CN108973965A - A kind of intelligentized automobile emergency brake control system - Google Patents
A kind of intelligentized automobile emergency brake control system Download PDFInfo
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- CN108973965A CN108973965A CN201810799337.1A CN201810799337A CN108973965A CN 108973965 A CN108973965 A CN 108973965A CN 201810799337 A CN201810799337 A CN 201810799337A CN 108973965 A CN108973965 A CN 108973965A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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
- B60T13/10—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 fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
-
- 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
- B60T13/10—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 fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/72—Electrical control in fluid-pressure brake systems in vacuum systems or vacuum booster units
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention provides a kind of intelligentized automobile emergency brake control systems, comprising: signal acquisition module, signal processing module, central controller, arrestment mechanism drive module, at least two groups vacuum braking mechanism and energy recovery mechanism；This system is capable of the motion state of real-time monitoring driving vehicle, when judging that vehicle is in a state of emergency, and in the case where needing to open vacuum braking mechanism, the braking strategy to match with automobile current motion state is generated by signal analysis, auxiliary braking operation is executed by above-mentioned intelligentized control method mechanism, braking distance is reduced significantly, effectively improves the stability and safety of service brake；Simultaneously, additionally it is possible to the state of misoperation accelerator pedal is monitored, and control the opening and closing of throttle according to monitoring data, avoid causing the accident because of mis-accelerator pressing.This system also passes through the excess energy that the energy recovery mechanism recycling vehicle of setting releases in braking or coast, 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 intelligentized automobile emergency brake control 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, the brake pedal due to automobile is adjacent with gas pedal, is operated by same foot, left when to accelerate
Brake pedal, when brake, leave gas pedal, facilitate the conversion of operation.But when dangerous situation occurs suddenly, due to each driver
Psychological quality it is different, driving experience is different, some drivers can be panic when encountering emergency, and should touch on the brake parking
But throttle has accidentally been stepped on, has made to can avoid originally or not serious accident becomes more serious, or even go out highway, vehicle is caused to ruin people
It dies.
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 intelligentized automobile emergency brake control system, can be urgent using the system
Under on-position, by the intellectual analysis to driving states, the braking strategy for meeting current driving security requirement is generated, simultaneously
Risk avoidance measures are provided to the case where mis-accelerator pressing.
To achieve the above object, a kind of intelligentized automobile emergency brake control system provided by the invention, comprising: signal
Acquisition module, signal processing module, central controller, arrestment mechanism drive module, at least two groups vacuum braking mechanism and energy
Recovering mechanism；
The signal acquisition module is used to acquire the driving states signal, braking strength signal and gas pedal power of automobile
Spend signal；
The signal processing module be used for by driving states signal, braking strength signal and gas pedal dynamics signal into
Row processing, generates the signal identified for central controller；
Whether the central controller is in emergency braking condition according to braking strength signal determining automobile, is being determined as
Under emergency braking condition, braking strategy is generated by analysis driving states signal, and trigger arrestment mechanism drive module by described
The operation of braking strategy driving each group vacuum braking mechanism, which judges automobile also according to gas pedal dynamics signal
Whether it is in throttle and accidentally steps on state, in the case where being determined as that throttle accidentally steps on state, control throttle is closed；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；
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, brake pedal angular acceleration transducer, angle of brake pedal sensor, throttle are stepped on
Plate angle acceleration transducer and accelerator pedal angle sensor are respectively used to measurement Chinese herbaceous peony obstacle distance, speed, brake block system
Angular acceleration, the angle of brake pedal, the angular acceleration of gas pedal and the throttle that power, tire pressure, brake pedal rotate
The angle of pedal；The distance measuring sensor and velocity sensor is set to headstock part, the braking force sensor setting
In on the brake block of each wheel, the pressure sensor is set on each tire, the brake pedal angular acceleration sensing
Device and angle of brake pedal sensor are set on brake pedal, the gas pedal angular acceleration transducer and gas pedal
Angular transducer is set in gas pedal.
As a further improvement of the above technical scheme, the signal processing module includes: that 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 include: the first comparison module, braking away from
From computing module, the second comparison module, third 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 compares distance range corresponding to distance difference and each braking strategy of setting
Compared with the braking strategy of distance range is sent to arrestment mechanism drive module where selecting the distance difference, and controls clock module
Excitation signal acquisition module according to set time, the policy generation module also receive tire pressure measured value, when tire pressure is surveyed
When magnitude is lower than the tire pressure threshold value set, it is out of service that each group vacuum braking mechanism is controlled by arrestment mechanism drive module；
The third comparison module receives the angular acceleration measured value and angle measurement of gas 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 throttle and accidentally steps on state, and send shutdown signal to throttle, to drive throttle to close.
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
Braking strategy, and the regulated value for adjusting the corresponding distance range of braking strategy is obtained by model calculation.
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 intelligentized automobile emergency brake control system advantage 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 braking plan to match with automobile current motion state is generated by signal analysis
Slightly, which can cooperate with the primary brake system of automobile, execute auxiliary braking behaviour by above-mentioned intelligentized control method mechanism
Make, reduces braking distance significantly, effectively improve the stability and safety of service brake；Simultaneously, additionally it is possible to accidentally stepping on
The state of gas pedal is monitored, and the opening and closing of throttle is controlled according to monitoring data, avoids causing accident to be sent out because of mis-accelerator pressing
It is raw；This system also passes through the excess energy that the energy recovery mechanism recycling vehicle of setting releases in braking or coast,
And electric energy is translated by generator, and be stored in battery, for powering for vehicle, to improve returning for energy
Utilization efficiency is received, the discharge of dependence to engine, burnup and carbon dioxide is also further decreased.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of intelligentized automobile emergency brake control system 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 intelligentized automobile emergency brake control system of the present invention into
Row is described in detail.
As shown in Figure 1, a kind of intelligentized automobile emergency brake control system provided by the invention, the system are specifically wrapped
It includes: signal acquisition module, signal processing module, central controller, arrestment mechanism drive module, at least two groups vacuum braking mechanism
And energy recovery mechanism；
The signal acquisition module is used to acquire the driving states signal, braking strength signal and gas pedal power of automobile
Spend signal；
The signal processing module be used for by driving states signal, braking strength signal and gas pedal dynamics signal into
Row processing, generates the signal identified for central controller；
Whether the central controller is in emergency braking condition according to braking strength signal determining automobile, is being determined as
Under emergency braking condition, braking strategy is generated by analysis driving states signal, and trigger arrestment mechanism drive module by described
The operation of braking strategy driving each group vacuum braking mechanism, which judges automobile also according to gas pedal dynamics signal
Whether it is in throttle and accidentally steps on state, in the case where being determined as that throttle accidentally steps on state, control throttle is closed；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；
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 braking strategy executes auxiliary braking operation with above-mentioned intelligentized control method mechanism, can be improved the stability of service brake
And safety.Simultaneously, additionally it is possible to the state of misoperation accelerator pedal is monitored, and control opening for throttle according to monitoring data
It closes, avoids causing the accident because of mis-accelerator pressing.
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.
Automobile emergency brake control system based on above structure, the braking strength signal may include brake pedal rotation
The angular acceleration and angle information turned, the gas pedal dynamics signal may include angular acceleration and the angle of gas pedal rotation
Information is spent, the driving states signal may include Chinese herbaceous peony obstacle distance, speed, brake block brake force and tire pressure letter
Breath.In order to complete the acquisition of above- mentioned information, as shown in Figure 1, the signal acquisition module in the present embodiment include: distance measuring sensor,
Velocity sensor, braking force sensor, pressure sensor, brake pedal angular acceleration transducer, angle of brake pedal sensor,
Gas pedal angular acceleration transducer and accelerator pedal angle sensor are respectively used to measurement Chinese herbaceous peony obstacle distance, speed, brake
Vehicle piece brake force, tire pressure, the angular acceleration of brake pedal rotation, the angle of brake pedal, gas pedal angular acceleration
With the angle of gas pedal；The distance measuring sensor and velocity sensor is set to headstock part, the brake force sensing
Device is set on the brake block of each wheel, and the pressure sensor is set on each tire, and the brake pedal angle accelerates
Degree sensor and angle of brake pedal sensor are set on brake pedal, the gas pedal angular acceleration transducer and oil
Door pedal angle sensor is set in gas 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 braking strategy, as shown in figure 3, the central controller can include: first
Comparison module, braking distance computing module, the second comparison module, third 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 compares distance range corresponding to distance difference and each braking strategy of setting
Compared with the braking strategy of distance range is sent to arrestment mechanism drive module where selecting the distance difference, and controls clock module
Excitation signal acquisition module according to set time, enables the transport condition data of signal acquisition module real-time detection automobile.
The braking strategy may include vacuum braking mechanism unlatching group number, each group vacuum braking mechanism start-up time and starting duration,
The setting of suction.
The third comparison module receives the angular acceleration measured value and angle measurement of gas 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 throttle and accidentally steps on state, and send shutdown signal to throttle, to drive throttle to close.
Fuel, which is controlled, in interior of motor vehicles component, on internal combustion engine is referred to as throttle for the device of amount.Its role is to grasp
E-Gas throttle opening is indulged to control the flow of combustion mixture, changes the revolving speed and power of engine, to adapt to automobile
The needs of traveling.E-Gas is exactly to pass through position sensor, and transmission throttle tramples the signal of the depth and speed, to realize oil
The electronic control unit of door function.This signal can be received and be interpreted by vehicle-mounted microcomputer, issue control instruction, again then with control
Air throttle is quick according to instruction or mitigates the angle opening it and should opening.The present invention is exactly that the above-mentioned control of E-Gas is utilized
Mechanism judges whether driver by gas pedal is mistakenly considered brake pedal according to the transient change amount of gas pedal, and is being determined as
When accidentally stepping on state, throttle out code is sent to EGAS control system immediately, to avoid serious caused by automobile speed-raising
Consequence.
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 braking strategy set before, it is likely that can exist and overturn or break away
Risk；In order to avoid the generation of this accident, each group vacuum braking mechanism can be controlled by arrestment mechanism drive module and stop fortune
Row, 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 it is true to control to use changeless braking strategy always
Empty arrestment mechanism operation, will necessarily reduce the braking effect of this system, result even in the failure of braking.For this purpose, in the present invention
System in be additionally provided with parameter testing module (as shown in Figure 3), be provided with parameter testing mould in the parameter testing module
Type, which receives the signal of signal processing module output and the braking strategy of policy generation module output, and leads to
It crosses model calculation and obtains regulated value for adjusting the corresponding distance range of braking strategy.
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, by model calculation obtain tuning values, it is corresponding to each braking strategy set in policy generation module away from
It is constantly debugged from range, so that currently performed braking strategy matches with the current performance of automobile always, 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
It include: 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.
Implement the detailed process of auxiliary braking operation using the automobile emergency brake control system of above structure are as follows:
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
It is compared from value with Chinese herbaceous peony obstacle distance measured value, it later will be corresponding to distance difference and each braking strategy between the two
Distance range be compared；It, i.e., can be by the braking system of automobile itself when the distance difference is negative
Vehicle is checked in safe distance, does not need to start auxiliary braking system of the invention at this time, and when the distance difference is positive
Number, and when in a certain distance range of setting, i.e., only by the braking system of automobile itself can not in safe distance incite somebody to action
Vehicle is checked, and will lead to rear-end collision, and the braking strategy of distance range is as implementation strategy where selecting the distance difference at this time.
In the case where determination needs to open vacuum braking mechanism, in order to guarantee the stability of braking, in braking strategy
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, and is executed according to current
Braking strategy further open second group of vacuum braking mechanism 2, third group vacuum braking mechanism 3 or the 4th by the program of setting
Group 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.
In executing above-mentioned auxiliary braking operating process, system of the invention can also be held system by parameter testing module
The driving states information of capable braking strategy and its feedback substitutes into trained model, is obtained by model calculation for adjusting
The debugging value of dynamic policing parameter is manufactured experimently, it is continuous to the corresponding distance range of each braking strategy set in policy generation module
Ground debugging, so that currently performed braking strategy matches with the current performance of automobile always, to improve the identification of system
Ability.
In addition, this system can also carry out real-time monitoring to the state of misoperation accelerator pedal, according to the instantaneous of gas pedal
Variable quantity judges whether driver by gas pedal is mistakenly considered brake pedal, and when being determined as accidentally stepping on state, immediately to electronics oil
Accelerator control system sends throttle out code, occurs to avoid accident caused by automobile speed-raising；While and energy recovery mechanism
Collective effect further decreases braking distance.
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 intelligentized automobile emergency brake control system characterized by comprising signal acquisition module, signal processing
Module, central controller, arrestment mechanism drive module, at least two groups vacuum braking mechanism and energy recovery mechanism；
The signal acquisition module is used to acquire driving states signal, braking strength signal and gas pedal the dynamics letter of automobile
Number；
The signal processing module is used for will be at driving states signal, braking strength signal and gas pedal dynamics signal
Reason generates the signal identified for central controller；
Whether the central controller is in emergency braking condition according to braking strength signal determining automobile, is being determined as promptly
Under on-position, braking strategy is generated by analysis driving states signal, and trigger arrestment mechanism drive module by the system
Whether dynamic policy-driven each group vacuum braking mechanism operation, the central controller judge automobile also according to gas pedal dynamics signal
State is accidentally stepped in throttle, in the case where being determined as that throttle accidentally steps on state, control throttle is closed；The central controller is also used to urgent
Trigger energy recovering mechanism and Automobile drive axis connection under 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；
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. intelligentized automobile emergency brake control system according to claim 1, which is characterized in that the signal is adopted
Collection module includes: distance measuring sensor, velocity sensor, braking force sensor, pressure sensor, brake pedal angular acceleration sensing
Device, angle of brake pedal sensor, gas pedal angular acceleration transducer and accelerator pedal angle sensor, are respectively used to measure
Chinese herbaceous peony obstacle distance, speed, brake block brake force, tire pressure, brake pedal rotation angular acceleration, brake pedal angle
The angle of degree, the angular acceleration of gas pedal and gas pedal；The distance measuring sensor and velocity sensor is set to headstock
Position, the braking force sensor are set on the brake block of each wheel, and the pressure sensor is set on each tire,
The brake pedal angular acceleration transducer and angle of brake pedal sensor is set on brake pedal, and the throttle is stepped on
Plate angle acceleration transducer and accelerator pedal angle sensor are set in gas pedal.
3. intelligentized automobile emergency brake control system according to claim 1 or 2, which is characterized in that the letter
Number processing module includes: A/D converter, signal amplifier and filter, and the signal for exporting signal acquisition module is successively
Carry out analog-to-digital conversion, amplification and filtering processing.
4. intelligentized automobile emergency brake control system according to claim 2, which is characterized in that the center control
Device processed includes: the first comparison module, braking distance computing module, the second comparison module, third comparison module and strategy generating mould
Block；
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；
Distance difference is compared by the policy generation module with distance range corresponding to each braking strategy of setting, choosing
The braking strategy of distance range is sent to arrestment mechanism drive module where selecting the distance difference, and controls clock module by setting
Time excitation signal acquisition module, which also receives tire pressure measured value, when tire pressure measured value is low
When the tire pressure threshold value of setting, it is out of service that each group vacuum braking mechanism is controlled by arrestment mechanism drive module；
The third comparison module receives the angular acceleration measured value and angle measurement of gas 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 throttle and accidentally steps on state, and send shutdown signal to throttle, to drive throttle to close.
5. intelligentized automobile emergency brake control system according to claim 4, which is characterized in that further include parameter tune
Die trial block is provided with parameter testing model in the parameter testing module, which receives signal processing module
The braking strategy of signal and the policy generation module output of output, and obtained by model calculation and corresponded to for adjusting braking strategy
Distance range regulated value.
6. intelligentized automobile emergency brake control system according to claim 1, which is characterized in that the system packet
Four groups of vacuum braking mechanisms are included, every group of vacuum braking mechanism includes two vacuum braking units being oppositely arranged, each group vacuum
Arrestment mechanism is parallel to automobile tail.
7. intelligentized automobile emergency brake control system according to claim 6, which is characterized in that the vacuum system
Moving cell includes: hydraulic cylinder (7), telescopic rod (8), sucker (11), vacuum pump (9) and pressure fan；The hydraulic cylinder (7) is fixed
In on automobile chassis, the signal input part of the hydraulic cylinder (7) is connect with arrestment mechanism drive module (6), and is driven by arrestment mechanism
Dynamic model block (6) control, the telescopic rod (8) are set between hydraulic cylinder (7) and sucker (11), and the telescopic rod (8) is by hydraulic
Cylinder (7) driving extends it to road surface direction so that sucker (11) is fallen on road surface, and sucker (11) inner wall and road surface it
Between form confined space, the signal input part of the vacuum pump (9) and pressure fan (10) with arrestment mechanism drive module (6)
Connection, and controlled by arrestment mechanism drive module (6), the vacuum pump (9) and pressure fan (10) divide two-way to be connected to sucker (11),
Be respectively used to extract confined space in air and to confined space be vented.
8. intelligentized automobile emergency brake control system according to claim 1, which is characterized in that the energy returns
Receiving mechanism includes: relay (12), air pressure thick stick (13), generator (14) and cage (15)；The signal of the relay (12) is defeated
Enter end to connect with central controller, which is also electrically connected with pneumatic cylinder, for what is sent by central controller
Vehicle condition signal triggers it and executes closure and disconnection movement, and then air pressure thick stick (13) is driven to execute stretching motion, the air pressure
The end of cylinder 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.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810799337.1A CN108973965A (en) | 2018-07-19 | 2018-07-19 | A kind of intelligentized automobile emergency brake control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810799337.1A CN108973965A (en) | 2018-07-19 | 2018-07-19 | A kind of intelligentized automobile emergency brake control system |
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| CN108973965A true CN108973965A (en) | 2018-12-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810799337.1A Pending CN108973965A (en) | 2018-07-19 | 2018-07-19 | A kind of intelligentized automobile emergency brake control system |
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| CN114137852A (en) * | 2021-11-25 | 2022-03-04 | 贾文芳 | Train simulation test system based on block chain |
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