetic valve 11, the pressure of wheel braking cylinder for controlling rear right wheel 25, after realizing that the supercharging of rear right wheel 25, the 3rd direction will be flowed into In axle switching valve 3, rear axle switching valve 3 has the effect for stablizing oil pressure relief, when high-pressure brake hydraulic coupling is higher than oil pressure relief, B mouth of the liquid through master cylinder 26 is flowed into master cylinder 26, realizes the voltage stabilizing control of high-pressure brake hydraulic coupling.
The control being pressurized by ESC hydraulic regulation units active brake, finally realizes the target severity of braking of vehicle.
(5) whether judge speed is 0km/h, and the duration is more than 2s
If so, to avoid ESC hydraulic regulation unit magnetic valves from working long hours, causing heating to burn out, then ESC hydraulic regulations Unit carries out initialization Decompression Controlling, performs step (6)；If it is not, then continuing executing with active brake, step (2) is performed.
(6) control ESC hydraulic regulations unit initialization decompression
The initialization for the self-adaption cruise system active brake process that specific initialization decompression process see Fig. 4 was depressurized Journey.Preceding revolver 22, front right wheel 23, revolver after 24, rear right wheel 25 carry out Decompression Controlling simultaneously, wherein the height in preceding revolver 22 Hydraulic brake fluid flows into front axle switching valve 2 via front left feed liquor check valve 32, eventually arrives at the A mouths of master cylinder 26, realizes front left The Decompression Controlling of wheel 22；High-pressure brake liquid in front right wheel 23 flows into front axle switching valve 2 via front right feed liquor check valve 33, The A mouths of master cylinder 26 are eventually arrived at, the Decompression Controlling of front right wheel 23 is realized；High-pressure brake liquid in revolver after 24 via Rear left feed liquor check valve 34 flows into rear axle switching valve 3, eventually arrives at the B mouths of master cylinder 26, realizes the decompression control of revolver after 24 System；High-pressure brake liquid in rear right wheel 25 flows into rear axle switching valve 3 via rear right feed liquor check valve 35, eventually arrives at braking The B mouths of master cylinder 26, realize the Decompression Controlling of rear right wheel 25.

Claims (6)

1. a kind of self-adaption cruise system, including entire car controller, drive motor controller, motor, battery management system, Battery pack, former car abs controller, wheel speed sensors；It is characterized in that：Also include the millimeter being fixed in vehicle front bumper Ripple radar, the Wheel cylinder pressure sensors on the brake piping before wheel cylinder, ESC hydraulic regulations unit, dSPACE Micro Autobox controllers and dSPACE Rapid pro drivers；
The dSPACE Micro Autobox controllers respectively with millimetre-wave radar, Wheel cylinder pressure sensors, vehicle CAN It is connected；
By thunder, connector is not connected the dSPACE Micro Autobox controllers with dSPACE Rapid pro drivers；
The dSPACE Rapid pro drivers are connected with ESC hydraulic regulation units.
2. a kind of control method of the self-adaption cruise system described in use claim 1, it is characterised in that：
Vehicle judges whether to enter self-adaption cruise system active brake state of a control first according to vehicle transport condition；
Then by controlling the dutycycle of switching valve to carry out the control of pressure of wheel braking cylinder in the control of self-adaption cruise system active brake System, realizes the response of vehicle target severity of braking；
It is being 0km/h when speed, and the duration, more than 2s, ESC hydraulic regulations unit carries out initialization Decompression Controlling.
3. a kind of self-adaption cruise system control method according to claim 2, it is characterised in that：
It is as follows that the active brake control implements step：
(1) judge whether vehicle enters self-adaption cruise system active brake state of a control
Vehicle includes vehicle driving pedal signal, vehicle brake pedal signal, vehicle speed of operation according to whole vehicle state signal to be believed Number, judge that whether vehicle enters in self-adaption cruise system, and judged when self-adaption cruise system is run by braking flag bit Whether vehicle enters the control of self-adaption cruise system active brake；
(2) wheel cylinder demand pressure is calculated
According to parameters such as target severity of braking, complete vehicle quality, vehicle wheel roll radius, wheel cylinder radiuses, target severity of braking is converted For wheel cylinder demand pressure, formula is as follows：
<mrow> <mi>p</mi> <mo>=</mo> <mfrac> <mrow> <mi>m</mi> <mi>z</mi> <mi>g</mi> </mrow> <mrow> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <msubsup> <mi>&amp;pi;D</mi> <mi>f</mi> <mn>2</mn> </msubsup> <msub> <mi>R</mi> <mi>f</mi> </msub> <msub> <mi>K</mi> <mrow> <mi>b</mi> <mi>f</mi> </mrow> </msub> <msub> <mi>r</mi> <mi>f</mi> </msub> <mo>+</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <msubsup> <mi>&amp;pi;D</mi> <mi>r</mi> <mn>2</mn> </msubsup> <msub> <mi>R</mi> <mi>r</mi> </msub> <msub> <mi>K</mi> <mrow> <mi>b</mi> <mi>r</mi> </mrow> </msub> <msub> <mi>r</mi> <mi>r</mi> </msub> </mrow> </mfrac> </mrow>
Wherein：M is kerb weight (kg), and z is target severity of braking, and g is gravity accelerating velocity (m/s2), rfHalf is rolled for front-wheel Footpath (m), rrFor trailing wheel rolling radius (m), DfFor front-wheel wheel cylinder diameter (m), DrFor rear wheel rotation cylinder diameter (m), RfFor front brake disc Useful effect radius (m), RrFor rear brake disc useful effect radius (m), KbfFor front wheel brake braking effectiveness factor, KbrTo be rear Brake efficiency factor is taken turns, p is wheel cylinder demand pressure (Pa)；
(3) table look-up and obtain switching valve dutycycle
Wheel cylinder demand pressure and switching valve dutycycle are one-to-one relations, static by consulting switching valve dutycycle-wheel cylinder Oil pressure relief relation table, takes switching valve dutycycle, and the static oil pressure relief relation table of specific switching valve dutycycle-wheel cylinder leads to Cross pre-stage test demarcation；
(4) ESC hydraulic regulations unit active brake is pressurized
The ESC hydraulic regulations unit active brake pressurization need to utilize dSPACE Micro in signal control aspect Autobox controllers send high pressure valve switching signal, switching valve duty cycle signals, plunger to dSPACE Rapid pro drivers Pump motor duty cycle signals, dSPACE Rapid pro drivers respond and are converted to output current, are adjusted respectively for ESC hydraulic pressure Save the high pressure valve in unit, switching valve, piston pump motor and carry out current control；High pressure valve controls for switching signal；Switching valve is accounted for It is empty to be tabled look-up acquisition according to switching valve dutycycle than signal；Piston pump motor duty cycle signals are chosen for 70%；
(5) whether judge speed is 0km/h, and the duration is more than 2s
If so, to avoid ESC hydraulic regulation unit magnetic valves from working long hours, causing heating to burn out, then ESC hydraulic regulations unit Initialization Decompression Controlling is carried out, step (6) is performed；If it is not, then continuing executing with active brake, step (2) is performed；
(6) control ESC hydraulic regulations unit initialization decompression.
4. a kind of self-adaption cruise system control method according to claim 3, it is characterised in that：
It is described that to judge whether vehicle into self-adaption cruise system active brake state of a control specifically performs step as follows：
A. vehicle driving pedal signal is detected
Vehicle driving pedal signal is transmitted to dSPACE Micro Autobox controls via vehicle CAN by entire car controller In device processed；If driving pedal signal is not 0, driver's intervention self-adaption cruise system, self-adaption cruise system is exited, and performs step Rapid d；If driving pedal signal is 0, step b is performed；
B. vehicle brake pedal signal is detected
Vehicle brake pedal signal is transmitted to dSPACE Micro Autobox controls via vehicle CAN by entire car controller In device processed；If brake pedal signal is not 0, driver's intervention self-adaption cruise system, self-adaption cruise system is exited, and performs step Rapid d；If brake pedal signal is 0, step c is performed；
C. vehicle speed of operation signal is detected
Vehicle speed of operation signal is transmitted to dSPACE Micro Autobox via vehicle CAN by former car abs controller In controller；If vehicle speed of operation is more than or equal to 120km/h obtained by vehicle speed of operation signal, to ensure driving safety, Self-adaption cruise system is automatically exited from, and is performed step d, is travelled by pilot control vehicle；If obtained by vehicle speed of operation signal Vehicle speed of operation is less than 120km/h, and self-adaption cruise system is normally run, and performs step e；
D. pilot control vehicle is travelled
Driver carries out vehicle driving and the manipulation of braking by manipulating driving pedal and brake pedal, and self-adaption cruise system is not Participate in vehicle operation control；
E. judge whether braking flag bit is 1
The self-adaption cruise system control strategy of vehicle can provide the size of braking flag bit in real time, drive or brake for vehicle Judgement；Judge whether braking flag bit is 1, if it is not, then vehicle enters self-adaption cruise system drive control, perform step f； If so, then vehicle is controlled into self-adaption cruise system active brake, step g is performed；
F. self-adaption cruise system drive control
DSPACE Micro Autobox controllers send demand torque to entire car controller, vehicle control by vehicle CAN Device processed is sent to drive motor controller by vehicle CAN, controls motor, realizes the response of vehicle demand torque；
G. self-adaption cruise system active brake is controlled
The relative distance with front vehicles that dSPACE Micro Autobox controllers are obtained according to millimetre-wave radar, relatively Speed information, calculates target severity of braking, and current control ESC hydraulic regulations are produced by dSPACE Rapid pro drivers Unit, realizes the active brake control of self-adaption cruise system.
5. a kind of self-adaption cruise system control method according to claim 3, it is characterised in that：
Described table look-up obtains comprising the following steps that for switching valve dutycycle：
A. piston pump motor dutycycle is controlled
Using dSPACE Micro Autobox controllers piston pump motor duty is sent to dSPACE Rapid pro drivers Than signal, dSPACE Rapid pro drivers respond and are converted to output current, control the plunger pump of ESC hydraulic regulation units Motor, realizes the power source control of active brake system；Piston pump motor dutycycle is had influence in active brake control process Rate of pressurization, it is 70% to choose piston pump motor dutycycle, disclosure satisfy that the need to rate of pressurization in active brake control process Ask；
B. switching valve dutycycle is controlled
Switching valve dutycycle is sent to dSPACE Rapid pro drivers using dSPACE Micro Autobox controllers, DSPACE Rapid pro drivers respond and are converted to output current, control the front axle switching valve of ESC hydraulic regulation units (2), rear axle switching valve (3), realize the magnetic valve turbulent behavior control of active brake system；
C. the static oil pressure relief of wheel cylinder is obtained
Pressure of wheel braking cylinder signal is converted to voltage signal by pressure sensor, and voltage signal is through overcompensation, amplification and filters, via DSPACE Micro Autobox controllers obtain the static oil pressure relief of wheel cylinder, and the static oil pressure relief of wheel cylinder is remembered Record；
D. switching valve dutycycle is increased
Front axle switching valve 2, the initial value of the switching valve dutycycle of rear axle switching valve 3 are chosen for 10%, are carried out using 5% as step-length Increase, until switching valve dutycycle reaches 90%；
E. judge whether switching valve dutycycle reaches 90%
If it is not, then going to the switching valve dutycycle control that step b carries out the front axle switching valve (2), rear axle switching valve (3) of a new round The acquisition of the lower static oil pressure relief of wheel cylinder of system；If it is, terminating the staking-out work of the static oil pressure relief of early stage wheel cylinder；
F. the static oil pressure relief of statistic record switching valve dutycycle and wheel cylinder
Obtain switching valve dutycycle and the relation table of the static oil pressure relief of wheel cylinder.
6. a kind of self-adaption cruise system control method according to claim 3, it is characterised in that：
In ESC hydraulic regulation unit active brake pressurizations, the A mouths of master cylinder (26) are with B mouthfuls simultaneously to ESC hydraulic regulations Unit provides brake fluid；
Front axle and rear axle are separately flowed into the brake fluid in ESC hydraulic regulation units；
Brake fluid for flowing into front axle, front axle plunger pump (6) is driven by the piston pump motor (5) in ESC hydraulic regulation units Work, is flowed into by the A mouths of master cylinder (26), the p mouths of front axle plunger pump (6), front axle plunger pump is entered through front axle high pressure valve (1) (6) it is the brake fluid supercharging flowed into, high-pressure brake liquid is flowed out by a mouths of front axle plunger pump (6)；High-pressure brake liquid flow to three simultaneously Individual direction, first direction is flowed into front left liquid inlet electromagnetic valve (8), the pressure of wheel braking cylinder for controlling preceding revolver (22), before realization The supercharging of revolver (22)；Second direction is flowed into front right liquid inlet electromagnetic valve (9), the wheel cylinder pressure for controlling front right wheel (23) Power, realizes the supercharging of front right wheel (23)；3rd direction will be flowed into front axle switching valve (2), and front axle switching valve (2) has stable The effect of oil pressure relief, when high-pressure brake hydraulic coupling is higher than oil pressure relief, A mouth of the liquid through master cylinder (26) flows into system In dynamic master cylinder (26), the voltage stabilizing control of high-pressure brake hydraulic coupling is realized；
Brake fluid for flowing into rear axle, rear axle plunger pump (7) is driven by the piston pump motor (5) in ESC hydraulic regulation units Work, is flowed into by the B mouths of master cylinder (26), the p mouths of rear axle plunger pump (7), rear axle plunger pump is entered through rear axle high pressure valve (4) (7) it is the brake fluid supercharging flowed into, high-pressure brake liquid is flowed out by a mouths of rear axle plunger pump (7)；High-pressure brake liquid flow to three simultaneously Individual direction, first direction is flowed into rear left liquid inlet electromagnetic valve (10), the pressure of wheel braking cylinder for controlling revolver after (24), after realization The supercharging of revolver (24)；Second direction is flowed into rear right liquid inlet electromagnetic valve (11), the wheel cylinder pressure for controlling rear right wheel (25) Power, realizes the supercharging of rear right wheel (25)；3rd direction will be flowed into rear axle switching valve (3), and rear axle switching valve (3) has stable The effect of oil pressure relief, when high-pressure brake hydraulic coupling is higher than oil pressure relief, B mouth of the liquid through master cylinder (26) flows into system In dynamic master cylinder (26), the voltage stabilizing control of high-pressure brake hydraulic coupling is realized.
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