CN108891392A - A kind of emergency braking control system preventing skid - Google Patents
A kind of emergency braking control system preventing skid Download PDFInfo
- Publication number
- CN108891392A CN108891392A CN201810797894.XA CN201810797894A CN108891392A CN 108891392 A CN108891392 A CN 108891392A CN 201810797894 A CN201810797894 A CN 201810797894A CN 108891392 A CN108891392 A CN 108891392A
- Authority
- CN
- China
- Prior art keywords
- braking
- module
- signal
- vacuum
- automobile
- 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.)
- Withdrawn
Links
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
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/12—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action
- B60T1/14—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action directly on road
-
- 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
-
- 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)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention provides a kind of emergency braking control systems for preventing skid, including：Signal acquisition module, signal processing module, central controller, arrestment mechanism drive module, at least two groups vacuum braking mechanism, ESP system and energy recovery mechanism；The system is capable of the motion state of real-time monitoring driving vehicle, the vacuum braking mechanism braking strategy to match with automobile current motion state is generated by signal analysis, it can cooperate with the primary brake system of automobile, auxiliary braking operation is executed by above-mentioned intelligentized control method mechanism, braking distance is significantly decreased, the stability and safety of service brake can be effectively improved；ESP is also fused in system by the present invention, and vehicle can be made to keep optimal stability under various conditions, and the risk that vehicle breaks away is reduced in the case of ovdersteering or excessive brake；The excess energy that vehicle releases in braking or coast is also recycled by the energy recovery mechanism of setting, facilitates energy conservation and environmental protection.
Description
Technical field
The present invention relates to automobile brake technical fields, and in particular to a kind of emergency braking control system for preventing skid
System.
Background technique
In recent years, as domestic automobile ownership increases year by year, so that traffic safety form is more and more severeer.According to
Studies have shown that rear-end impact event accounts for 70% or more of accident toatl proportion in numerous traffic accidents, it is especially public in high speed
The rear-end collision that road is caused is more, causes the loss of personnel and property also more serious.And rear-end collision is mostly because front truck is tight
When anxious braking, caused by causing the rear car run at high speed vehicle can not stop in relatively short distance.
Currently, existing automobile is mounted on ABS system, its purpose is to prevent vehicle from issuing in emergency braking situation
Raw wheel lock up, to guarantee the adhesive force of wheel and ground always in maximum value.But ABS system not be it is omnipotent,
It may failure under special environment；Such as：When carrying out emergency braking on ice and snow road, due to rubbing between road surface and tire
It is lower to wipe coefficient, causes anti-lock braking system that can not effectively shorten braking distance, or under certain state of emergency, if vehicle
When executing brake operating according to normal brake program, it is more likely that can be more than safe distance, to collide the barrier in front
Hinder object or vehicle.
In order to further increase the validity of automobile brake, Some Enterprises have also developed various auxiliary braking devices, base
Present principles are roughly the same, are all to be touched using the friction member and ground that are arranged on automobile chassis, to increase automobile and ground
The frictional force in face, so as to shorten braking distance.But since these auxiliary braking devices do not have intelligent control function,
Influence of the size to vehicle driving state that brake force is not considered in executing braking process, causes vehicle excessive because of brake force
And overturn, or can not be checked vehicle in safe distance because brake force is too small, to can still result in the hair of traffic accident
It is raw, new security risk is brought to driving.
In addition, vehicle is in case of emergency, when realizing braking using traditional mechanical brake device (parking brake and service brake), by
Larger brake force only is applied to two-wheeled below in it, even if being equipped with ABS anti-lock braking system, will appear rear lock also to produce
Raw vehicle whipping phenomenon, has biggish security risk；Its key factor be ABS system itself there are the shortcomings that, it is this lack
Point is that it belongs to the braking system of passive property, can not actively identify potential danger existing for vehicle in advance, often
When driver recognize it is dangerous there are when, be difficult to avoid the generation of accident.
It is current those skilled in the art in conclusion how to provide a kind of brake control mode for guaranteeing vehicle safety
Technical problem urgently to be resolved
Summary of the invention
It is an object of the present invention to overcome existing auxiliary braking system because not having intelligent control function, to driving
There is above-mentioned security risks, provide a kind of emergency braking control system for preventing skid, can be tight using the system
Under anxious on-position, by the intellectual analysis to driving states, the braking strategy for meeting current driving security requirement is generated.
To achieve the above object, a kind of emergency braking control system preventing skid provided by the invention, the system
It specifically includes：Signal acquisition module, signal processing module, central controller, arrestment mechanism drive module, at least two groups vacuum system
Motivation structure, ESP system and energy recovery mechanism；
The signal acquisition module is used to acquire the driving states signal and braking strength signal of automobile；
The signal processing module is generated for handling driving states signal and braking strength signal for ESP
The signal of system and central controller identification；
Whether the central controller is in emergency braking condition according to braking strength signal determining automobile, is being determined as
Under emergency braking condition, vacuum braking mechanism braking strategy is generated by analysis driving states signal, and trigger arrestment mechanism drive
Dynamic model block is by the vacuum braking mechanism braking strategy driving each group vacuum braking mechanism operation；The central controller is also used to
Trigger energy recovering mechanism and Automobile drive axis connection under emergency braking condition；
The vacuum braking mechanism is set on automobile chassis, which is driven by arrestment mechanism drive module
It is dynamic, contact it with road surface, and form vacuum environment in contact site；
Whether the ESP system is in side slip conditions according to driving states signal and braking strength signal determining automobile,
In the case where being determined as side slip conditions, is analyzed by signal and generate wheel braking strategy, and trigger arrestment mechanism drive module by described
Wheel braking strategy to corresponding wheel implement brake；
The power intake of the energy recovery mechanism is opposite with automobile driving axle, energy output end and vehicle power supply
Connection, the mechanical energy for exporting automobile driving axle is converted into electric energy, and is transferred to vehicle power supply.
As a further improvement of the above technical scheme, the signal acquisition module includes：Distance measuring sensor, test the speed biography
Sensor, braking force sensor, pressure sensor, angular acceleration transducer and angular transducer are respectively used to measurement Chinese herbaceous peony obstacle
The angular acceleration and angle that object distance, speed, brake block brake force, tire pressure, brake pedal rotate；The ranging sensing
Device and velocity sensor are set to headstock part, and the braking force sensor is set on the brake block of each wheel, described
Pressure sensor is set on each tire, and the angular acceleration transducer and angular transducer are set on brake pedal.
As a further improvement of the above technical scheme, the signal processing module includes：A/D converter, signal are put
Big device and filter, the signal for exporting signal acquisition module successively carry out analog-to-digital conversion, amplification and filtering processing.
As a further improvement of the above technical scheme, the central controller includes：First comparison module, braking away from
From computing module, the second comparison module and policy generation module；
First comparison module receives the angular acceleration measured value and angle measurement of brake pedal rotation, and respectively
It is compared with the angular acceleration threshold value of setting and angle threshold, when angular acceleration measured value and angle measurement are more than threshold value
When, determine that automobile is in emergency braking condition, and send emergency braking shape to braking distance computing module and energy recovery mechanism
State message；
By emergency braking condition message trigger, it receives the measurement of brake block brake force to the braking distance computing module
Value and vehicle speed measurement value obtain braking distance value by calculating, and braking distance value are sent to the second comparison module；
Received braking distance value is compared by second comparison module with Chinese herbaceous peony obstacle distance measured value, will
Distance difference between the two is sent to policy generation module；
The policy generation module by corresponding to distance difference and each vacuum braking mechanism braking strategy of setting away from
It is compared from range, the vacuum braking mechanism braking strategy of distance range is sent to arrestment mechanism where selecting the distance difference
Drive module, and clock module excitation signal acquisition module according to set time is controlled, which also receives tire
Pressure measuring value controls each group by arrestment mechanism drive module when tire pressure threshold value of the tire pressure measured value lower than setting
Vacuum braking mechanism is out of service.
It as a further improvement of the above technical scheme, further include parameter testing module, in the parameter testing module
It is provided with parameter testing model, which receives signal and the policy generation module output of signal processing module output
Vacuum braking mechanism braking strategy, and by model calculation obtain for adjust vacuum braking mechanism braking strategy it is corresponding away from
Regulated value from range.
As a further improvement of the above technical scheme, the system includes four groups of vacuum braking mechanisms, every group of vacuum
Arrestment mechanism includes two vacuum braking units being oppositely arranged, and each group vacuum braking mechanism is parallel to automobile tail.
As a further improvement of the above technical scheme, the vacuum braking unit includes：Hydraulic cylinder, telescopic rod, suction
Disk, vacuum pump and pressure fan；The hydraulic cylinder is fixed on automobile chassis, the signal input part and arrestment mechanism of the hydraulic cylinder
Drive module connection, and controlled by arrestment mechanism drive module, the telescopic rod is set between hydraulic cylinder and sucker, this is stretched
Contracting bar extends it to road surface direction by Driven by Hydraulic Cylinder so that sucker is fallen on road surface, and sucker inner wall and road surface it
Between form confined space, the signal input part of the vacuum pump and pressure fan is connect with arrestment mechanism drive module, and by
The control of arrestment mechanism drive module, the vacuum pump and pressure fan divide two-way to be connected to sucker, are respectively used to extract in confined space
Air and to confined space be vented.
As a further improvement of the above technical scheme, the energy recovery mechanism includes：Relay, air pressure thick stick, hair
Motor and cage；The signal input part of the relay is connect with central controller, which is also electrically connected with pneumatic cylinder,
Vehicle condition signal for being sent by central controller triggers it and executes closure and disconnection movement, and then air pressure thick stick is driven to hold
Row stretching motion, the end of the pneumatic cylinder are fixed with generator, are provided with gear in the shaft of the generator, the generator
Electric energy output end and vehicle power supply be electrically connected, the cage is sheathed on automobile driving axle, which is equipped with gear ring,
When pneumatic cylinder is in elongation state, the gear ring and gear are intermeshed.
A kind of emergency braking control system advantage preventing skid of the invention is：
System of the invention is capable of the motion state of real-time monitoring driving vehicle, when judging that vehicle is in a state of emergency,
It further determines whether to need to open the vacuum braking mechanism in this system according to the driving states signal that acquisition obtains, and is needing
In the case where opening vacuum braking mechanism, the vacuum braking to match with automobile current motion state is generated by signal analysis
Mechanism braking strategy, the system can cooperate with the primary brake system of automobile, be executed by above-mentioned intelligentized control method mechanism
Auxiliary braking operation, significantly decreases braking distance, can effectively improve the stability and safety of service brake；Together
When, ESP system is also fused in auxiliary braking system by the present invention, and vehicle can be made to keep optimal stabilization under various conditions
Property, the risk that vehicle breaks away is reduced in the case of ovdersteering or excessive brake；This system also passes through the energy of setting
The excess energy that recovering mechanism recycling vehicle releases in braking or coast, and electricity is translated by generator
Can, and be stored in battery, for powering for vehicle, to improve the recycling efficiency of energy, also further decrease
Discharge to the dependence of engine, burnup and carbon dioxide.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for the emergency braking control system for preventing skid provided by the invention；
Fig. 2 is the structural schematic diagram of the signal processing module in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the central controller in the embodiment of the present invention；
Fig. 4 is the multi-group vacuum arrestment mechanism riding position schematic diagram in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of the vacuum braking unit in the embodiment of the present invention.
Fig. 6 is the structural schematic diagram of the energy recovery mechanism in the embodiment of the present invention.
Appended drawing reference
1, first group of vacuum braking mechanism, 2, second groups of vacuum braking mechanisms
3,4, the 4th groups of vacuum braking mechanisms of third group vacuum braking mechanism
5, automobile back wheel 6, arrestment mechanism drive module
7, hydraulic cylinder 8, telescopic rod
9, vacuum pump 10, pressure fan
11, sucker 12, relay
13, air pressure thick stick 14, generator
15, cage 16, gear
17, gear ring 18, automobile driving axle
19, shaft
Specific embodiment
With reference to the accompanying drawings and examples to a kind of emergency braking control system for preventing skid of the present invention
It is described in detail.
As shown in Figure 1, a kind of auxiliary braking system for preventing skid provided by the invention, the system specifically include：
Signal acquisition module, signal processing module, central controller, arrestment mechanism drive module, at least two groups vacuum braking mechanism,
ESP system and energy recovery mechanism.
The signal acquisition module is used to acquire the driving states signal and braking strength signal of automobile；
The signal processing module is generated for handling driving states signal and braking strength signal for ESP
The signal of system and central controller identification；
Whether the central controller is in emergency braking condition according to braking strength signal determining automobile, is being determined as
Under emergency braking condition, vacuum braking mechanism braking strategy is generated by analysis driving states signal, and trigger arrestment mechanism drive
Dynamic model block is by the vacuum braking mechanism braking strategy driving each group vacuum braking mechanism operation；The central controller is also used to
Trigger energy recovering mechanism and Automobile drive axis connection under emergency braking condition；
The vacuum braking mechanism is set on automobile chassis, which is driven by arrestment mechanism drive module
It is dynamic, contact it with road surface, and form vacuum environment in contact site；
Whether the ESP system is in side slip conditions according to driving states signal and braking strength signal determining automobile,
In the case where being determined as side slip conditions, is analyzed by signal and generate wheel braking strategy, and trigger arrestment mechanism drive module by described
Wheel braking strategy to corresponding wheel implement brake；
The power intake of the energy recovery mechanism is opposite with automobile driving axle, energy output end and vehicle power supply
Connection, the mechanical energy for exporting automobile driving axle is converted into electric energy, and is transferred to vehicle power supply.
Whether vehicle is detected first using above system in the process of moving in emergency braking condition, when judging at vehicle
When the state of emergency, further determine whether to need to open the vacuum system in this system according to the driving states signal that acquisition obtains
Motivation structure, and in the case where needing to open vacuum braking mechanism, it is generated and automobile current motion state phase by signal analysis
Matched vacuum braking mechanism braking strategy executes auxiliary braking operation with above-mentioned intelligentized control method mechanism, can be improved driving
The stability and safety of braking.
In addition, ESP system is also fused in auxiliary braking system by the present invention, ESP system can make vehicle in various shapes
Optimal stability is kept under condition, effect is more obvious in the case of ovdersteering or excessive brake.When braking system occurs
When emergency, ESP system acquires the driving states signal and braking strength signal of signal processing module output, by these signals
It is compared with data preset in its memory, when the numerical value that signal is prestored beyond memory, i.e. judgement vehicle body faces
Close out of control or runaway condition, order arrestment mechanism drive module is by the wheel braking strategy works generated at this time, to protect
Card vehicle body driving status can meet the intention of driver as far as possible.The wheel braking strategy refers to：Using different brakings
Method is braked to execute four-wheel hydraulic, realizes quick, urgent, stable deceleration or parking, guarantee personal and property safety.
Since automobile can convert thermal energy for a large amount of kinetic energy during emergency braking, and these thermal energy can not recycle benefit
With so as to cause the waste of the energy；For this purpose, this system is additionally provided with energy recovery mechanism.Pass through energy recovery mechanism recovery vehicle
The excess energy released in braking or coast, and electric energy is translated by generator, and be stored in electric power storage
Chi Zhong, for powering for vehicle, to improve the recycling efficiency of energy, also further decrease dependence to engine,
The discharge of burnup and carbon dioxide.
Emergency braking control system based on above structure, the braking strength signal may include what brake pedal rotated
Angular acceleration and angle information, the driving states signal may include Chinese herbaceous peony obstacle distance, speed, brake block brake force and
Tire pressure information.In order to complete the acquisition of above- mentioned information, as shown in Figure 1, the signal acquisition module in the present embodiment includes：It surveys
Away from sensor, velocity sensor, braking force sensor, pressure sensor, angular acceleration transducer and angular transducer, use respectively
In measurement Chinese herbaceous peony obstacle distance, speed, brake block brake force, tire pressure, brake pedal rotation angular acceleration and angle；
The distance measuring sensor and velocity sensor is set to headstock part, and the braking force sensor is set to the brake of each wheel
Vehicle on piece, the pressure sensor are set on each tire, and the angular acceleration transducer and angular transducer are set to
On brake pedal.
As shown in Fig. 2, the signal processing module can be by the A/D converter of setting, by its received analog signal
Be converted to the digital signal for central controller identification；Meanwhile in order to reduce the noise jamming of signal, the detection essence of signal is improved
Degree, the signal processing module may also include signal amplifier and filter, the signal for exporting signal acquisition module
It amplifies and is filtered.
In order to realize the systematic function of above-mentioned vacuum braking mechanism braking strategy, as shown in figure 3, the central controller
May include：First comparison module, braking distance computing module, the second comparison module and policy generation module.
First comparison module receives the angular acceleration measured value and angle measurement of brake pedal rotation, and respectively
It is compared with the angular acceleration threshold value of setting and angle threshold, when angular acceleration measured value and angle measurement are more than threshold value
When, determine that automobile is in emergency braking condition, and send emergency braking shape to braking distance computing module and energy recovery mechanism
State message.
By emergency braking condition message trigger, it receives the measurement of brake block brake force to the braking distance computing module
Value and vehicle speed measurement value obtain braking distance value by calculating, and braking distance value are sent to the second comparison module.
Received braking distance value is compared by second comparison module with Chinese herbaceous peony obstacle distance measured value, will
Distance difference between the two is sent to policy generation module.
The policy generation module by corresponding to distance difference and each vacuum braking mechanism braking strategy of setting away from
It is compared from range, the vacuum braking mechanism braking strategy of distance range is sent to arrestment mechanism where selecting the distance difference
Drive module, and clock module excitation signal acquisition module according to set time is controlled, enable signal acquisition module real-time
Detect the transport condition data of automobile.The vacuum braking mechanism braking strategy may include vacuum braking mechanism unlatching group number,
The setting of each group vacuum braking mechanism start-up time and starting duration, suction.
Above-mentioned policy generation module also receives tire pressure measured value, for by the tire of the tire pressure measured value and setting
Pressure threshold value is compared in real time；When tire pressure threshold value of the tire pressure measured value lower than setting, it was demonstrated that the part tire of automobile is grabbed
Soil fertility is insufficient, if still continuing auxiliary braking according to the vacuum braking mechanism braking strategy set before, it is likely that can deposit
In overturning or sideslip risk；In order to avoid the generation of this accident, each group vacuum system can be controlled by arrestment mechanism drive module
Motivation structure is out of service, so that the insufficient tire of road holding is steadily contacted with ground.
With the increase of automobile service life and mileage travelled, the brake parts of automobile primary brake system can constantly be ground
Damage and aging, so as to cause being greatly lowered for stopping power.If braked always using changeless vacuum braking mechanism
Strategy will necessarily reduce the braking effect of this system, result even in the failure of braking to control the operation of vacuum braking mechanism.For
This, is additionally provided with parameter testing module (as shown in Figure 3) in the system of the present invention, is provided in the parameter testing module
Parameter testing model, the parameter testing model receive the signal of signal processing module output and the vacuum of policy generation module output
Arrestment mechanism braking strategy, and the regulated value for adjusting the corresponding distance range of braking strategy is obtained by model calculation.
Driving shape of the above-mentioned parameter debugging module to be fed back after the auxiliary braking strategy and strategy execution that execute every time
State information obtains tuning values by model calculation, brakes to each vacuum braking mechanism set in policy generation module
The corresponding distance range of strategy constantly debugs, so that currently performed vacuum braking mechanism braking strategy is worked as with automobile always
Preceding performance matches, to improve the identification capability of system.
As shown in figure 4, the system in the present embodiment may include first group of vacuum braking mechanism, 1, second group of vacuum braking machine
Structure 2, third group vacuum braking mechanism 3 and the 4th group of vacuum braking mechanism 4；Every group of vacuum braking mechanism includes two and sets relatively
The vacuum braking unit set, each group vacuum braking mechanism are parallel to automobile tail.
For the braking function for realizing above-mentioned vacuum braking mechanism, as shown in figure 5, the vacuum braking unit in the present embodiment can
Including：Hydraulic cylinder 7, telescopic rod 8, sucker 11, vacuum pump 9 and pressure fan；The hydraulic cylinder 7 is fixed on automobile chassis, should
The signal input part of hydraulic cylinder 7 is connect with arrestment mechanism drive module 6, and is controlled by arrestment mechanism drive module 6, and described stretches
Contracting bar 8 is set between hydraulic cylinder 7 and sucker 11, which extend it to road surface direction by the driving of hydraulic cylinder 7, so that
Sucker 11 is fallen on road surface, and confined space, the vacuum pump 9 and pressure fan are formed between 11 inner wall of sucker and road surface
10 signal input part is connect with arrestment mechanism drive module 6, and is controlled by arrestment mechanism drive module 6,9 He of vacuum pump
Pressure fan 10 divides two-way to be connected to sucker 11, be respectively used to extract confined space in air and to confined space be vented, with increase
Pressure that is big or reducing contact surface between sucker 11 and road surface.
For the energy recovery function for realizing above-mentioned energy recovery mechanism, as shown in fig. 6, the energy-recovering machine in the present embodiment
Structure includes：Relay 12, air pressure thick stick 13, generator 14 and cage 15；The signal input part of the relay 12 and center control
Device connection, the relay 12 are also electrically connected with pneumatic cylinder, the vehicle condition signal triggering for being sent by central controller
It executes closure and acts with disconnection, and then air pressure thick stick 13 is driven to execute stretching motion, and the end of the pneumatic cylinder is fixed with power generation
Machine 14 is provided with gear 16 in the shaft 19 of the generator 14, and the electric energy output end and vehicle power supply of the generator 14 are electrical
Connection, the cage 15 are sheathed on automobile driving axle 18, which is equipped with gear ring 17, are in elongate in pneumatic cylinder
When state, the gear ring 17 and gear 16 are intermeshed.
The energy recovery mechanism of this system is switched using engine retard braking signal activation generator starting, and then is passed through
Generator is engaged with automobile driving axle cage rotates generator to realize power generation, and the mechanism can be directly in existing mixing
It reequips and completes on power vehicle, have a extensive future.
It is using the detailed process that the emergency braking control system of above structure implements auxiliary braking operation：
Firstly, driver can step on brake pedal at once, at this time when vehicle chance emergency needs to brake immediately
Transient change can occur for the angular acceleration and angle of brake pedal, can detecte using angular acceleration transducer and work as anterior angle
The variation delta α of acceleration alpha, correspondingly, the angle variable quantity Δ θ of brake pedal can also be detected by angular transducer
Out；Meanwhile using the instant distance L of vehicle-mounted contactless stadia surveying automobile and front obstacle, passed using testing the speed
Sensor detects the instantaneous velocity V of vehicle at this time, detects brake block brake force F using pressure sensor, finally will test gained letter
Number by signal processing module carry out analog-to-digital conversion after be transmitted to central controller.
Then, angular acceleration change amount Δ α, angle variable quantity Δ θ, distance L, speed V and the brake block converted through signal
Brake force F is stored into central controller.Determine automobile be in emergency braking condition when, further by calculate acquisition braking away from
Be compared from value with Chinese herbaceous peony obstacle distance measured value, later by between the two distance difference and each vacuum braking mechanism system
Distance range corresponding to dynamic strategy is compared；When the distance difference is negative, that is, pass through the braking of automobile itself
System can check vehicle in safe distance, not need to start auxiliary braking system of the invention at this time, and when described
Distance difference is positive number, and when in a certain distance range of setting, i.e., can not be only by the braking system of automobile itself
Vehicle is checked in safe distance, will lead to rear-end collision, the vacuum braking machine of distance range where selecting the distance difference at this time
Structure braking strategy is as implementation strategy.
In the case where determination needs to open vacuum braking mechanism, in order to guarantee the stability of braking, in vacuum braking machine
The first group of vacuum braking mechanism 1 (as shown in Figure 4) for being proximate to automobile back wheel 5 started at first is set in structure braking strategy, and
According to currently performed vacuum braking mechanism braking strategy by the program of setting further open second group of vacuum braking mechanism 2,
Third group vacuum braking mechanism 3 or the 4th group of vacuum braking mechanism 4.
It is well known that vehicle, under stationary state or normally travel state, the support force of front and back tire keeps one substantially
Cause, once and vehicle has the tendency that overturning forward, the pressure of automobile front tyre can be increasingly greater than the pressure of tire after automobile.In for this purpose,
Compared with entreating controller that can carry out the tire pressure measured value received in real time with the tire pressure threshold value of setting, determining that automobile may
When can have overturning or skidding accident, by the control of arrestment mechanism drive module, each group vacuum braking mechanism is out of service, so that
The insufficient tire of road holding is steadily contacted with ground, so that automobile is restored to steady state；While and energy-recovering machine
Structure collective effect, further decreases braking distance.
In addition, system of the invention can also be incited somebody to action by parameter testing module in executing above-mentioned auxiliary braking operating process
The driving states information of vacuum braking mechanism braking strategy and its feedback that system executes substitutes into trained model, passes through
Model calculation obtains the debugging value for debugging vacuum braking mechanism braking strategy parameter, to what is set in policy generation module
The corresponding distance range of each vacuum braking mechanism braking strategy is constantly debugged, so that currently performed vacuum braking mechanism system
Dynamic strategy matches with the current performance of automobile always, to improve the identification capability of system.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, those skilled in the art should understand that, to technical side of the invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Scope of the claims in.
Claims (8)
1. a kind of emergency braking control system for preventing skid, which is characterized in that including：At signal acquisition module, signal
Manage module, central controller, arrestment mechanism drive module, at least two groups vacuum braking mechanism, ESP system and energy-recovering machine
Structure；
The signal acquisition module is used to acquire the driving states signal and braking strength signal of automobile；
The signal processing module is generated for handling driving states signal and braking strength signal for ESP system
With the signal of central controller identification；
Whether the central controller is in emergency braking condition according to braking strength signal determining automobile, is being determined as promptly
Under on-position, vacuum braking mechanism braking strategy is generated by analysis driving states signal, and triggers arrestment mechanism driving mould
Block is by the vacuum braking mechanism braking strategy driving each group vacuum braking mechanism operation；The central controller is also used to tight
Trigger energy recovering mechanism and Automobile drive axis connection under anxious on-position；
The vacuum braking mechanism is set on automobile chassis, which is driven by arrestment mechanism drive module,
It contacts it with road surface, and forms vacuum environment in contact site；
Whether the ESP system is in side slip conditions according to driving states signal and braking strength signal determining automobile, is sentencing
It is set under side slip conditions, is analyzed by signal and generate wheel braking strategy, and trigger arrestment mechanism drive module by the vehicle
It takes turns braking strategy and corresponding wheel is implemented to brake；
The power intake of the energy recovery mechanism is opposite with automobile driving axle, and energy output end and vehicle power supply connect
It connects, the mechanical energy for exporting automobile driving axle is converted into electric energy, and is transferred to vehicle power supply.
2. the emergency braking control system according to claim 1 for preventing skid, which is characterized in that the signal
Acquisition module includes：Distance measuring sensor, velocity sensor, braking force sensor, pressure sensor, angular acceleration transducer and angle
Sensor is spent, measurement Chinese herbaceous peony obstacle distance, speed, brake block brake force, tire pressure, brake pedal is respectively used to and rotates
Angular acceleration and angle；The distance measuring sensor and velocity sensor is set to headstock part, the braking force sensor
Be set on the brake block of each wheel, the pressure sensor is set on each tire, the angular acceleration transducer and
Angular transducer is set on brake pedal.
3. the emergency braking control system according to claim 1 or 2 for preventing skid, which is characterized in that described
Signal processing module includes：A/D converter, signal amplifier and filter, signal for exporting signal acquisition module according to
Secondary progress analog-to-digital conversion, amplification and filtering processing.
4. the emergency braking control system according to claim 2 for preventing skid, which is characterized in that the center
Controller includes：First comparison module, braking distance computing module, the second comparison module and policy generation module；
First comparison module receives the angular acceleration measured value and angle measurement of brake pedal rotation, and respectively with set
Fixed angular acceleration threshold value and angle threshold is compared, when angular acceleration measured value and angle measurement are more than threshold value,
Determine that automobile is in emergency braking condition, and sends emergency braking condition to braking distance computing module and energy recovery mechanism and disappear
Breath；
The braking distance computing module by emergency braking condition message trigger its receive brake block brake force measured value and
Vehicle speed measurement value obtains braking distance value by calculating, and braking distance value is sent to the second comparison module；
Received braking distance value is compared by second comparison module with Chinese herbaceous peony obstacle distance measured value, by the two
The distance between difference be sent to policy generation module；
The policy generation module is by model at a distance from corresponding to each vacuum braking mechanism braking strategy of the distance difference with setting
It encloses and is compared, the vacuum braking mechanism braking strategy of distance range where selecting the distance difference is sent to arrestment mechanism driving
Module, and clock module excitation signal acquisition module according to set time is controlled, which also receives tire pressure
Measured value controls each group vacuum by arrestment mechanism drive module when tire pressure threshold value of the tire pressure measured value lower than setting
Arrestment mechanism is out of service.
5. the emergency braking control system according to claim 4 for preventing skid, which is characterized in that further include parameter
Debugging module is provided with parameter testing model in the parameter testing module, which receives signal processing mould
The signal of block output and the vacuum braking mechanism braking strategy of policy generation module output, and obtained by model calculation for adjusting
Save the regulated value of the corresponding distance range of vacuum braking mechanism braking strategy.
6. the emergency braking control system according to claim 1 for preventing skid, which is characterized in that the system
Including four groups of vacuum braking mechanisms, every group of vacuum braking mechanism includes two vacuum braking units being oppositely arranged, and each group is true
Empty arrestment mechanism is parallel to automobile tail.
7. the emergency braking control system according to claim 6 for preventing skid, which is characterized in that the vacuum
Brake unit includes：Hydraulic cylinder (7), telescopic rod (8), sucker (11), vacuum pump (9) and pressure fan；The hydraulic cylinder (7) is solid
Due on automobile chassis, the signal input part of the hydraulic cylinder (7) is connect with arrestment mechanism drive module (6), and by arrestment mechanism
Drive module (6) control, the telescopic rod (8) are set between hydraulic cylinder (7) and sucker (11), and the telescopic rod (8) is by liquid
Cylinder pressure (7) driving extends it to road surface direction, so that sucker (11) is fallen on road surface, and on sucker (11) inner wall and road surface
Between form confined space, the signal input part of the vacuum pump (9) and pressure fan (10) with arrestment mechanism drive module
(6) it connects, and is controlled by arrestment mechanism drive module (6), the vacuum pump (9) and pressure fan (10) divide two-way and sucker (11) even
It is logical, it the air that is respectively used to extract in confined space and is vented to confined space.
8. the emergency braking control system according to claim 1 for preventing skid, which is characterized in that the energy
Recovering mechanism includes：Relay (12), air pressure thick stick (13), generator (14) and cage (15)；The signal of the relay (12)
Input terminal is connect with central controller, which is also electrically connected with pneumatic cylinder, for being sent by central controller
Vehicle condition signal trigger its execute closure with disconnection act, and then drive air pressure thick stick (13) execute stretching motion, the gas
The end of cylinder pressure is fixed with generator (14), is provided with gear (16), the generator in the shaft (19) of the generator (14)
(14) electric energy output end and vehicle power supply is electrically connected, and the cage (15) is sheathed on automobile driving axle (18), the ball
Cage (15) is equipped with gear ring (17), and when pneumatic cylinder is in elongation state, the gear ring (17) and gear (16) are intermeshed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810797894.XA CN108891392A (en) | 2018-07-19 | 2018-07-19 | A kind of emergency braking control system preventing skid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810797894.XA CN108891392A (en) | 2018-07-19 | 2018-07-19 | A kind of emergency braking control system preventing skid |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108891392A true CN108891392A (en) | 2018-11-27 |
Family
ID=64351122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810797894.XA Withdrawn CN108891392A (en) | 2018-07-19 | 2018-07-19 | A kind of emergency braking control system preventing skid |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108891392A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112203910A (en) * | 2019-01-11 | 2021-01-08 | 黄聃晟 | Vehicle anchor brake device |
| CN112606702A (en) * | 2020-11-30 | 2021-04-06 | 江铃汽车股份有限公司 | Energy recovery control method and system, storage medium and computer equipment |
| CN112959993A (en) * | 2020-11-24 | 2021-06-15 | 泰州锐比特智能科技有限公司 | Anti-collision emergency bottom supporting platform and method |
| CN114802167A (en) * | 2022-05-18 | 2022-07-29 | 粤水电轨道交通建设有限公司 | Traction locomotive brake system, brake detection method and vehicle |
| TWI799984B (en) * | 2021-09-10 | 2023-04-21 | 六和機械股份有限公司 | Vehicle having brake assistance device and brake assistance method for vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102290918A (en) * | 2011-04-26 | 2011-12-21 | 浙江吉利汽车研究院有限公司 | Vehicle braking energy recovery device |
| CN103204144A (en) * | 2013-04-27 | 2013-07-17 | 辽宁工业大学 | Automobile auxiliary braking system |
| US20140257660A1 (en) * | 2013-03-06 | 2014-09-11 | Ford Global Technologies, Llc | Method for controlling operation of a braking system independent of the state of an electronic stability control system |
| CN104608817A (en) * | 2015-01-08 | 2015-05-13 | 奇瑞汽车股份有限公司 | Intelligent crosswind influence early-warning system based on electric steering device |
-
2018
- 2018-07-19 CN CN201810797894.XA patent/CN108891392A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102290918A (en) * | 2011-04-26 | 2011-12-21 | 浙江吉利汽车研究院有限公司 | Vehicle braking energy recovery device |
| US20140257660A1 (en) * | 2013-03-06 | 2014-09-11 | Ford Global Technologies, Llc | Method for controlling operation of a braking system independent of the state of an electronic stability control system |
| CN103204144A (en) * | 2013-04-27 | 2013-07-17 | 辽宁工业大学 | Automobile auxiliary braking system |
| CN104608817A (en) * | 2015-01-08 | 2015-05-13 | 奇瑞汽车股份有限公司 | Intelligent crosswind influence early-warning system based on electric steering device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112203910A (en) * | 2019-01-11 | 2021-01-08 | 黄聃晟 | Vehicle anchor brake device |
| CN112959993A (en) * | 2020-11-24 | 2021-06-15 | 泰州锐比特智能科技有限公司 | Anti-collision emergency bottom supporting platform and method |
| CN112606702A (en) * | 2020-11-30 | 2021-04-06 | 江铃汽车股份有限公司 | Energy recovery control method and system, storage medium and computer equipment |
| TWI799984B (en) * | 2021-09-10 | 2023-04-21 | 六和機械股份有限公司 | Vehicle having brake assistance device and brake assistance method for vehicle |
| CN114802167A (en) * | 2022-05-18 | 2022-07-29 | 粤水电轨道交通建设有限公司 | Traction locomotive brake system, brake detection method and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108891392A (en) | A kind of emergency braking control system preventing skid | |
| CN102180163B (en) | Vehicle state detecting and controlling method applied to electronic mechanical brake system of motor vehicle | |
| CN101327746B (en) | Electric automobile braking system | |
| CN106427998B (en) | The control method of the urgent lane change collision avoidance of vehicle under a kind of fast state | |
| KR101714232B1 (en) | Method for controlling regenerative braking co-operative control system for vehicle | |
| CN106553645B (en) | automatic parking control system and control method based on the system | |
| CN108437805A (en) | Regenerating braking energy recycling control based on wheel hub motor four-wheel drive vehicle and computational methods | |
| CN107010028A (en) | Collision avoidance system, control method and the electric automobile of electric automobile | |
| CN108422986A (en) | A kind of intelligence control system for automobile brake | |
| CN108422983A (en) | A kind of vehicle auxiliary braking system based on artificial intelligence | |
| CN104494550A (en) | Active anticollision device of vehicle and calculating method of anticollision distance | |
| CN107697046A (en) | Automatic emergency brake method and system | |
| CN105946824B (en) | A kind of autobrake system and its brake method based on suspension vibration energy regenerating | |
| CN105644536A (en) | Braking energy recovery system and control method based on system | |
| CN105501204A (en) | Active collision-avoidance system based on novel solenoid valve controlling hydraulic braking and braking method | |
| CN201769809U (en) | Electronic stability system for vehicle | |
| CN108973965A (en) | A kind of intelligentized automobile emergency brake control system | |
| CN109552314A (en) | A kind of cooperative control system for new-energy automobile ESC | |
| CN204605408U (en) | A kind of automobile short range auxiliary emergent brake system | |
| CN108394408A (en) | A kind of automobile intelligent auxiliary braking system | |
| CN109383473A (en) | A kind of automobile-used Electro-mechanical brake system of multiaxis | |
| CN108407782A (en) | A kind of emergency braking control system for automobile | |
| CN108995636A (en) | A kind of vehicle automatic emergency brake method | |
| CN108081960A (en) | A kind of braking energy of electric automobiles recovery method and system | |
| CN104816637A (en) | Regenerative braking control system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190305 Address after: 102600 No. 11 Lian Lane, Liyuan Village, Huangcun Town, Daxing District, Beijing Applicant after: Du Yongbo Address before: 274400 old Liu Zhuang 180, old Liu Zhuang administrative village, Caoxian Town, Caoxian, Heze. Applicant before: Li Hongyun Applicant before: Li Zhi |
|
| TA01 | Transfer of patent application right | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181127 |
|
| WW01 | Invention patent application withdrawn after publication |