CN106515692B - A kind of emergency vehicle method and system in slope - Google Patents
A kind of emergency vehicle method and system in slope Download PDFInfo
- Publication number
- CN106515692B CN106515692B CN201611177898.5A CN201611177898A CN106515692B CN 106515692 B CN106515692 B CN 106515692B CN 201611177898 A CN201611177898 A CN 201611177898A CN 106515692 B CN106515692 B CN 106515692B
- Authority
- CN
- China
- Prior art keywords
- level
- surface shape
- driving direction
- parking
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 239000003550 marker Substances 0.000 claims abstract description 69
- 239000003990 capacitor Substances 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 9
- 238000005491 wire drawing Methods 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 7
- 239000000523 sample Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000005096 rolling process Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 238000001914 filtration Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 210000003781 tooth socket Anatomy 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
- B60T7/122—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger for locking of reverse movement
-
- 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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of emergency vehicle method and system in slope, this method comprises: detection driver's seat on whether someone, if it is not, then the level of driving direction marker demarcated in advance in the information sent according to wheel speed sensors, vehicle whether forward car slipping or car slipping backward are judged；When car slipping backward, control electronic parking handle carries out parking braking automatically；When car slipping forward, control electronic parking handle carries out parking braking automatically, and is braked by anti-blocking brake system solenoid valve control front brake.The problem of more suitable parking braking mode is selected according to rolling direction, is unable to satisfy actual demand using the vehicle method in slope that the present invention can solve the prior art due to the present invention.
Description
Technical field
The present invention relates to technical field of electronic control, in particular to a kind of emergency vehicle method and system in slope.
Background technique
As vehicle population is increasing, the active safety of vehicle increasingly obtains the attention of people.In life often
The parking handle after parking is commonly encountered not draw due to lead to vehicle there is a phenomenon where " slipping by slope ", cause life and property loss it is serious after
Fruit.
Whether the emergency vehicle method in slope of the prior art mainly passes through has in seating pressure sensor detection main seat
People, and detect whether current shift is forward gear or retreating gear by shift sensor, if no one in main seat, and would work as front
Position is forward gear or retreating gear, then controls braking system and braked.But current shift can not directly reflect current vehicle
Whether car slipping occurs: even if current shift is not forward gear or retreating gear, when vehicle is located at ramp, it is existing that car slipping still may occur
As.In addition, when headstock is towards direction of fall, then the axle load of vehicle can shift forward, i.e., when vehicle is located at the road surface for having ramp
Fore bearing is by more load, and when headstock is towards upward slope direction, then the axle load meeting shifts backward of vehicle, i.e. rear axle can be born more
Load.The parking system of cargo vehicle is typically all to act on rear axle, when headstock is towards when direction of fall parking, once
When appearance slips by slope phenomenon, the parking braking of rear axle may have that braking effect is unable to satisfy and require.
Summary of the invention
The present invention provides a kind of emergency vehicle method and system in slope, and the vehicle method in slope for solving the prior art can not
The problem of meeting actual demand.
The present invention provides a kind of emergency vehicle methods in slope, comprising:
Preferably, detect driver's seat on whether someone；
If it is not, then the level for the driving direction marker demarcated in advance in the information sent according to wheel speed sensors, sentences
Disconnected vehicle whether forward car slipping or car slipping backward；
When car slipping backward, control electronic parking handle carries out parking braking automatically；
When car slipping forward, control electronic parking handle carries out parking braking automatically, and passes through anti-blocking brake system electricity
Magnet valve control front brake is braked.
Preferably, demarcating the driving direction marker demarcated in advance includes:
Wheel speed sensors are provided, wheel speed sensors include: gear ring and Hall sensor, and gear ring includes circle body and is uniformly distributed
Teeth portion on circle body；
After Hall sensor powers on, in ring gear against rotation, output has high level and low level square-wave signal；
Increase the resistance value between hall sensor output and ground connection, so that the difference between high level and low level becomes
Greatly, and Hall sensor is exported in ring gear against rotation with high level, middle level and low level square-wave signal, wherein adjacent
Two high level between there are several middle level；
A middle level position corresponding with vehicle traveling direction is chosen from the position of several middle level is used as traveling side
To marker.
Preferably, the method also includes:
In debug out after level, the shape for adjusting teeth portion makes difference between middle level and high level, low level
Become larger, wherein the shape of teeth portion adjusted are as follows: clockwise surface shape and anticlockwise surface shape not phase
Together.
Preferably, the shape of teeth portion adjusted are as follows:
Clockwise surface shape is concave surface, and anticlockwise surface shape is plane；Or
Clockwise surface shape is concave surface, and anticlockwise surface shape is convex surface；Or
Clockwise surface shape is plane, and anticlockwise surface shape is convex surface；Or
Clockwise surface shape is S-shaped cambered surface, and anticlockwise surface shape is plane.
Preferably, the shape of the teeth portion are as follows: clockwise surface shape is concave surface, anticlockwise surface shape
Shape is plane；
It is described that a middle level position corresponding with vehicle traveling direction is chosen from the position of several middle level as row
Sailing direction signs position includes:
Determine the number of the middle level between two adjacent high level；
Communication protocol is set, the level of level position corresponds to a byte in communication protocol, each byte in each
Indicate the height of the level of the level position, wherein middle level corresponding 1, low level corresponding 0；
Gear ring is rotated, the direction of each byte and ring gear against rotation in the signal of sensor output is compared；
If it is 0 that level position, which corresponds to byte when ring gear against rotation direction is clockwise, in some, and the byte is in tooth
Enclosing when rotation direction is counterclockwise is 1, then the byte can be used as driving direction marker；
One is chosen from the byte that can be used as driving direction marker is used as driving direction marker.
Correspondingly, the present invention also provides a kind of emergency vehicle systems in slope, comprising:
The main seat pressure sensor 2 that is connected respectively with electronic control unit 1, wheel speed sensors 3, electronic parking system 4,
With anti-blocking brake system 5；
Main seat pressure sensor 2 is used to acquire the pressure information in main seat, and is sent to electronic control unit 1；
Wheel speed sensors 3 are used to the information of acquisition being sent to electronic control unit 1, wherein what wheel speed sensors 3 were sent
Information includes at least the level for the driving direction marker demarcated in advance；
Electronic control unit 1 be used to be judged on driver's seat according to pressure information whether someone, if it is not, then being passed according to wheel speed
Whether forward the level of driving direction marker demarcated in advance in the information that sensor 3 is sent judges vehicle car slipping or backward
Car slipping controls parking brake by the electronic parking handle of electronic parking system 4 and carries out parking braking when car slipping backward,
When car slipping forward, parking brake is controlled by the electronic parking handle of electronic parking system 4 and carries out parking braking, and is passed through
Braking anti-lock solenoid valve control front brake is braked；
Electronic parking system 4 includes: sequentially connected electronic parking handle, parking braking wire drawing and parking brake, electricity
When the judgement of sub-control unit 1 needs to carry out parking braking, parking message is issued, after electronic parking handle receives parking message,
Parking braking wire drawing is pulled, parking braking wire drawing controls parking brake and carries out parking braking.
Preferably, the wheel speed sensors 3 include:
Gear ring 31, Hall sensor 32, capacitor 33, resistance 34 and adjusting resistance 6, the diameter of the probe of Hall sensor 32
The center of circle of gear ring 31 is passed through to extended line and is generally aligned in the same plane with gear ring 31, the power end and output end of Hall sensor 32
Between an in parallel capacitor 33, the output end of Hall sensor 32 is also grounded respectively and is connected with electronic control unit 1, the string of resistance 34
It is associated between the output end and ground connection of Hall sensor 32；
Resistance 6 is adjusted, is connected between the output end and ground connection of Hall sensor 32, it is defeated for increasing Hall sensor 32
Resistance value between outlet and ground connection, so that the difference between high level and low level becomes larger, and makes Hall sensor 32 exist
Output has high level, middle level and low level square-wave signal when gear ring 31 rotates, and capacitor 33 plays a filtering role, wherein phase
There are several middle level between two adjacent high level；
Electronic control unit 1 is specifically used for choosing one from the corresponding position of several middle level of received square-wave signal
Middle level position corresponding with vehicle traveling direction is as driving direction marker, then according to the level of driving direction marker
Height determine the driving direction of vehicle.
Preferably, the gear ring 31 includes: circle body and the teeth portion that is evenly distributed on circle body；
The shape of the teeth portion makes the difference between middle level and high level, low level become larger；
The shape of the teeth portion are as follows: clockwise surface shape and anticlockwise surface shape be not identical, packet
Include it is following any one:
Clockwise surface shape is concave surface, and anticlockwise surface shape is plane；Or
Clockwise surface shape is concave surface, and anticlockwise surface shape is convex surface；Or
Clockwise surface shape is plane, and anticlockwise surface shape is convex surface；Or
Clockwise surface shape is S-shaped cambered surface, and anticlockwise surface shape is plane.
Preferably, the shape of the teeth portion are as follows: clockwise surface shape is concave surface, anticlockwise surface shape
Shape is plane；
The electronic control unit 1 is specifically used for:
During the setting of communication protocol: determining the number of the middle level between two adjacent high level；It is each
A byte, the height of the level of each byte representation level position is arranged in a middle level position, wherein middle level corresponding 1,
Low level corresponding 0；When gear ring 31 rotates, the side that each byte and gear ring 31 rotate in the signal that Hall sensor 32 exports is compared
To consistency, determine driving direction marker；Wherein, driving direction marker at least meets the following conditions: byte is in gear ring
31 rotation directions are 0 when being clockwise, and are 1 when 31 rotation direction of gear ring is counterclockwise；
In emergency vehicle during in slope: electronic control unit 1 determines the row of vehicle according to the value of driving direction marker
Sail direction, wherein when driving direction marker is 0, vehicle heading is to move forward；When driving direction marker is 1, vehicle
Driving direction is to travel backward.
Preferably, anti-blocking brake system 5 includes: the braking anti-lock solenoid valve being connected with electronic control unit 1, and preceding
The connected front brake of wheel cylinder, when the judgement of electronic control unit 1 needs front brake to carry out parking braking, control braking is anti-
Locking solenoid valve is pressurized preceding wheel cylinder, carries out parking braking to control front brake.
A kind of emergency vehicle method and system in slope provided by the invention, detect driver's seat on whether someone, if it is not, then
Whether forward the level for the driving direction marker demarcated in advance in the information sent according to wheel speed sensors, judge vehicle car slipping
Or car slipping backward；When car slipping backward, control electronic parking handle carries out parking braking automatically；When car slipping forward, control
Electronic parking handle carries out parking braking automatically, and is braked by anti-blocking brake system solenoid valve control front brake.
Since whether the real time monitoring signals vehicle sent according to wheel speed sensors moves, avoid to be judged whether according to gear in this way
The judgement for needing to carry out automatic parking brake is more accurate.Further, since the wheel speed sensors can also judge the movement of vehicle
Direction, so that the present invention can such as slip backward for slipping by slope or slipping by slope backward the more suitable mode of braking of selection forward
Only with parking braking when slope, then while using parking braking and emergency braking two ways system when slipping by slope forward
It is dynamic, to solve the problems, such as to cause parking brake braking effect bad since axle load moves forward.
Further, emergency vehicle method and system in slope provided by the invention are judged using gear ring and Hall sensor
Whether vehicle is in the state of forward or backward.Specifically, in traveling direction signs position calibration process: being passed by increasing Hall
Resistance value between sensor output end and ground connection, so that the difference between high level and low level becomes larger, and Hall sensor exists
Output has high level, middle level and low level square-wave signal when ring gear against rotation, wherein deposits between two adjacent high level
In several middle level；A middle level position corresponding with vehicle traveling direction is chosen from the position of several middle level as row
Sail direction signs position.In emergency vehicle during in slope: determining the row of vehicle according to the height of the level of driving direction marker
Sail direction.The prior art generallys use gear ring and Hall sensor acquisition rotary speed information, but can not acquire directional information, this
Invention makes Hall sensor output in ring gear against rotation by adjusting the resistance value between hall sensor output and ground connection
With high level, middle level and low level square-wave signal, and middle level can be used to characterize the driving direction of vehicle.Utilize this
Invention fast automatic can identify the problem of itself being in forward travel state or fallback state.
Further, emergency vehicle method and system in slope provided by the invention, can also be by adjusting the shape of teeth portion
So that the difference between middle level and high level, low level becomes larger.In this way convenient for distinguishing high level and low level difference, especially
When there is also middle level, so that the difference between middle level and high level, low level becomes apparent from, driving direction marker is improved
Level recognition accuracy.
Further, emergency vehicle method and system in slope provided by the invention, additionally provide the shape of specific teeth portion:
Clockwise surface shape is concave surface, and anticlockwise surface shape is plane etc..Such teeth portion shape can be more preferable
Debugging go out in level, in order to which fast automatic identify of level itself is in forward travel state or fallback state in.
Further, emergency vehicle method and system in slope provided by the invention, additionally provide specifically driving direction mark
Know position and choose mode: setting communication protocol, the level of level position corresponds to a byte in communication protocol in each, according to
Whether each byte and ring gear against rotation direction unanimously determine whether each byte can be used as driving direction marker, if it is not, then therefrom
A byte is chosen as driving direction marker.Driving direction marker simply can be accurately selected in this way, in order to
The subsequent value according to driving direction marker judges that current vehicle is in forward travel state or fallback state.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only one recorded in the present invention
A little embodiments are also possible to obtain other drawings based on these drawings for those of ordinary skill in the art.
Fig. 1 is a kind of flow chart according to emergency vehicle method in slope provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart according to the determination method of driving direction marker provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of the active wheel speed sensor of the prior art；
Fig. 4 is the square wave figure that the active wheel speed sensor of the prior art exports；
Fig. 5 is the square wave figure exported according to Hall sensor provided in an embodiment of the present invention；
Fig. 6 is another flow chart according to the determination method of driving direction marker provided in an embodiment of the present invention；
Fig. 7 is according to the one of the method provided in an embodiment of the present invention for choosing driving direction marker from several middle level
Kind flow chart；
Fig. 8 is a kind of structural schematic diagram according to emergency vehicle system in slope provided in an embodiment of the present invention；
Fig. 9 is a kind of circuit diagram according to wheel speed sensors provided in an embodiment of the present invention.
Appended drawing reference:
In Fig. 1-Fig. 9:
1 electronic control unit, 4 electronic parking system
2 main seat pressure sensor, 5 anti-blocking brake system
3 wheel speed sensors 6 adjust resistance
31 gear rings
32 Hall sensors
33 capacitor, 1 ' gear ring
34 resistance, 2 ' Hall sensor
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar parameter or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Technical solution and technical effect in order to better understand the present invention, below with reference to flow diagram to specific
Embodiment is described in detail.As shown in Figure 1, for according to one kind of emergency vehicle method in slope provided in an embodiment of the present invention
Flow chart, this method may comprise steps of:
Step S01, detect driver's seat on whether someone.
In the present embodiment, can judge to drive by main seat pressure sensor, imaging sensor, infrared sensor etc.
Sail on seat whether someone shows when current vehicle movement to be driver intention if someone on driver's seat, it is automatic without carrying out
Parking braking shows to be intended to ground car slipping when current vehicle movement for non-driver if nobody.
Step S02, if it is not, then the driving direction marker demarcated in advance in the information sent according to wheel speed sensors
Whether forward level judges vehicle car slipping or car slipping backward.
In the present embodiment, vehicle whether forward car slipping or car slipping backward, tool are judged using improved wheel speed sensors
Body, the level for the driving direction marker demarcated in the information sent according to wheel speed sensors in advance, judge vehicle whether to
Preceding car slipping or backward car slipping.The wheel speed sensors of the prior art are commonly used in obtaining the revolving speed of wheel, then according to wheel
Revolving speed calculates speed etc., and in the present embodiment, wheel speed sensors can be not only used for the revolving speed of acquisition vehicle, can be also used for acquiring
The moving direction of vehicle.In order to select suitable parking braking mode according to the vehicle moving direction of acquisition.
Step S03, when car slipping backward, control electronic parking handle carries out parking braking automatically.
In the present embodiment, since the parking brake of vehicle is usually all disposed on rear axle, when vehicle car slipping backward,
Axle load is concentrated mainly on rear axle, therefore, can preferably realize parking braking function by parking brake.
Step S04, when car slipping forward, control electronic parking handle carries out parking braking automatically, and passes through anti-braking
Dead system solenoid valve control front brake is braked.
In the present embodiment, since the parking brake of vehicle is usually all disposed on rear axle, when vehicle car slipping forward,
Axle load is concentrated mainly on front axle, and at this time if only with parking brake, parking effect may be bad, particularly with loading
It is bad to may cause braking effect at this time if braked only with parking brake for lorry.Therefore, using emergency braking
The brake cooperation parking brake of system being arranged on front axle can preferably guarantee parking braking effect.
A kind of emergency vehicle method and system in slope provided by the invention, detect driver's seat on whether someone, if it is not, then
Whether forward the level for the driving direction marker demarcated in advance in the information sent according to wheel speed sensors, judge vehicle car slipping
Or car slipping backward；When car slipping backward, control electronic parking handle carries out parking braking automatically；When car slipping forward, control
Electronic parking handle carries out parking braking automatically, and is braked by anti-blocking brake system solenoid valve control front brake.
Since whether the real time monitoring signals vehicle sent according to wheel speed sensors moves, avoid to be judged whether according to gear in this way
The judgement for needing to carry out automatic parking brake is more accurate.Further, since the wheel speed sensors can also judge the movement of vehicle
Direction, so that the present invention can such as slip backward for slipping by slope or slipping by slope backward the more suitable mode of braking of selection forward
Only with parking braking when slope, then while using parking braking and emergency braking two ways system when slipping by slope forward
It is dynamic, to solve the problems, such as to cause parking brake braking effect bad since axle load moves forward.
As shown in Fig. 2, for according to a kind of process of the determination method of driving direction marker provided in an embodiment of the present invention
Figure.In the present embodiment, demarcating the driving direction marker demarcated in advance may comprise steps of:
The calibration of driving direction marker is carried out in advance, and calibration process may include:
Step S21, provides wheel speed sensors, and wheel speed sensors include: gear ring and Hall sensor, gear ring include circle body and
The teeth portion being evenly distributed on circle body.Specifically, the wheel speed sensors of the prior art can be used, it is not limited here.Such as Fig. 3
It is shown, it is a kind of structural schematic diagram of the active wheel speed sensor of the prior art, which passes through Hall
The Hull voltage that effect generates produces two level: high level and low level.It thus can be according to high in the unit time
The number that level or low level are sent calculates wheel speed.Its principle is that gear ring 1 ' ceaselessly rotates, when the teeth portion of gear ring 1 ' is close to suddenly
When your sensor 2 ', Hall sensor 2 ' exports a high level, when tooth socket is close to Hall sensor 2 ', Hall sensor 2 '
Generate a low level.
Step S22, after Hall sensor powers on, in ring gear against rotation, there is high level and low level square wave to believe for output
Number.
In the present embodiment, high level and low level square-wave signal are debugged out first.As shown in figure 4, being the prior art
Active wheel speed sensor output square wave figure, wherein two level of circuit output: high level I1 and low level I2, the wave
Shape figure is square-wave waveform figure.Wherein, capacitor plays the role of filtering, i.e., when level above and below I1 value in a certain range when, it is only defeated
A high level I1 out, when level above and below I2 value in a certain range when, only export a low level I2.For example, high level is
2.2mA, low level are that I2 is 1.1mA, then as the low level for exporting 1.1mA within the scope of level≤1.6mA, level > 1.6mA
Export the high level of 2.2mA.
Step S23 increases the resistance value between hall sensor output and ground connection, so that between high level and low level
Difference become larger, and Hall sensor exported in ring gear against rotation have high level, middle level and low level square-wave signal,
In, there are several middle level between two adjacent high level.
In the present embodiment, by adjusting the resistance value between hall sensor output and ground connection, so that the Hall passes
Sensor can export the middle level that can characterize vehicle moving direction, in order to according to electrical level judging vehicle moving direction in this.Tool
Body, when resistance value is bigger, the level range value of Hall sensor output is bigger, can be convenient for outside acquisition low and high level
An intermediate level is obtained again, for example, by increasing resistance value, so that Hall sensor exports the low level of a 1.2mA, one
The middle level of the high level of a 4.8mA, 2.4mA.Wherein, increase resistance after resistance value size can for 80 Ω, 100 Ω,
120 Ω, 150 Ω etc..As shown in figure 5, for the square wave figure exported according to Hall sensor provided in an embodiment of the present invention.Wherein,
There are 8 middle level between high level: b1, b2, b3, b4, b5, b6, b7, b8.It is present in vehicle traveling direction in this in level
Consistent part.
Step S24 chooses a middle level position corresponding with vehicle traveling direction from the position of several middle level and makees
For driving direction marker.
In the present embodiment, since the direction of travel of the rotation direction of gear ring and vehicle has corresponding relationship, for example, vehicle
Gear ring rotates counterclockwise when moving forward or gear ring rotates clockwise when forward travel, is then turned according to gear ring
The corresponding relationship in dynamic direction and each middle level, when there are one for the rotation direction of the height of the level of level position and gear ring in some
It, then can be according to the rotation direction of the consistent middle electrical level judging gear ring, and then according to the rotation side of gear ring when cause property
To the driving direction for determining vehicle.
It should be noted that after step S21 to step S24 can be primary calibration, subsequent in use, according to this deutero-albumose
Determining result use, all being re-scaled when without using every time.
In emergency vehicle during in slope, the traveling side of vehicle is determined according to the height of the level of driving direction marker
To.Specifically, since the driving direction of the height of the level of driving direction marker and vehicle is there are consistency, it can be with
The driving direction of vehicle is determined according to the height of the level of driving direction marker.For example, working as the level of driving direction marker
When for low level, then it may determine that vehicle is forward travel state, when the level of driving direction marker is high level, then can sentence
Disconnected vehicle is fallback state.Certainly, the driving direction of vehicle needs rotation direction and vehicle traveling side according to actual gear ring
To corresponding relationship be adjusted.
As shown in fig. 6, to be flowed according to the another of the determination method of driving direction marker provided in an embodiment of the present invention
Cheng Tu.
In the present embodiment, the method also includes step S66 adjusts the shape of teeth portion in debugging out after level
So that the difference between middle level and high level, low level becomes larger.
In the present embodiment, can by the Adjusting Shape stepped of teeth portion, the asymmetric shape in both sides and other it is contemplated that
Shape, if the shape of the teeth portion can make the difference between middle level and high level, low level become larger, and in this level and
The steering of gear ring is related.
In a specific embodiment, the shape of teeth portion are as follows: clockwise surface shape and anticlockwise table
Face shape is not identical.When gear ring can be made to rotate towards different directions in this way, Hall sensor exports different square waves, in this way
The rotation direction of gear ring can be determined according to the square wave.
Further, the shape of teeth portion are as follows: clockwise surface shape is concave surface, anticlockwise surface shape
For plane；Or clockwise surface shape is concave surface, anticlockwise surface shape is convex surface；Or it is square clockwise
To surface shape be plane, anticlockwise surface shape be convex surface；Or clockwise surface shape is S-shaped arc
Face, anticlockwise surface shape are plane.Three kinds of high level, middle level and low level level, middle electricity can be formed in this way
The flat rotation direction that can be used to characterize gear ring, high level can be used to characterize the velocity of rotation of gear ring, and a kind of sensor can be with
The acquisition of velocity of rotation and rotation direction is realized simultaneously.
As shown in fig. 7, to choose driving direction marker from several middle level according to provided in an embodiment of the present invention
A kind of flow chart of method.
In the present embodiment, with the shape of the teeth portion are as follows: clockwise surface shape is concave surface, counterclockwise
Surface shape be plane for be illustrated.It is described that one and vehicle traveling direction pair are chosen from the position of several middle level
The middle level position answered includes: as driving direction marker
Step S71 determines the number of the middle level between two adjacent high level.
Step S72 sets communication protocol, and the level of level position corresponds to a byte in communication protocol in each,
The height of the level of each byte representation level position, wherein middle level corresponding 1, low level corresponding 0.
Step S73 rotates gear ring, compares the direction of each byte and ring gear against rotation in the signal of sensor output.
Step S74, if it is 0 that level position, which corresponds to byte when ring gear against rotation direction is clockwise, in some, and
Ring gear against rotation direction is 1 when being counterclockwise, then the byte can be used as driving direction marker.
Step S75 chooses one from the byte that can be used as driving direction marker and is used as driving direction marker.
In a specific embodiment, I0 is middle level, and in communication protocol, level corresponds to a Bit in each
(byte), each Bit can correspond to 0 or 1 binary code by the presence or absence of its level, according to each middle level position
Level height and ring gear against rotation direction consistency, determine a Bit therein for characterizing the directionality of wheel speed sensors.
For example, the 3rd Bit b3 in Fig. 5 is used to characterize the driving direction of vehicle, b3 issues code 0 when advance, and when retrogressing issues generation
Code 1.B3 level is I0 when i.e. vehicle advances, and b3 level is I2 when retrogressing.
Correspondingly, the present invention also provides emergency vehicle systems in slope corresponding with the above method, as shown in figure 8, being root
According to a kind of structural schematic diagram of emergency vehicle system in slope provided in an embodiment of the present invention, comprising:
The main seat pressure sensor 2 that is connected respectively with electronic control unit 1, wheel speed sensors 3, electronic parking system 4,
With anti-blocking brake system 5.
Main seat pressure sensor 2 is used to acquire the pressure information in main seat, and is sent to electronic control unit 1.
Wheel speed sensors 3 are used to the information of acquisition being sent to electronic control unit 1, wherein what wheel speed sensors 3 were sent
Information includes at least the level for the driving direction marker demarcated in advance.
Electronic control unit 1 be used to be judged on driver's seat according to pressure information whether someone, if it is not, then being passed according to wheel speed
Whether forward the level of driving direction marker demarcated in advance in the information that sensor 3 is sent judges vehicle car slipping or backward
Car slipping controls parking brake by the electronic parking handle of electronic parking system 4 and carries out parking braking when car slipping backward,
When car slipping forward, parking brake is controlled by the electronic parking handle of electronic parking system 4 and carries out parking braking, and is passed through
Braking anti-lock solenoid valve control front brake is braked.
Electronic parking system 4 includes: sequentially connected electronic parking handle, parking braking wire drawing and parking brake, electricity
When the judgement of sub-control unit 1 needs to carry out parking braking, parking message is issued, after electronic parking handle receives parking message,
Parking braking wire drawing is pulled, parking braking wire drawing controls parking brake and carries out parking braking.
Specifically, as shown in figure 9, for according to a kind of circuit diagram of wheel speed sensors provided in an embodiment of the present invention.It is described
Wheel speed sensors 3 may include: gear ring 31, Hall sensor 32, capacitor 33, resistance 34 and adjust resistance 6, Hall sensor
The radial extended line of 32 probe passes through the center of circle of gear ring 31 and is generally aligned in the same plane with gear ring 31, the electricity of Hall sensor 32
An in parallel capacitor 33 between source and output end, the output end of Hall sensor 32 also respectively ground connection and with electronic control unit 1
It is connected, resistance 34 is connected between the output end and ground connection of Hall sensor 32.
Resistance 6 is adjusted, is connected between the output end and ground connection of Hall sensor 32, it is defeated for increasing Hall sensor 32
Resistance value between outlet and ground connection, so that the difference between high level and low level becomes larger, and makes Hall sensor 32 exist
Output has high level, middle level and low level square-wave signal when gear ring 31 rotates, and capacitor 33 plays a filtering role, wherein phase
There are several middle level between two adjacent high level.
Electronic control unit 1 chooses one and vehicle row from the corresponding position of several middle level of received square-wave signal
Into the corresponding middle level position in direction as driving direction marker, the height then according to the level of driving direction marker is true
Determine the driving direction of vehicle.
Further, in order to enable the difference between high level, middle level and low level becomes apparent from, the gear ring 31
It include: including circle body and the teeth portion being evenly distributed on circle body.The shape of the teeth portion make middle level and high level, low level it
Between difference become larger.
Wherein, the shape of the teeth portion are as follows: clockwise surface shape and anticlockwise surface shape not phase
Together.
Preferably, the shape of the teeth portion are as follows: clockwise surface shape is concave surface, anticlockwise surface shape
Shape is plane；Or clockwise surface shape is concave surface, anticlockwise surface shape is convex surface；Or clockwise
The surface shape in direction is plane, and anticlockwise surface shape is convex surface；Or clockwise surface shape is S-shaped
Cambered surface, anticlockwise surface shape are plane.It should be noted that example provided above, is merely illustrative citing, not
It can be interpreted as limitation of the invention.
In addition, the anti-blocking brake system 5 includes: the braking anti-lock solenoid valve being connected with electronic control unit 1, with
The connected front brake of preceding wheel cylinder, when the judgement of electronic control unit 1 needs front brake to carry out parking braking, control braking
Anti-lock solenoid valve is pressurized preceding wheel cylinder, carries out parking braking to control front brake.
In another embodiment, the electronic control unit 1 is specifically used for:
During the setting of communication protocol: determining the number of the middle level between two adjacent high level；It is each
A byte, the height of the level of each byte representation level position is arranged in a middle level position, wherein middle level corresponding 1,
Low level corresponding 0；When gear ring 31 rotates, the side that each byte and gear ring 31 rotate in the signal that Hall sensor 32 exports is compared
To consistency, determine driving direction marker；Wherein, driving direction marker at least meets the following conditions: byte is in gear ring
31 rotation directions are 0 when being clockwise, and are 1 when 31 rotation direction of gear ring is counterclockwise.
In emergency vehicle during in slope: electronic control unit 1 determines the row of vehicle according to the value of driving direction marker
Sail direction, wherein when driving direction marker is 0, vehicle heading is to move forward；When driving direction marker is 1, vehicle
Driving direction is to travel backward.
The emergency vehicle system in slope of the bright offer of this hair embodiment, comprising: the seat of honour being connected respectively with electronic control unit 1
Chair pressure sensor 2, wheel speed sensors 3, electronic parking system 4 and anti-blocking brake system 5.It is effectively solved using the present invention
Certainly solve the problems, such as that the vehicle method in slope of the prior art is unable to satisfy actual demand.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other.For system embodiment, since it is substantially similar to the method embodiment, so describing
Fairly simple, the relevent part can refer to the partial explaination of embodiments of method.System embodiment described above is only to show
Meaning property, wherein the unit as illustrated by the separation member may or may not be physically separated.It can root
According to actual need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Ordinary skill
Personnel can understand and implement without creative efforts.
The embodiment of the present invention has been described in detail above, and specific embodiment used herein carries out the present invention
It illustrates, method and system of the invention that the above embodiments are only used to help understand；Meanwhile for the one of this field
As technical staff, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, to sum up institute
It states, the contents of this specification are not to be construed as limiting the invention.
Claims (8)
1. a kind of emergency vehicle method in slope characterized by comprising
Detect driver's seat on whether someone；
If it is not, then the level for the driving direction marker demarcated in advance in the information sent according to wheel speed sensors, judges vehicle
Whether forward car slipping or backward car slipping；Wherein, demarcating the driving direction marker demarcated in advance includes: offer wheel speed
Sensor, wheel speed sensors include: gear ring and Hall sensor, and gear ring includes circle body and the teeth portion that is evenly distributed on circle body；
After Hall sensor powers on, in ring gear against rotation, output has high level and low level square-wave signal；Increase Hall sensor
Resistance value between output end and ground connection, so that the difference between high level and low level becomes larger, and Hall sensor is in gear ring
Output has high level, middle level and low level square-wave signal when rotation, wherein there are numbers between two adjacent high level
A middle level；A middle level position corresponding with vehicle traveling direction is chosen from the position of several middle level is used as traveling side
To marker；
When car slipping backward, control electronic parking handle carries out parking braking automatically；
When car slipping forward, control electronic parking handle carries out parking braking automatically, and passes through anti-blocking brake system solenoid valve
Control front brake is braked.
2. the method according to claim 1, wherein the method also includes:
In debugging out after level, the shape for adjusting teeth portion makes the difference between middle level and high level, low level become larger,
Wherein, the shape of teeth portion adjusted are as follows: clockwise surface shape and anticlockwise surface shape be not identical.
3. according to the method described in claim 2, it is characterized in that, the shape of teeth portion adjusted are as follows:
Clockwise surface shape is concave surface, and anticlockwise surface shape is plane；Or
Clockwise surface shape is concave surface, and anticlockwise surface shape is convex surface；Or
Clockwise surface shape is plane, and anticlockwise surface shape is convex surface；Or
Clockwise surface shape is S-shaped cambered surface, and anticlockwise surface shape is plane.
4. according to the method described in claim 3, it is characterized in that, the shape of the teeth portion are as follows: clockwise surface shape
Shape is concave surface, and anticlockwise surface shape is plane；
It is described that a middle level position corresponding with vehicle traveling direction is chosen from the position of several middle level as traveling side
Include: to marker
Determine the number of the middle level between two adjacent high level；
Communication protocol is set, the level of level position corresponds to a byte in communication protocol, each byte representation in each
The height of the level of the level position, wherein middle level corresponding 1, low level corresponding 0；
Gear ring is rotated, the direction of each byte and ring gear against rotation in the signal of sensor output is compared；
If it is 0 that level position, which corresponds to byte when ring gear against rotation direction is clockwise, in some, and the byte turns in gear ring
Dynamic direction is 1 when being counterclockwise, then the byte can be used as driving direction marker；
One is chosen from the byte that can be used as driving direction marker is used as driving direction marker.
5. a kind of emergency vehicle system in slope characterized by comprising
Main seat pressure sensor (2), the wheel speed sensors (3), electronic parking system being connected respectively with electronic control unit (1)
(4) and anti-blocking brake system (5)；
Main seat pressure sensor (2) is used to acquire the pressure information in main seat, and is sent to electronic control unit (1)；
Wheel speed sensors (3) are used to the information of acquisition being sent to electronic control unit (1), wherein wheel speed sensors (3) are sent
Information include at least the level of driving direction marker demarcated in advance；
Electronic control unit (1) be used to be judged on driver's seat according to pressure information whether someone, if it is not, then being sensed according to wheel speed
Whether forward the level of driving direction marker demarcated in advance in the information that device (3) is sent judges vehicle car slipping or backward
Car slipping；Wherein, the wheel speed sensors (3) include: gear ring (31), Hall sensor (32), capacitor (33), resistance (34) and adjust
Economize on electricity resistance (6), the radial extended line of the probe of Hall sensor (32) pass through the center of circle of gear ring (31) and are located at gear ring (31)
Same plane, a capacitor (33) in parallel between the power end and output end of Hall sensor (32), Hall sensor (32) it is defeated
Outlet also respectively be grounded and be connected with electronic control unit (1), resistance (34) be connected on Hall sensor (32) output end and
Between ground connection；It adjusts resistance (6), is connected between the output end and ground connection of Hall sensor (32), for increasing hall sensing
Resistance value between device (32) output end and ground connection, so that the difference between high level and low level becomes larger, and passes Hall
Sensor (32) output when gear ring (31) rotate has high level, middle level and low level square-wave signal, and capacitor (33) plays filter
Wave effect, wherein there are several middle level between two adjacent high level；
Electronic control unit (1) is specifically used for from the corresponding position of several middle level of received square-wave signal, choose one with
The corresponding middle level position of vehicle traveling direction is as driving direction marker, then according to the level of driving direction marker
Height determines the driving direction of vehicle；
When car slipping backward, parking brake is controlled by the electronic parking handle of electronic parking system (4) and carries out parking braking,
When car slipping forward, parking brake is controlled by the electronic parking handle of electronic parking system (4) and carries out parking braking, and is led to
Braking anti-lock solenoid valve control front brake is crossed to be braked；
Electronic parking system (4) includes: sequentially connected electronic parking handle, parking braking wire drawing and parking brake, electronics
When control unit (1) judgement needs to carry out parking braking, parking message is issued, after electronic parking handle receives parking message,
Parking braking wire drawing is pulled, parking braking wire drawing controls parking brake and carries out parking braking.
6. system according to claim 5, which is characterized in that the gear ring (31) includes: circle body and is evenly distributed on circle
Teeth portion on body；
The shape of the teeth portion makes the difference between middle level and high level, low level become larger；
The shape of the teeth portion are as follows: clockwise surface shape and anticlockwise surface shape be not identical, including with
Descend any one:
Clockwise surface shape is concave surface, and anticlockwise surface shape is plane；Or
Clockwise surface shape is concave surface, and anticlockwise surface shape is convex surface；Or
Clockwise surface shape is plane, and anticlockwise surface shape is convex surface；Or
Clockwise surface shape is S-shaped cambered surface, and anticlockwise surface shape is plane.
7. system according to claim 6, which is characterized in that the shape of the teeth portion are as follows: clockwise surface shape
Shape is concave surface, and anticlockwise surface shape is plane；
The electronic control unit (1) is specifically used for:
During the setting of communication protocol: determining the number of the middle level between two adjacent high level；For in each
A byte, the height of the level of each byte representation level position is arranged in level position, wherein middle level corresponding 1, low electricity
Flat corresponding 0；When gear ring (31) rotate, compare what each byte and gear ring (31) in the signal of Hall sensor (32) output rotated
The consistency in direction determines driving direction marker；Wherein, driving direction marker at least meets the following conditions: byte is in tooth
Enclosing when (31) rotation direction is clockwise is 0, and is 1 when gear ring (31) rotation direction is counterclockwise；
In emergency vehicle during in slope: electronic control unit (1) determines the traveling of vehicle according to the value of driving direction marker
Direction, wherein when driving direction marker is 0, vehicle heading is to move forward；When driving direction marker is 1, vehicle
Driving direction is to travel backward.
8. system according to claim 5, which is characterized in that anti-blocking brake system (5) includes: and electronic control unit
(1) connected braking anti-lock solenoid valve, the front brake being connected with preceding wheel cylinder, electronic control unit (1) judgement need
When front brake carries out parking braking, control braking anti-lock solenoid valve is pressurized preceding wheel cylinder, to control preceding braking
Device carries out parking braking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611177898.5A CN106515692B (en) | 2016-12-19 | 2016-12-19 | A kind of emergency vehicle method and system in slope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611177898.5A CN106515692B (en) | 2016-12-19 | 2016-12-19 | A kind of emergency vehicle method and system in slope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106515692A CN106515692A (en) | 2017-03-22 |
| CN106515692B true CN106515692B (en) | 2018-12-25 |
Family
ID=58341014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611177898.5A Expired - Fee Related CN106515692B (en) | 2016-12-19 | 2016-12-19 | A kind of emergency vehicle method and system in slope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106515692B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107481380B (en) * | 2017-08-30 | 2023-07-18 | 宜昌市微特电子设备有限责任公司 | Lifting safety monitoring system with face and fingerprint biological feature recognition and control method thereof |
| CN110667538A (en) * | 2019-10-21 | 2020-01-10 | 北京汽车集团越野车有限公司 | Anti-sliding method and vehicle |
| CN112109560B (en) * | 2020-09-02 | 2022-03-08 | 安徽江淮汽车集团股份有限公司 | Automatic parking system and method for electric automobile |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2881644Y (en) * | 2006-03-10 | 2007-03-21 | 孔素芳 | Ring-shaped Hall wheel speed sensor |
| CN102393208A (en) * | 2011-10-20 | 2012-03-28 | 奇瑞汽车股份有限公司 | Mile detection device |
| KR20140014465A (en) * | 2012-07-24 | 2014-02-06 | 주식회사 만도 | Apparatus for driving electronic parking brake and method for driving thereof |
| CN103991441A (en) * | 2013-02-14 | 2014-08-20 | 福特全球技术公司 | System and method to prevent unintended vehicle travel |
| CN104494584A (en) * | 2014-11-26 | 2015-04-08 | 广州科密汽车电子控制技术股份有限公司 | Six-channel ABS |
| CN104908731A (en) * | 2014-12-12 | 2015-09-16 | 青岛电子研究所有限责任公司 | Hand brake detection reminding alarm system of vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10020761B2 (en) * | 2012-09-20 | 2018-07-10 | Ford Global Technologies, Llc | Electric motor position signal synchronized operation |
-
2016
- 2016-12-19 CN CN201611177898.5A patent/CN106515692B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2881644Y (en) * | 2006-03-10 | 2007-03-21 | 孔素芳 | Ring-shaped Hall wheel speed sensor |
| CN102393208A (en) * | 2011-10-20 | 2012-03-28 | 奇瑞汽车股份有限公司 | Mile detection device |
| KR20140014465A (en) * | 2012-07-24 | 2014-02-06 | 주식회사 만도 | Apparatus for driving electronic parking brake and method for driving thereof |
| CN103991441A (en) * | 2013-02-14 | 2014-08-20 | 福特全球技术公司 | System and method to prevent unintended vehicle travel |
| CN104494584A (en) * | 2014-11-26 | 2015-04-08 | 广州科密汽车电子控制技术股份有限公司 | Six-channel ABS |
| CN104908731A (en) * | 2014-12-12 | 2015-09-16 | 青岛电子研究所有限责任公司 | Hand brake detection reminding alarm system of vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106515692A (en) | 2017-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107336700B (en) | A kind of emergency vehicle method and system in slope | |
| CN106515692B (en) | A kind of emergency vehicle method and system in slope | |
| CN102556340B (en) | Airplane anti-skid brake control system and method | |
| US8571777B2 (en) | Independent trailer sway controller | |
| CN105202073B (en) | Electronic brake system and its control method | |
| CN106740267A (en) | The control method and system of a kind of output torque | |
| CN106585593B (en) | A kind of emergency vehicle method and system in slope | |
| CN106740763B (en) | A kind of emergency vehicle method and system in slope | |
| US7741960B1 (en) | Vehicle communication method and apparatus | |
| CN106483476A (en) | The transmission of the information being associated with the possibility sensor fault of magnetic sensor | |
| CN110239501A (en) | The control device of four-wheel drive vehicle | |
| CN109017166A (en) | A kind of equipment using sound detection tire pressure | |
| CN103112443B (en) | A kind of brake control apparatus, method and multimachine car braking control system | |
| WO2009093788A1 (en) | Brake lamp control apparatus | |
| CN101178581A (en) | Integrated control device and method of motorcar chassis | |
| US11926305B2 (en) | Method for the automated electronic control of a brake system in a utility vehicle having anti-lock braking protection | |
| CN106926842A (en) | Vehicle assistant drive method and vehicle DAS (Driver Assistant System) | |
| CN104903166B (en) | Controller, revolution speed sensing device, braking equipment, vehicle and rotating speed method for sensing | |
| CN103204151B (en) | Interface device of wheel speed sensor | |
| JP3114581B2 (en) | Braking force control device | |
| CN201039213Y (en) | CAN converter | |
| CN109476291A (en) | The braking equipment of motor vehicle for adjusting the method for brake pressure, for executing this method and motor vehicle with this braking equipment | |
| CN208544263U (en) | The automatic anti-slip system of implement porter walking | |
| CN113401051A (en) | Vehicle turning alarm method, device and system | |
| JP7334350B2 (en) | Sensor device for vehicle and multi-circuit braking system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 230601 Anhui Province, Hefei City Industrial Park, the Peach Blossom Road No. 669 Applicant after: ANHUI JIANGHUAI AUTOMOBILE GROUP Corp.,Ltd. Address before: Hefei City, Anhui Province, 230022 East Road No. 176 Applicant before: ANHUI JIANGHUAI AUTOMOBILE GROUP Corp.,Ltd. |
|
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181225 |