WO2021093291A1 - Multi-sensor fusion based self-detection system and method for disc brakes - Google Patents

Multi-sensor fusion based self-detection system and method for disc brakes Download PDF

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Publication number
WO2021093291A1
WO2021093291A1 PCT/CN2020/090209 CN2020090209W WO2021093291A1 WO 2021093291 A1 WO2021093291 A1 WO 2021093291A1 CN 2020090209 W CN2020090209 W CN 2020090209W WO 2021093291 A1 WO2021093291 A1 WO 2021093291A1
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WIPO (PCT)
Prior art keywords
brake
hydraulic pressure
wheel cylinder
braking force
pressure sensor
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PCT/CN2020/090209
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French (fr)
Chinese (zh)
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赵万忠
章波
汪桉旭
刘畅
刘津强
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南京航空航天大学
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Publication of WO2021093291A1 publication Critical patent/WO2021093291A1/en

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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
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices

Definitions

  • the invention belongs to the technical field of vehicle self-detection systems, and specifically refers to a disc brake self-detection system and method based on multi-sensor fusion.
  • the brake system's working reliability is closely related to the safety of the vehicle.
  • the brake's working reliability is particularly important.
  • disc brakes have the advantages of less performance degradation after immersion in water and stable brake performance.
  • the braking efficiency of disc brakes is low, the working temperature of the brake disc is high, and the severe friction between the brake disc and the brake pads often leads to a serious decrease in the brake efficiency factor, which makes the brake unable to provide sufficient braking force. Insufficient movement will inevitably cause serious traffic accidents such as rear-end collisions and pedestrian collisions. Therefore, the detection of brake efficiency factors is particularly important.
  • the traditional disc brake condition detection method is to perform maintenance in the maintenance workshop instead of on the road, and the inspection and maintenance process is very complicated. First, the brake must be disassembled, and then the grooving and wire drawing of the working surface of the brake disc is observed. In the end, assembly and debugging are required. Although this method of inspection and repair is highly reliable, it cannot realize the state detection of the disc brake during driving. In addition, there is no vehicle-mounted disc brake self-detection device, so it is difficult to avoid the disc brake during driving. The problem of sudden failure when the efficiency factor of the type brake drops below the safety threshold.
  • the purpose of the present invention is to provide a disc brake self-inspection system and method based on multi-sensor fusion, so as to solve the technical deficiencies of the existing vehicle disc brake self-inspection system and the existing disc brakes.
  • Type brake detection method cannot guarantee the reliability of disc brake in real time.
  • a self-detection system for disc brakes based on multi-sensor fusion of the present invention includes: an electronic hydraulic brake module, a sensor group, a contact force calculation unit, a braking force calculation unit, and a brake performance factor self-detection unit; wherein,
  • the electronic hydraulic brake module includes: a brake motor, a brake deceleration device, a tandem dual-chamber master cylinder, and a brake group; wherein the brake motor, a brake deceleration device, and a tandem dual-chamber master cylinder are in sequence Connection; the brake group includes the left front brake, the right front brake, the left rear brake, and the right rear brake.
  • the left front brake is composed of the left front brake wheel cylinder, the left front brake pad, and the left front brake disc.
  • the right front brake is composed of the right front brake wheel cylinder.
  • the right front brake block and the right front brake disc are connected in sequence.
  • the left rear brake is composed of the left rear brake wheel cylinder, the left rear brake block and the left rear brake disc in sequence.
  • the right rear brake is composed of the right rear brake.
  • the wheel cylinder, the right rear brake block, and the right rear brake disc are connected in sequence;
  • the tandem dual-chamber master cylinder includes the first chamber of the master cylinder and the second chamber of the master cylinder.
  • the first chamber of the master cylinder is connected to the front left brake respectively.
  • the front right brake is connected, and the second cavity of the master cylinder is connected to the left rear brake and the right rear brake respectively;
  • the sensor group includes: a hydraulic pressure sensor in the first chamber of the master cylinder, a hydraulic pressure sensor in the second chamber of the master cylinder, a hydraulic pressure sensor in the front left brake wheel cylinder, a hydraulic pressure sensor in the front right brake wheel cylinder, and a hydraulic pressure in the rear left brake wheel cylinder Sensors, hydraulic pressure sensor of the right rear brake wheel cylinder and single antenna GPS module; among them, the hydraulic pressure sensor in the first cavity of the master cylinder and the hydraulic pressure sensor in the second cavity of the master cylinder respectively measure the hydraulic pressure of the first cavity of the master cylinder and the second cavity of the master cylinder Cavity hydraulic pressure, left front brake wheel cylinder hydraulic pressure sensor, right front brake wheel cylinder hydraulic pressure sensor, left rear brake wheel cylinder hydraulic pressure sensor, right rear brake wheel cylinder hydraulic pressure sensor to measure the left front brake wheel cylinder and right front respectively Hydraulic pressure of brake wheel cylinder, left rear brake wheel cylinder, right rear brake wheel cylinder; single-antenna GPS module is installed on the top of the vehicle and coincides with the position of the
  • the force sensor signal and the right rear brake wheel cylinder hydraulic pressure sensor are electrically connected, and communicate through the vehicle CAN bus;
  • the contact force calculation unit collects the master cylinder first cavity hydraulic pressure sensor signal and the master cylinder second cavity hydraulic pressure sensor from the CAN bus Signal, left front wheel cylinder hydraulic pressure sensor signal, right front brake wheel cylinder hydraulic pressure sensor signal, left rear brake wheel cylinder hydraulic pressure sensor signal, right rear brake wheel cylinder hydraulic pressure sensor signal, and calculated output left front, right front,
  • the braking force calculation unit is electrically connected to the single-antenna GPS module, and communicates through the vehicle CAN bus; the braking force calculation unit collects the vehicle yaw rate signal, the vehicle longitudinal acceleration signal, and the entire vehicle output from the single-antenna GPS module from the CAN bus. Vehicle lateral acceleration signal, and calculate and output the actual left front brake braking force, actual right front brake braking force, actual left rear brake braking force, actual right rear brake braking force signal;
  • the brake performance factor self-detection unit is electrically connected to the contact force calculation unit and the braking force calculation unit, and communicates via the vehicle CAN bus; the brake performance factor self-detection unit collects the front left, front right, and left output from the contact force calculation unit from the CAN bus.
  • the contact force signal between the brake pad and the brake disc in the rear and right rear brakes and the left front, right front, left rear, and right rear brake force signals output by the braking force calculation unit, and then calculate the brake efficiency factors of the four brakes, And judge the state of the four disc brakes.
  • the braking reduction device is a planetary gear reduction mechanism.
  • the self-detection system further includes an alarm, which is electrically connected to the brake performance factor self-detection unit, and when the brake performance factor self-detection unit detects a failure of the disc brake, it sends a control signal to control the alarm to give an alarm.
  • the alarm is an audible alarm.
  • the self-detection method of disc brake based on multi-sensor fusion of the present invention is based on the above system and includes the following steps:
  • Step 1 During the braking process, the output speed and torque of the brake motor drive the brake decelerating device, which in turn drives the master cylinder piston of the tandem dual-chamber master cylinder, so that the first cavity of the master cylinder and the second cavity of the master cylinder are controlled.
  • the hydraulic pressure builds up, and then realizes the brake fluid pressure buildup of the left front brake wheel cylinder, the right front brake wheel cylinder, the left rear brake wheel cylinder, and the right rear brake wheel cylinder, respectively pushing the left front brake pad, the right front brake pad,
  • the left rear brake pad and the right rear brake pad are respectively pressed against the left front brake disc, right front brake disc, left rear brake disc, and right rear brake disc with corresponding contact forces to output braking force;
  • Step 2 The braking force calculation unit collects the vehicle yaw rate signal, vehicle longitudinal acceleration signal, and vehicle lateral acceleration signal output by the single-antenna GPS module, and calculates and outputs the braking force of the left front brake, the braking force of the right front brake, and the left rear brake Braking force, braking force of the right rear brake;
  • Step 3 The contact force calculation unit collects the hydraulic pressure sensor signal in the first cavity of the master cylinder, the hydraulic pressure sensor signal in the second cavity of the master cylinder, the hydraulic pressure sensor signal of the front left brake wheel, the hydraulic pressure sensor signal of the front right brake wheel, and the rear left
  • the brake wheel cylinder hydraulic pressure sensor signal, the right rear brake wheel cylinder hydraulic pressure sensor signal calculate and output the contact force between the front left, front right, rear left, and rear right brake pads and the brake disc;
  • Step 4 The brake effectiveness factor self-detection unit collects the four brake contact force signals output by the contact force calculation unit and the actual braking force signals of the four brakes output by the braking force calculation unit, respectively calculates the four brake effectiveness factors, and judges whether the brake is Be in a safe working area;
  • Step 5 When the brake is in the safe working area, return to step 1 and enter the next self-checking cycle; when the brake is not in the safe working area, the brake efficiency factor self-checking unit sends a control signal to the alarm to start the alarm.
  • the specific working mode of the braking force calculation unit in the step 2 is:
  • the braking force calculation unit collects the vehicle yaw rate signal w 1 of the single-antenna GPS module, and judges whether the vehicle yaw rate w 1 satisfies the following relationship:
  • w 0 represents the vehicle yaw rate threshold, and the value of w 0 is small; if it is satisfied, the vehicle is considered to have no yaw rate, and the vehicle travels in a straight line.
  • the braking force calculation unit and the brake efficiency factor self-detection unit Start, otherwise return to step 1;
  • the braking force calculation unit collects the vehicle longitudinal acceleration a 1 and vehicle lateral acceleration a 2 signals of the single-antenna GPS module, and calculates the vehicle acceleration a 0 , the calculation expression is as follows:
  • m represents the quality of the whole vehicle
  • ⁇ represents the road adhesion coefficient
  • L represents the wheelbase of the vehicle's front and rear axles
  • a represents the distance from the center of mass to the front axle
  • b represents the distance from the center of mass to the rear axle
  • h g represents the height of the vehicle's center of mass from the ground.
  • the step 2 also includes: the yaw rate is sufficiently small, the braking force of the left front brake and the right front brake are equal, the braking force of the left rear brake and the right rear brake are equal, and the left front brake is calculated based on the braking force of the front and rear axles.
  • Power, front right brake braking force, left rear brake braking force, right rear brake braking force, the specific calculation expressions are as follows:
  • the contact force calculation unit calculates the brake fluid volume flow at the fluid inlet of the brake wheel cylinder through the hydraulic pressure signals of the brake master cylinder and the brake wheel cylinder collected from the CAN bus, and the brake at the fluid inlet of the brake wheel cylinder
  • the calculation expression of liquid volume flow Q wi is as follows:
  • C d represents the flow coefficient
  • a line represents the cross-sectional area of the brake pipe
  • P wi represents the hydraulic pressure of the brake wheel cylinder
  • P mj represents the hydraulic pressure of the master cylinder
  • ⁇ represents the brake fluid density
  • Bff wi represents the equivalent bulk elastic modulus of brake fluid of the wheel brake cylinder
  • Q wi represents the volume flow of brake fluid at the fluid inlet of the wheel brake cylinder
  • a wi represents the cross-sectional area of the brake pipeline
  • V wi represents The initial volume of brake fluid in the wheel cylinder
  • F i represents the contact stress between the brake pad and the brake disc
  • k wi represents the equivalent spring stiffness of the wheel cylinder
  • x wi represents the displacement of the wheel cylinder piston
  • C wi represents the damping coefficient of the wheel cylinder piston
  • mi represents The mass of the wheel cylinder piston.
  • r w represents the wheel radius
  • R i represents the radius of action of the brake disc
  • the system provided by the present invention can develop a self-detection system based on the vehicle’s original single-antenna GPS module, brake hydraulic cylinder hydraulic pressure sensor, etc., and calculate the theoretical value of the vehicle’s braking force and the actual value of the current vehicle’s braking force. Will not increase costs.
  • the invention realizes the real-time dynamic self-detection of the working state of the disc brake during the running of the vehicle, and ensures that the brake efficiency factor of the vehicle during normal running is large enough, and the larger the brake efficiency factor is, the maximum braking force that can be generated by the same contact force is The larger it is, it ensures that the brake can provide a large enough braking force, and a large enough braking force can effectively reduce the minimum braking distance and increase the braking deceleration, thereby improving the safety of the braking system.
  • the self-checking system is effective for The real-time detection of disc brakes also ensures that the braking system is always working in a safe working area, thereby improving the reliability of the braking system.
  • Figure 1 is a structural diagram of the system of the present invention
  • Figure 2 is a schematic diagram of the self-detection method of the present invention.
  • a self-detection system for disc brakes based on multi-sensor fusion of the present invention includes: an electronic hydraulic brake module, a sensor group, a contact force calculation unit 26, a braking force calculation unit 24, and a brake performance factor Detection unit 25;
  • the electronic hydraulic brake module includes: a brake motor 2, a brake deceleration device 3, a tandem dual-chamber master cylinder 4, a brake group 6; wherein, the brake motor 2, a brake deceleration device 3, a series
  • the dual-chamber brake master cylinders 4 are connected in sequence;
  • the brake group 6 includes: left front brake 5, right front brake 13, left rear brake 17, right rear brake 21;
  • left front brake 5 consists of left front brake wheel cylinder 7, left front brake
  • the moving block 81 and the left front brake disc 9 are connected in sequence;
  • the right front brake 13 is composed of the right front brake wheel cylinder 11, the right front brake block 82, and the right front brake disc 12 are connected in sequence;
  • the left rear brake 17 is composed of the left rear brake
  • the wheel cylinder 15, the left rear brake block 83, and the left rear brake disc 16 are connected in sequence;
  • the right rear brake 21 is composed of the right rear brake wheel cylinder 20, the right rear brake block 84, and the right rear brake disc 19 in sequence Connection composition
  • the sensor group includes: the hydraulic pressure sensor 28 of the master cylinder first cavity, the hydraulic pressure sensor 27 of the master cylinder second cavity, the left front brake wheel cylinder hydraulic pressure sensor 10, the right front brake wheel cylinder hydraulic pressure sensor 14, and the left rear brake
  • the hydraulic pressure sensor 22 measures the hydraulic pressures of the left front wheel brake cylinder 7, the right front wheel brake cylinder 11, the left rear wheel brake cylinder 15, and the right rear wheel brake cylinder 20; the single antenna GPS module 23 is installed on the top of the vehicle, and It coincides with the position of the center of mass of the vehicle; the single-antenna GPS
  • the contact force calculation unit 26 interacts with the first cavity hydraulic pressure sensor 28 of the master cylinder, the second cavity hydraulic pressure sensor 27 of the master cylinder, the left front brake wheel cylinder hydraulic pressure sensor 10, the right front brake wheel cylinder hydraulic pressure sensor 14, and the left rear
  • the brake wheel cylinder hydraulic pressure sensor signal 18 and the right rear brake wheel cylinder hydraulic pressure sensor 22 are electrically connected, and communicate through the vehicle CAN bus;
  • the contact force calculation unit 26 collects the master cylinder first cavity hydraulic pressure sensor signal from the CAN bus, The hydraulic pressure sensor signal of the second chamber of the master cylinder, the left front wheel cylinder hydraulic pressure sensor signal, the right front brake wheel cylinder hydraulic pressure sensor signal, the left rear brake wheel cylinder hydraulic pressure sensor signal, the right rear brake wheel cylinder hydraulic pressure sensor signal , And calculate and output the contact force signal between the brake pad and the brake disc in the left front, right front, left rear, and right rear brakes;
  • the braking force calculation unit 24 is electrically connected to the single-antenna GPS module 23, and communicates via the vehicle CAN bus; the braking force calculation unit 24 collects the vehicle yaw rate signal output from the single-antenna GPS module 23 from the CAN bus, and the vehicle longitudinal direction Acceleration signal, vehicle lateral acceleration signal, and calculate and output actual left front brake braking force, actual right front brake braking force, actual left rear brake braking force, actual right rear brake braking force signal;
  • the brake performance factor self-detection unit 25 is electrically connected to the contact force calculation unit 26 and the braking force calculation unit 24, and communicates via the vehicle CAN bus; the brake performance factor self-detection unit 25 collects the output of the contact force calculation unit 26 from the CAN bus The contact force signals between the brake pads and the brake discs in the left front, right front, left rear, and right rear brakes and the braking force calculation unit output 24 left front, right front, left rear, and right rear brake braking force signals, and then calculate four The brake performance factor of the brake, and judge the state of the four disc brakes.
  • the brake reduction device 3 is a planetary gear reduction mechanism.
  • the self-detection system further includes an alarm 29, which is electrically connected to the brake performance factor self-detection unit 25.
  • the brake performance factor self-detection unit 25 detects a disc brake failure, it sends a control signal to control the alarm to give an alarm.
  • the alarm 29 is an audible alarm.
  • a self-detection method for disc brakes based on multi-sensor fusion of the present invention includes the following steps:
  • Step 1 During the braking process, the output speed and torque of the brake motor drive the brake deceleration device, which in turn drives the master cylinder piston of the tandem dual-chamber master cylinder to make the master cylinder first cavity and master cylinder second cavity control
  • the hydraulic pressure builds up, and then realizes the brake fluid pressure buildup of the left front brake wheel cylinder, the right front brake wheel cylinder, the left rear brake wheel cylinder, and the right rear brake wheel cylinder, respectively pushing the left front brake pad, the right front brake pad,
  • the left rear brake pad and the right rear brake pad are respectively pressed against the left front brake disc, right front brake disc, left rear brake disc, and right rear brake disc with corresponding contact forces to output braking force;
  • Step 2 The braking force calculation unit collects the vehicle yaw rate signal, vehicle longitudinal acceleration signal, and vehicle lateral acceleration signal output by the single-antenna GPS module, and calculates and outputs the braking force of the left front brake, the braking force of the right front brake, and the left rear brake The actual braking force of the right rear brake;
  • the specific working mode of the braking force calculation unit in step 2 is:
  • the braking force calculation unit collects the vehicle yaw rate signal w 1 of the single-antenna GPS module, and judges whether the vehicle yaw rate w 1 satisfies the following relationship:
  • w 0 represents the vehicle yaw rate threshold, and the value of w 0 is small; if it is satisfied, the vehicle is considered to have no yaw rate, and the vehicle travels in a straight line.
  • the braking force calculation unit and the brake efficiency factor self-detection unit Start, otherwise return to step 1;
  • the braking force calculation unit collects the vehicle longitudinal acceleration a 1 and vehicle lateral acceleration a 2 signals of the single-antenna GPS module, and calculates the vehicle acceleration a 0 , the calculation expression is as follows:
  • m represents the quality of the whole vehicle
  • ⁇ represents the road adhesion coefficient
  • L represents the wheelbase of the vehicle's front and rear axles
  • a represents the distance from the center of mass to the front axle
  • b represents the distance from the center of mass to the rear axle
  • h g represents the height of the vehicle's center of mass from the ground.
  • the step 2 also includes: the yaw rate is small enough, the braking force of the left front brake and the right front brake are equal, the braking force of the left rear brake and the right rear brake are equal, and the braking force of the left front brake and the front right brake are calculated according to the braking force of the front and rear axles.
  • the specific calculation expressions of brake braking force, left rear brake braking force, and right rear brake braking force are as follows:
  • Step 3 The contact force calculation unit collects the hydraulic pressure sensor signal in the first cavity of the master cylinder, the hydraulic pressure sensor signal in the second cavity of the master cylinder, the hydraulic pressure sensor signal of the front left brake wheel, the hydraulic pressure sensor signal of the front right brake wheel, and the rear left
  • the brake wheel cylinder hydraulic pressure sensor signal, the right rear brake wheel cylinder hydraulic pressure sensor signal calculate and output the contact force between the front left, front right, rear left, and rear right brake pads and the brake disc;
  • the specific calculation method of the contact force between the brake pad and the brake disc in the step 3 is:
  • the contact force calculation unit calculates the volume flow of brake fluid at the fluid inlet of the brake wheel cylinder through the hydraulic pressure signals of the brake master cylinder and brake wheel cylinder collected from the CAN bus, and the brake at the fluid inlet of the brake wheel cylinder
  • the calculation expression of liquid volume flow Q wi is as follows:
  • C d represents the flow coefficient
  • a line represents the cross-sectional area of the brake pipe
  • P wi represents the hydraulic pressure of the brake wheel cylinder
  • P mj represents the hydraulic pressure of the master cylinder
  • ⁇ represents the brake fluid density
  • Bff wi represents the equivalent bulk elastic modulus of brake fluid of the wheel cylinder
  • Q wi represents the volume flow of brake fluid at the fluid inlet of the wheel cylinder
  • a wi represents the cross-sectional area of the brake pipeline
  • V wi represents The initial volume of brake fluid in the wheel cylinder
  • F i represents the contact stress between the brake pad and the brake disc
  • k wi represents the equivalent spring stiffness of the wheel cylinder
  • x wi represents the displacement of the wheel cylinder piston
  • C wi represents the damping coefficient of the wheel cylinder piston
  • mi represents The mass of the wheel cylinder piston.
  • Step 4 The brake efficiency factor self-detection unit collects the four brake contact force signals output by the contact force calculation unit and the actual braking force signals of the four brakes output by the braking force calculation unit, calculates the brake efficiency factor, and judges whether the brake is in safe operation Area;
  • r w represents the wheel radius
  • R i represents the radius of action of the brake disc
  • Step 5 When the brake is in the safe working area, return to step 1 and enter the next cycle of self-checking; when the brake is not in the safe working area, the brake efficiency factor self-checking unit sends a control signal to the alarm to start the alarm.

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  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

A multi-sensor fusion based self-detection system and method for disc brakes. When a vehicle is in a braking condition, a braking force calculation unit (24) collects vehicle yaw velocity w1, vehicle longitudinal acceleration a1 and vehicle lateral acceleration a2 that are measured by a single-antenna GPS module (23), and calculates the actual braking force of brakes (5, 13, 17, 21); a contact force calculation unit (26) calculates the contact force between brake pads (81, 82, 83, 84) and brake discs (9, 12, 16, 19); and a braking efficiency factor self-measurement unit (25) collects actual braking force signals and contact force signals, calculates braking efficiency factors, and determines whether the brakes (5, 13, 17, 21) are located in a safe working area.

Description

一种基于多传感器融合的盘式制动器自检测***及方法Disc brake self-detection system and method based on multi-sensor fusion 技术领域Technical field
本发明属于车辆自检测***技术领域，具体指代一种基于多传感器融合的盘式制动器自检测***及方法。The invention belongs to the technical field of vehicle self-detection systems, and specifically refers to a disc brake self-detection system and method based on multi-sensor fusion.
背景技术Background technique
制动***作为车辆重要的***件，其工作可靠性与车辆的安全性密切相关。而制动器作为制动***的重要部件之一，其工作可靠性尤为重要。盘式制动器作为目前应用最为广泛的制动器之一，具有浸水后效能降低较少，制动器效能稳定等优点。但是，盘式制动器制动效能较低，制动盘工作温度高，制动盘与制动块之间剧烈的摩擦常常导致制动器效能因数严重降低，进而使得制动器无法提供足够的制动力，而制动不足就难免引起追尾、撞行人等严重交通事故，因此对于制动器效能因数的检测就显得尤为重要。As an important safety component of the vehicle, the brake system's working reliability is closely related to the safety of the vehicle. As one of the important parts of the brake system, the brake's working reliability is particularly important. As one of the most widely used brakes, disc brakes have the advantages of less performance degradation after immersion in water and stable brake performance. However, the braking efficiency of disc brakes is low, the working temperature of the brake disc is high, and the severe friction between the brake disc and the brake pads often leads to a serious decrease in the brake efficiency factor, which makes the brake unable to provide sufficient braking force. Insufficient movement will inevitably cause serious traffic accidents such as rear-end collisions and pedestrian collisions. Therefore, the detection of brake efficiency factors is particularly important.
传统的盘式制动器状态检测方法都是在维修车间而非道路上进行检修，并且检查维修流程非常复杂，首先要进行制动器的拆卸，然后进行制动盘工作表面的起槽、拉丝等现象的观察，最后还要进行组装调试，这种检修方法虽然可靠性高，但是无法实现行车过程中对盘式制动器的状态检测，此外目前也没有车载盘式制动器自检测装置，这样就难以避免行车时盘式制动器效能因数降低至安全阈值以下、突然失效的问题。The traditional disc brake condition detection method is to perform maintenance in the maintenance workshop instead of on the road, and the inspection and maintenance process is very complicated. First, the brake must be disassembled, and then the grooving and wire drawing of the working surface of the brake disc is observed. In the end, assembly and debugging are required. Although this method of inspection and repair is highly reliable, it cannot realize the state detection of the disc brake during driving. In addition, there is no vehicle-mounted disc brake self-detection device, so it is difficult to avoid the disc brake during driving. The problem of sudden failure when the efficiency factor of the type brake drops below the safety threshold.
发明内容Summary of the invention
针对于上述现有技术的不足，本发明的目的在于提供一种基于多传感器融合的盘式制动器自检测***及方法，以解决现有的车载盘式制动器自检测***技术缺失，以及现有盘式制动器检测方法无法实时保证盘式制动器可靠性的问题。In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a disc brake self-inspection system and method based on multi-sensor fusion, so as to solve the technical deficiencies of the existing vehicle disc brake self-inspection system and the existing disc brakes. Type brake detection method cannot guarantee the reliability of disc brake in real time.
为达到上述目的，本发明采用的技术方案如下：In order to achieve the above objectives, the technical solutions adopted by the present invention are as follows:
本发明的一种基于多传感器融合的盘式制动器自检测***，包括：电子液压制动模块、传感器组、接触力计算单元、制动力计算单元及制动器效能因数自检测单元；其中，A self-detection system for disc brakes based on multi-sensor fusion of the present invention includes: an electronic hydraulic brake module, a sensor group, a contact force calculation unit, a braking force calculation unit, and a brake performance factor self-detection unit; wherein,
所述电子液压制动模块包括：制动电机、制动减速装置、串列双腔制动主缸、制动器组；其中制动电机、制动减速装置、串列双腔制动主缸顺次连接；制动器组包括左前制动器、右前制动器、左后制动器、右后制动器，左前制动器由左前制动轮缸、左前制动块、左前制动盘顺次连接组成，右前制动器由右前制动轮缸、右前制动块、右前制动盘顺次连接组成，左后制动器由左后制动轮缸、左后制动块、左后制动盘顺次连接组成，右后制动器由右后制动轮缸、右后制动块、右后制动盘顺次连接组成；串列双腔制动主缸中包括主缸第一腔和主缸第二腔，主缸第一腔分别与左前制动器、右前制动器连接，主缸第二腔分别与左后制动器、右后制动器连接；The electronic hydraulic brake module includes: a brake motor, a brake deceleration device, a tandem dual-chamber master cylinder, and a brake group; wherein the brake motor, a brake deceleration device, and a tandem dual-chamber master cylinder are in sequence Connection; the brake group includes the left front brake, the right front brake, the left rear brake, and the right rear brake. The left front brake is composed of the left front brake wheel cylinder, the left front brake pad, and the left front brake disc. The right front brake is composed of the right front brake wheel cylinder. , The right front brake block and the right front brake disc are connected in sequence. The left rear brake is composed of the left rear brake wheel cylinder, the left rear brake block and the left rear brake disc in sequence. The right rear brake is composed of the right rear brake. The wheel cylinder, the right rear brake block, and the right rear brake disc are connected in sequence; the tandem dual-chamber master cylinder includes the first chamber of the master cylinder and the second chamber of the master cylinder. The first chamber of the master cylinder is connected to the front left brake respectively. , The front right brake is connected, and the second cavity of the master cylinder is connected to the left rear brake and the right rear brake respectively;
所述传感器组包括：主缸第一腔液压力传感器、主缸第二腔液压力传感器、左前制动轮 缸液压力传感器、右前制动轮缸液压力传感器、左后制动轮缸液压力传感器、右后制动轮缸液压力传感器及单天线GPS模块；其中，主缸第一腔液压力传感器和主缸第二腔液压力传感器分别测量主缸第一腔液压力和主缸第二腔液压力，左前制动轮缸液压力传感器、右前制动轮缸液压力传感器、左后制动轮缸液压力传感器、右后制动轮缸液压力传感器分别测量左前制动轮缸、右前制动轮缸、左后制动轮缸、右后制动轮缸的液压力；单天线GPS模块安装于车辆顶部，并与车辆质心位置重合，单天线GPS模块测量整车的横摆角速度信号、纵向加速度信号、横向加速度信号；The sensor group includes: a hydraulic pressure sensor in the first chamber of the master cylinder, a hydraulic pressure sensor in the second chamber of the master cylinder, a hydraulic pressure sensor in the front left brake wheel cylinder, a hydraulic pressure sensor in the front right brake wheel cylinder, and a hydraulic pressure in the rear left brake wheel cylinder Sensors, hydraulic pressure sensor of the right rear brake wheel cylinder and single antenna GPS module; among them, the hydraulic pressure sensor in the first cavity of the master cylinder and the hydraulic pressure sensor in the second cavity of the master cylinder respectively measure the hydraulic pressure of the first cavity of the master cylinder and the second cavity of the master cylinder Cavity hydraulic pressure, left front brake wheel cylinder hydraulic pressure sensor, right front brake wheel cylinder hydraulic pressure sensor, left rear brake wheel cylinder hydraulic pressure sensor, right rear brake wheel cylinder hydraulic pressure sensor to measure the left front brake wheel cylinder and right front respectively Hydraulic pressure of brake wheel cylinder, left rear brake wheel cylinder, right rear brake wheel cylinder; single-antenna GPS module is installed on the top of the vehicle and coincides with the position of the vehicle's center of mass, single-antenna GPS module measures the yaw rate signal of the whole vehicle , Longitudinal acceleration signal, lateral acceleration signal;
所述接触力计算单元与主缸第一腔液压力传感器、主缸第二腔液压力传感器、左前制动轮缸液压力传感器、右前制动轮缸液压力传感器、左后制动轮缸液压力传感器信号、右后制动轮缸液压力传感器电气连接，并通过车辆CAN总线实现通信；接触力计算单元从CAN总线采集主缸第一腔液压力传感器信号、主缸第二腔液压力传感器信号、左前轮缸液压力传感器信号、右前制动轮缸液压力传感器信号、左后制动轮缸液压力传感器信号、右后制动轮缸液压力传感器信号，并计算输出左前、右前、左后、右后制动器中制动块与制动盘之间的接触力信号；The contact force calculation unit and the hydraulic pressure sensor of the first cavity of the master cylinder, the hydraulic pressure sensor of the second cavity of the master cylinder, the hydraulic pressure sensor of the left front brake wheel cylinder, the hydraulic pressure sensor of the right front brake wheel cylinder, and the hydraulic pressure of the left rear brake wheel cylinder The force sensor signal and the right rear brake wheel cylinder hydraulic pressure sensor are electrically connected, and communicate through the vehicle CAN bus; the contact force calculation unit collects the master cylinder first cavity hydraulic pressure sensor signal and the master cylinder second cavity hydraulic pressure sensor from the CAN bus Signal, left front wheel cylinder hydraulic pressure sensor signal, right front brake wheel cylinder hydraulic pressure sensor signal, left rear brake wheel cylinder hydraulic pressure sensor signal, right rear brake wheel cylinder hydraulic pressure sensor signal, and calculated output left front, right front, The contact force signal between the brake pad and the brake disc in the left and right rear brakes;
所述制动力计算单元与单天线GPS模块电气连接，并通过车辆CAN总线实现通信；制动力计算单元从CAN总线采集单天线GPS模块输出的整车横摆角速度信号、整车纵向加速度信号、整车横向加速度信号，并计算输出实际左前制动器制动力、实际右前制动器制动力、实际左后制动器制动力、实际右后制动器制动力信号；The braking force calculation unit is electrically connected to the single-antenna GPS module, and communicates through the vehicle CAN bus; the braking force calculation unit collects the vehicle yaw rate signal, the vehicle longitudinal acceleration signal, and the entire vehicle output from the single-antenna GPS module from the CAN bus. Vehicle lateral acceleration signal, and calculate and output the actual left front brake braking force, actual right front brake braking force, actual left rear brake braking force, actual right rear brake braking force signal;
所述制动器效能因数自检测单元分别与接触力计算单元、制动力计算单元电气连接，并通过车辆CAN总线通信；制动器效能因数自检测单元从CAN总线采集接触力计算单元输出的左前、右前、左后、右后制动器中制动块与制动盘之间的接触力信号以及制动力计算单元输出的左前、右前、左后、右后制动器制动力信号，进而计算四个制动器的制动器效能因数，并判断四个盘式制动器的状态。The brake performance factor self-detection unit is electrically connected to the contact force calculation unit and the braking force calculation unit, and communicates via the vehicle CAN bus; the brake performance factor self-detection unit collects the front left, front right, and left output from the contact force calculation unit from the CAN bus. The contact force signal between the brake pad and the brake disc in the rear and right rear brakes and the left front, right front, left rear, and right rear brake force signals output by the braking force calculation unit, and then calculate the brake efficiency factors of the four brakes, And judge the state of the four disc brakes.
进一步地，所述制动减速装置为行星齿轮减速机构。Further, the braking reduction device is a planetary gear reduction mechanism.
进一步的，所述自检测***还包括报警器，其与制动器效能因数自检测单元电气连接，当制动器效能因数自检测单元检测到盘式制动器故障后，发出控制信号，控制报警器报警。Further, the self-detection system further includes an alarm, which is electrically connected to the brake performance factor self-detection unit, and when the brake performance factor self-detection unit detects a failure of the disc brake, it sends a control signal to control the alarm to give an alarm.
进一步的，所述报警器为听觉报警器。Further, the alarm is an audible alarm.
本发明的一种基于多传感器融合的盘式制动器自检测方法，基于上述***，包括步骤如下：The self-detection method of disc brake based on multi-sensor fusion of the present invention is based on the above system and includes the following steps:
步骤1：制动过程中，制动电机输出转速和转矩驱动制动减速装置，进而驱动串列双腔制动主缸的主缸活塞，使主缸第一腔、主缸第二腔制动液建压，进而实现左前制动轮缸、右 前制动轮缸、左后制动轮缸、右后制动轮缸制动液建压，分别推动左前制动块、右前制动块、左后制动块、右后制动块以相应的接触力分别压向左前制动盘、右前制动盘、左后制动盘、右后制动盘，输出制动力；Step 1: During the braking process, the output speed and torque of the brake motor drive the brake decelerating device, which in turn drives the master cylinder piston of the tandem dual-chamber master cylinder, so that the first cavity of the master cylinder and the second cavity of the master cylinder are controlled. The hydraulic pressure builds up, and then realizes the brake fluid pressure buildup of the left front brake wheel cylinder, the right front brake wheel cylinder, the left rear brake wheel cylinder, and the right rear brake wheel cylinder, respectively pushing the left front brake pad, the right front brake pad, The left rear brake pad and the right rear brake pad are respectively pressed against the left front brake disc, right front brake disc, left rear brake disc, and right rear brake disc with corresponding contact forces to output braking force;
步骤2：制动力计算单元采集单天线GPS模块输出的整车横摆角速度信号、整车纵向加速度信号、整车横向加速度信号，计算输出左前制动器的制动力、右前制动器的制动力、左后制动器的制动力、右后制动器的制动力；Step 2: The braking force calculation unit collects the vehicle yaw rate signal, vehicle longitudinal acceleration signal, and vehicle lateral acceleration signal output by the single-antenna GPS module, and calculates and outputs the braking force of the left front brake, the braking force of the right front brake, and the left rear brake Braking force, braking force of the right rear brake;
步骤3：接触力计算单元采集主缸第一腔液压力传感器信号、主缸第二腔液压力传感器信号、左前制动轮缸液压力传感器信号、右前制动轮缸液压力传感器信号、左后制动轮缸液压力传感器信号、右后制动轮缸液压力传感器信号，计算输出左前、右前、左后、右后制动块与制动盘之间的接触力；Step 3: The contact force calculation unit collects the hydraulic pressure sensor signal in the first cavity of the master cylinder, the hydraulic pressure sensor signal in the second cavity of the master cylinder, the hydraulic pressure sensor signal of the front left brake wheel, the hydraulic pressure sensor signal of the front right brake wheel, and the rear left The brake wheel cylinder hydraulic pressure sensor signal, the right rear brake wheel cylinder hydraulic pressure sensor signal, calculate and output the contact force between the front left, front right, rear left, and rear right brake pads and the brake disc;
步骤4：制动器效能因数自检测单元采集接触力计算单元输出的四个制动器接触力信号和制动力计算单元输出的四个制动器的实际制动力信号，分别计算四个制动器效能因数，并判断制动器是否处于安全工作区；Step 4: The brake effectiveness factor self-detection unit collects the four brake contact force signals output by the contact force calculation unit and the actual braking force signals of the four brakes output by the braking force calculation unit, respectively calculates the four brake effectiveness factors, and judges whether the brake is Be in a safe working area;
步骤5：当制动器处于安全工作区时，返回步骤1，进入下一个自检测周期；当制动器不处于安全工作区时，制动器效能因数自检测单元发送控制信号到报警器，启动报警器。Step 5: When the brake is in the safe working area, return to step 1 and enter the next self-checking cycle; when the brake is not in the safe working area, the brake efficiency factor self-checking unit sends a control signal to the alarm to start the alarm.
进一步的，所述步骤2中制动力计算单元的具体工作方式为：Further, the specific working mode of the braking force calculation unit in the step 2 is:
制动力计算单元采集单天线GPS模块的整车横摆角速度信号w 1，并判断整车横摆角速度w 1是否满足如下关系： The braking force calculation unit collects the vehicle yaw rate signal w 1 of the single-antenna GPS module, and judges whether the vehicle yaw rate w 1 satisfies the following relationship:
|w 1|≤w 0 |w 1 |≤w 0
其中，w 0表示整车横摆角速度阈值，且w 0值较小；若满足，则认为整车没有横摆角速度，整车沿直线行走，此时制动力计算单元、制动器效能因数自检测单元启动，否则返回步骤1； Among them, w 0 represents the vehicle yaw rate threshold, and the value of w 0 is small; if it is satisfied, the vehicle is considered to have no yaw rate, and the vehicle travels in a straight line. At this time, the braking force calculation unit and the brake efficiency factor self-detection unit Start, otherwise return to step 1;
制动力计算单元采集单天线GPS模块的整车纵向加速度a 1、整车横向加速度a 2信号后，计算整车的加速度a 0，计算表达式如下： The braking force calculation unit collects the vehicle longitudinal acceleration a 1 and vehicle lateral acceleration a 2 signals of the single-antenna GPS module, and calculates the vehicle acceleration a 0 , the calculation expression is as follows:
Figure PCTCN2020090209-appb-000001
Figure PCTCN2020090209-appb-000001
因此，整车总制动力F 0为： Therefore, the total braking force F 0 of the vehicle is:
F 0＝ma F 0 ＝ma
式中：m表示整车的质量；In the formula: m represents the quality of the whole vehicle;
通过整车总制动力计算整车前轴制动力F u1、后轴制动力F u2表达式如下： The expressions of the front axle braking force F u1 and the rear axle braking force F u2 of the entire vehicle are calculated as follows:
Figure PCTCN2020090209-appb-000002
Figure PCTCN2020090209-appb-000002
Figure PCTCN2020090209-appb-000003
Figure PCTCN2020090209-appb-000003
式中：ф表示路面附着系数，L表示整车前后轴轴距，a表示质心到前轴的距离，b表示质心到后轴的距离，h g表示整车质心的离地高度。 Where: ф represents the road adhesion coefficient, L represents the wheelbase of the vehicle's front and rear axles, a represents the distance from the center of mass to the front axle, b represents the distance from the center of mass to the rear axle, and h g represents the height of the vehicle's center of mass from the ground.
进一步的，所述步骤2还包括：横摆角速度足够小，左前制动器与右前制动器的制动力相等，左后制动器和右后制动器的制动力相等，根据前、后轴的制动力计算左前制动器制动力、右前制动器制动力、左后制动器制动力、右后制动器制动力，具体计算表达式如下：Further, the step 2 also includes: the yaw rate is sufficiently small, the braking force of the left front brake and the right front brake are equal, the braking force of the left rear brake and the right rear brake are equal, and the left front brake is calculated based on the braking force of the front and rear axles. Power, front right brake braking force, left rear brake braking force, right rear brake braking force, the specific calculation expressions are as follows:
Figure PCTCN2020090209-appb-000004
Figure PCTCN2020090209-appb-000004
式中：i＝1表示左前制动器的参数，i＝2表示右前制动器的参数，i＝3表示左后制动器的参数，i＝4表示右后制动块的参数，k＝1或2，且i＝1或2时k＝1，i＝3或4时k＝2。In the formula: i=1 indicates the parameter of the left front brake, i=2 indicates the parameter of the right front brake, i=3 indicates the parameter of the left rear brake, i=4 indicates the parameter of the right rear brake, k=1 or 2, and When i=1 or 2, k=1, and when i=3 or 4, k=2.
进一步的，所述步骤3中制动块与制动盘之间的接触力的具体计算方法为：Further, the specific calculation method of the contact force between the brake pad and the brake disc in the step 3 is:
31)接触力计算单元通过从CAN总线采集到的制动主缸、制动轮缸液压力信号计算制动轮缸进液口的制动液体积流量，制动轮缸进液口的制动液体积流量Q wi计算表达式如下： 31) The contact force calculation unit calculates the brake fluid volume flow at the fluid inlet of the brake wheel cylinder through the hydraulic pressure signals of the brake master cylinder and the brake wheel cylinder collected from the CAN bus, and the brake at the fluid inlet of the brake wheel cylinder The calculation expression of liquid volume flow Q wi is as follows:
Figure PCTCN2020090209-appb-000005
Figure PCTCN2020090209-appb-000005
式中：j＝1表示主缸第一腔的参数，j＝2表示主缸第二腔的参数，当i＝1或2时j＝1，当i＝3或4时j＝2，C d表示流量系数，A line表示制动管路截面积，P wi表示制动轮缸液压力，P mj表示主缸液压力，ρ表示制动液密度； In the formula: j=1 indicates the parameter of the first cavity of the master cylinder, j=2 indicates the parameter of the second cavity of the master cylinder, when i=1 or 2, j=1, when i=3 or 4, j=2, C d represents the flow coefficient, A line represents the cross-sectional area of the brake pipe, P wi represents the hydraulic pressure of the brake wheel cylinder, P mj represents the hydraulic pressure of the master cylinder, and ρ represents the brake fluid density;
32)轮缸活塞位移x wi通过如下表达式计算得到： 32) The wheel cylinder piston displacement x wi is calculated by the following expression:
Figure PCTCN2020090209-appb-000006
Figure PCTCN2020090209-appb-000006
式中：Bff wi表示制动轮缸制动液等效体积弹性模量，Q wi表示制动轮缸进液口的制动液体积流量，A wi表示制动管路截面积，V wi表示制动轮缸制动液初始体积； In the formula: Bff wi represents the equivalent bulk elastic modulus of brake fluid of the wheel brake cylinder, Q wi represents the volume flow of brake fluid at the fluid inlet of the wheel brake cylinder, A wi represents the cross-sectional area of the brake pipeline, and V wi represents The initial volume of brake fluid in the wheel cylinder;
33)制动块与制动盘之间的接触力F i的计算表达式如下： 33) the contact force between the calculation expression brake shoe and the brake disk F i, as follows:
Figure PCTCN2020090209-appb-000007
Figure PCTCN2020090209-appb-000007
式中：F i表示制动块与制动盘之间的接触应力，k wi表示轮缸等效弹簧刚度，x wi表示轮缸活塞位移，C wi表示轮缸活塞的阻尼系数，m i表示轮缸活塞的质量。 Where: F i represents the contact stress between the brake pad and the brake disc, k wi represents the equivalent spring stiffness of the wheel cylinder, x wi represents the displacement of the wheel cylinder piston, C wi represents the damping coefficient of the wheel cylinder piston, and mi represents The mass of the wheel cylinder piston.
进一步的，所述步骤4中制动器效能因数BF ri的计算表达式为： Further, the calculation expression of the brake performance factor BF ri in the step 4 is:
Figure PCTCN2020090209-appb-000008
Figure PCTCN2020090209-appb-000008
式中：r w表示车轮半径，R i表示制动盘的作用半径； Where: r w represents the wheel radius, R i represents the radius of action of the brake disc;
最后根据四个制动器效能因数判断响应盘式制动器是否处于可靠工作区，若制动器效能因数满足：Finally, judge whether the response disc brake is in a reliable working area according to the four brake performance factors. If the brake performance factor meets:
BF ri≥BF 0 BF ri ≥BF 0
则认为响应的制动盘处于可靠工作区；否则制动器不处于可靠工作区。It is considered that the responding brake disc is in the reliable working area; otherwise the brake is not in the reliable working area.
本发明的有益效果：The beneficial effects of the present invention:
本发明提供的***，可以基于车辆原有的单天线GPS模块、制动液压缸液压力传感器等进行自检测***的开发，计算出车辆的制动力的理论值以及当前车辆制动力的实际值，不会增加成本。The system provided by the present invention can develop a self-detection system based on the vehicle’s original single-antenna GPS module, brake hydraulic cylinder hydraulic pressure sensor, etc., and calculate the theoretical value of the vehicle’s braking force and the actual value of the current vehicle’s braking force. Will not increase costs.
本发明实现了车辆行驶过程中对盘式制动器工作状态的实时动态自检测，保证正常行驶中车辆制动器效能因数足够大，而制动器效能因数越大，则同样的接触力可以产生的最大制动力就越大，从而保证了制动器可以提供足够大的制动力，而足够大的制动力则可以有效减少最小制动距离、提高制动减速度，从而提高制动***的安全性，此外自检测***对于盘式制动器的实时检测，也保证了制动***时刻都在安全工作区工作，进而提高了制动***的可靠性。The invention realizes the real-time dynamic self-detection of the working state of the disc brake during the running of the vehicle, and ensures that the brake efficiency factor of the vehicle during normal running is large enough, and the larger the brake efficiency factor is, the maximum braking force that can be generated by the same contact force is The larger it is, it ensures that the brake can provide a large enough braking force, and a large enough braking force can effectively reduce the minimum braking distance and increase the braking deceleration, thereby improving the safety of the braking system. In addition, the self-checking system is effective for The real-time detection of disc brakes also ensures that the braking system is always working in a safe working area, thereby improving the reliability of the braking system.
附图说明Description of the drawings
图1为本发明***的结构图；Figure 1 is a structural diagram of the system of the present invention;
图2为本发明自检测方法原理图；Figure 2 is a schematic diagram of the self-detection method of the present invention;
图中：2-制动电机，3-制动减速装置，4-串列双腔制动主缸，5-左前制动器，6-制动器组，7-左前制动轮缸，81-左前制动块，82-右前制动块，83-左后制动块，84-右后制动块，9-左前制动盘，10-左前制动轮缸液压力传感器，11-右前制动轮缸，12-右前制动盘，13-右前制动器，14-右前制动轮缸液压力传感器，15-左后制动轮缸，16-左后制动盘，17-左后制动器，18-左后制动轮缸液压力传感器，19-右后制动盘，20-右后制动轮缸，21-右后制动器，22-右后制动轮缸液压力传感器，23-单天线GPS模块，24-制动力计算单元，25-制动器效能因数自检测单元，26-接触力计算单元，28-主缸第一腔液压力传感器，27-主缸第二腔液压力 传感器，29-报警器。In the picture: 2-brake motor, 3-brake deceleration device, 4-tandem dual-chamber master cylinder, 5-left front brake, 6-brake group, 7-left front brake wheel cylinder, 81-left front brake Block, 82-right front brake pad, 83-left rear brake pad, 84-right rear brake pad, 9-left front brake disc, 10-left front brake wheel cylinder hydraulic pressure sensor, 11-right front brake wheel cylinder , 12-Right front brake disc, 13-Right front brake, 14-Right front brake wheel cylinder hydraulic pressure sensor, 15-Left rear brake wheel cylinder, 16-Left rear brake disc, 17-Left rear brake, 18-Left Rear brake wheel cylinder hydraulic pressure sensor, 19-right rear brake disc, 20-right rear brake wheel cylinder, 21-right rear brake, 22-right rear brake wheel cylinder hydraulic pressure sensor, 23-single antenna GPS module , 24-brake force calculation unit, 25-brake performance factor self-detection unit, 26-contact force calculation unit, 28-hydraulic pressure sensor in the first chamber of the master cylinder, 27-hydraulic pressure sensor in the second chamber of the master cylinder, 29-alarm .
具体实施方式Detailed ways
为了便于本领域技术人员的理解，下面结合实施例与附图对本发明作进一步的说明，实施方式提及的内容并非对本发明的限定。In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and the drawings, and the content mentioned in the embodiments does not limit the present invention.
参照图1所示，本发明的一种基于多传感器融合的盘式制动器自检测***，包括：电子液压制动模块、传感器组、接触力计算单元26、制动力计算单元24、制动器效能因数自检测单元25；1, a self-detection system for disc brakes based on multi-sensor fusion of the present invention includes: an electronic hydraulic brake module, a sensor group, a contact force calculation unit 26, a braking force calculation unit 24, and a brake performance factor Detection unit 25;
所述电子液压制动模块包括：制动电机2、制动减速装置3、串列双腔制动主缸4、制动器组6；其中，所述制动电机2、制动减速装置3、串列双腔制动主缸4顺次连接；所述制动器组6包括：左前制动器5、右前制动器13、左后制动器17、右后制动器21；左前制动器5由左前制动轮缸7、左前制动块81、左前制动盘9顺次连接组成；右前制动器13由右前制动轮缸11、右前制动块82、右前制动盘12顺次连接组成；左后制动器17由左后制动轮缸15、左后制动块83、左后制动盘16顺次连接组成；右后制动器21由右后制动轮缸20、右后制动块84、右后制动盘19顺次连接组成；串列双腔制动主缸4包括主缸第一腔和主缸第二腔，主缸第一腔分别与左前制动器5、右前制动器13连接，主缸第二腔分别与左后制动器17、右后制动器21连接；The electronic hydraulic brake module includes: a brake motor 2, a brake deceleration device 3, a tandem dual-chamber master cylinder 4, a brake group 6; wherein, the brake motor 2, a brake deceleration device 3, a series The dual-chamber brake master cylinders 4 are connected in sequence; the brake group 6 includes: left front brake 5, right front brake 13, left rear brake 17, right rear brake 21; left front brake 5 consists of left front brake wheel cylinder 7, left front brake The moving block 81 and the left front brake disc 9 are connected in sequence; the right front brake 13 is composed of the right front brake wheel cylinder 11, the right front brake block 82, and the right front brake disc 12 are connected in sequence; the left rear brake 17 is composed of the left rear brake The wheel cylinder 15, the left rear brake block 83, and the left rear brake disc 16 are connected in sequence; the right rear brake 21 is composed of the right rear brake wheel cylinder 20, the right rear brake block 84, and the right rear brake disc 19 in sequence Connection composition; tandem dual-chamber brake master cylinder 4 includes a master cylinder first cavity and a master cylinder second cavity. The first cavity of the master cylinder is connected to the left front brake 5 and the right front brake 13 respectively, and the second cavity of the master cylinder is connected to the rear left and rear respectively. Brake 17, right rear brake 21 are connected;
所述传感器组包括：主缸第一腔液压力传感器28、主缸第二腔液压力传感器27、左前制动轮缸液压力传感器10、右前制动轮缸液压力传感器14、左后制动轮缸液压力传感器18、右后制动轮缸液压力传感器22及单天线GPS模块23；其中，主缸第一腔液压力传感器28和主缸第二腔液压力传感器27分别测量主缸第一腔液压力和主缸第二腔液压力，左前制动轮缸液压力传感器10、右前制动轮缸液压力传感器14、左后制动轮缸液压力传感器18、右后制动轮缸液压力传感器22分别测量左前制动轮缸7、右前制动轮缸11、左后制动轮缸15、右后制动轮缸20的液压力；单天线GPS模块23安装于车辆顶部，并与车辆质心位置重合；单天线GPS模块23测量整车的横摆角速度信号、纵向加速度信号、横向加速度信号；The sensor group includes: the hydraulic pressure sensor 28 of the master cylinder first cavity, the hydraulic pressure sensor 27 of the master cylinder second cavity, the left front brake wheel cylinder hydraulic pressure sensor 10, the right front brake wheel cylinder hydraulic pressure sensor 14, and the left rear brake The wheel cylinder hydraulic pressure sensor 18, the right rear brake wheel cylinder hydraulic pressure sensor 22, and the single antenna GPS module 23; among them, the master cylinder first cavity hydraulic pressure sensor 28 and the master cylinder second cavity hydraulic pressure sensor 27 measure the master cylinder first One cavity hydraulic pressure and the second cavity hydraulic pressure of the master cylinder, left front brake wheel cylinder hydraulic pressure sensor 10, right front brake wheel cylinder hydraulic pressure sensor 14, left rear brake wheel cylinder hydraulic pressure sensor 18, right rear brake wheel cylinder The hydraulic pressure sensor 22 measures the hydraulic pressures of the left front wheel brake cylinder 7, the right front wheel brake cylinder 11, the left rear wheel brake cylinder 15, and the right rear wheel brake cylinder 20; the single antenna GPS module 23 is installed on the top of the vehicle, and It coincides with the position of the center of mass of the vehicle; the single-antenna GPS module 23 measures the yaw rate signal, longitudinal acceleration signal, and lateral acceleration signal of the entire vehicle;
所述接触力计算单元26与主缸第一腔液压力传感器28、主缸第二腔液压力传感器27、左前制动轮缸液压力传感器10、右前制动轮缸液压力传感器14、左后制动轮缸液压力传感器信号18、右后制动轮缸液压力传感器22电气连接，并通过车辆CAN总线实现通信；接触力计算单元26从CAN总线采集主缸第一腔液压力传感器信号、主缸第二腔液压力传感器信号、左前轮缸液压力传感器信号、右前制动轮缸液压力传感器信号、左后制动轮缸液压力传感器信号、右后制动轮缸液压力传感器信号，并计算输出左前、右前、左后、右后制动器中制动块与制动盘之间的接触力信号；The contact force calculation unit 26 interacts with the first cavity hydraulic pressure sensor 28 of the master cylinder, the second cavity hydraulic pressure sensor 27 of the master cylinder, the left front brake wheel cylinder hydraulic pressure sensor 10, the right front brake wheel cylinder hydraulic pressure sensor 14, and the left rear The brake wheel cylinder hydraulic pressure sensor signal 18 and the right rear brake wheel cylinder hydraulic pressure sensor 22 are electrically connected, and communicate through the vehicle CAN bus; the contact force calculation unit 26 collects the master cylinder first cavity hydraulic pressure sensor signal from the CAN bus, The hydraulic pressure sensor signal of the second chamber of the master cylinder, the left front wheel cylinder hydraulic pressure sensor signal, the right front brake wheel cylinder hydraulic pressure sensor signal, the left rear brake wheel cylinder hydraulic pressure sensor signal, the right rear brake wheel cylinder hydraulic pressure sensor signal , And calculate and output the contact force signal between the brake pad and the brake disc in the left front, right front, left rear, and right rear brakes;
所述制动力计算单元24与单天线GPS模块23电气连接，并通过车辆CAN总线实现通信；制动力计算单元24从CAN总线采集单天线GPS模块23输出的整车横摆角速度信号、整车纵向加速度信号、整车横向加速度信号，并计算输出实际左前制动器制动力、实际右前制动器制动力、实际左后制动器制动力、实际右后制动器制动力信号；The braking force calculation unit 24 is electrically connected to the single-antenna GPS module 23, and communicates via the vehicle CAN bus; the braking force calculation unit 24 collects the vehicle yaw rate signal output from the single-antenna GPS module 23 from the CAN bus, and the vehicle longitudinal direction Acceleration signal, vehicle lateral acceleration signal, and calculate and output actual left front brake braking force, actual right front brake braking force, actual left rear brake braking force, actual right rear brake braking force signal;
所述制动器效能因数自检测单元25分别与接触力计算单元26、制动力计算单元24电气连接，并通过车辆CAN总线通信；制动器效能因数自检测单元25从CAN总线采集接触力计算单元26输出的左前、右前、左后、右后制动器中制动块与制动盘之间的接触力信号以及制动力计算单元输出24的左前、右前、左后、右后制动器制动力信号，进而计算四个制动器的制动器效能因数，并判断四个盘式制动器的状态。The brake performance factor self-detection unit 25 is electrically connected to the contact force calculation unit 26 and the braking force calculation unit 24, and communicates via the vehicle CAN bus; the brake performance factor self-detection unit 25 collects the output of the contact force calculation unit 26 from the CAN bus The contact force signals between the brake pads and the brake discs in the left front, right front, left rear, and right rear brakes and the braking force calculation unit output 24 left front, right front, left rear, and right rear brake braking force signals, and then calculate four The brake performance factor of the brake, and judge the state of the four disc brakes.
其中，所述制动减速装置3为行星齿轮减速机构。Wherein, the brake reduction device 3 is a planetary gear reduction mechanism.
其中，所述自检测***还包括报警器29，其与制动器效能因数自检测单元25电气连接，当制动器效能因数自检测单元25检测到盘式制动器故障后，发出控制信号，控制报警器报警。Wherein, the self-detection system further includes an alarm 29, which is electrically connected to the brake performance factor self-detection unit 25. When the brake performance factor self-detection unit 25 detects a disc brake failure, it sends a control signal to control the alarm to give an alarm.
其中，所述报警器29为听觉报警器。Wherein, the alarm 29 is an audible alarm.
参照图2所示，本发明的一种基于多传感器融合的盘式制动器自检测方法，基于上述***，包括步骤如下：Referring to Figure 2, a self-detection method for disc brakes based on multi-sensor fusion of the present invention, based on the above system, includes the following steps:
步骤1：制动过程中，制动电机输出转速和转矩驱动制动减速装置，进而驱动串列双腔制动主缸的主缸活塞，使主缸第一腔、主缸第二腔制动液建压，进而实现左前制动轮缸、右前制动轮缸、左后制动轮缸、右后制动轮缸制动液建压，分别推动左前制动块、右前制动块、左后制动块、右后制动块以相应的接触力分别压向左前制动盘、右前制动盘、左后制动盘、右后制动盘，输出制动力；Step 1: During the braking process, the output speed and torque of the brake motor drive the brake deceleration device, which in turn drives the master cylinder piston of the tandem dual-chamber master cylinder to make the master cylinder first cavity and master cylinder second cavity control The hydraulic pressure builds up, and then realizes the brake fluid pressure buildup of the left front brake wheel cylinder, the right front brake wheel cylinder, the left rear brake wheel cylinder, and the right rear brake wheel cylinder, respectively pushing the left front brake pad, the right front brake pad, The left rear brake pad and the right rear brake pad are respectively pressed against the left front brake disc, right front brake disc, left rear brake disc, and right rear brake disc with corresponding contact forces to output braking force;
步骤2：制动力计算单元采集单天线GPS模块输出的整车横摆角速度信号、整车纵向加速度信号、整车横向加速度信号，计算输出左前制动器的制动力、右前制动器的制动力、左后制动器的制动力、右后制动器的实际制动力；Step 2: The braking force calculation unit collects the vehicle yaw rate signal, vehicle longitudinal acceleration signal, and vehicle lateral acceleration signal output by the single-antenna GPS module, and calculates and outputs the braking force of the left front brake, the braking force of the right front brake, and the left rear brake The actual braking force of the right rear brake;
步骤2中制动力计算单元的具体工作方式为：The specific working mode of the braking force calculation unit in step 2 is:
制动力计算单元采集单天线GPS模块的整车横摆角速度信号w 1，并判断整车横摆角速度w 1是否满足如下关系： The braking force calculation unit collects the vehicle yaw rate signal w 1 of the single-antenna GPS module, and judges whether the vehicle yaw rate w 1 satisfies the following relationship:
|w 1|≤w 0 |w 1 |≤w 0
其中，w 0表示整车横摆角速度阈值，且w 0值较小；若满足，则认为整车没有横摆角速度，整车沿直线行走，此时制动力计算单元、制动器效能因数自检测单元启动，否则返回步骤1； Among them, w 0 represents the vehicle yaw rate threshold, and the value of w 0 is small; if it is satisfied, the vehicle is considered to have no yaw rate, and the vehicle travels in a straight line. At this time, the braking force calculation unit and the brake efficiency factor self-detection unit Start, otherwise return to step 1;
制动力计算单元采集单天线GPS模块的整车纵向加速度a 1、整车横向加速度a 2信号后， 计算整车的加速度a 0，计算表达式如下： The braking force calculation unit collects the vehicle longitudinal acceleration a 1 and vehicle lateral acceleration a 2 signals of the single-antenna GPS module, and calculates the vehicle acceleration a 0 , the calculation expression is as follows:
Figure PCTCN2020090209-appb-000009
Figure PCTCN2020090209-appb-000009
因此，整车总制动力F 0为： Therefore, the total braking force F 0 of the vehicle is:
F 0＝ma F 0 ＝ma
式中：m表示整车的质量；In the formula: m represents the quality of the whole vehicle;
通过整车总制动力计算整车前轴制动力F u1、后轴制动力F u2表达式如下： The expressions of the front axle braking force F u1 and the rear axle braking force F u2 of the entire vehicle are calculated as follows:
Figure PCTCN2020090209-appb-000010
Figure PCTCN2020090209-appb-000010
Figure PCTCN2020090209-appb-000011
Figure PCTCN2020090209-appb-000011
式中：ф表示路面附着系数，L表示整车前后轴轴距，a表示质心到前轴的距离，b表示质心到后轴的距离，h g表示整车质心的离地高度。 Where: ф represents the road adhesion coefficient, L represents the wheelbase of the vehicle's front and rear axles, a represents the distance from the center of mass to the front axle, b represents the distance from the center of mass to the rear axle, and h g represents the height of the vehicle's center of mass from the ground.
所述步骤2还包括：横摆角速度足够小，左前制动器与右前制动器的制动力相等，左后制动器和右后制动器的制动力相等，根据前、后轴的制动力计算左前制动器制动力、右前制动器制动力、左后制动器制动力、右后制动器制动力，具体计算表达式如下：The step 2 also includes: the yaw rate is small enough, the braking force of the left front brake and the right front brake are equal, the braking force of the left rear brake and the right rear brake are equal, and the braking force of the left front brake and the front right brake are calculated according to the braking force of the front and rear axles. The specific calculation expressions of brake braking force, left rear brake braking force, and right rear brake braking force are as follows:
Figure PCTCN2020090209-appb-000012
Figure PCTCN2020090209-appb-000012
式中：i＝1表示左前制动器的参数，i＝2表示右前制动器的参数，i＝3表示左后制动器的参数，i＝4表示右后制动块的参数，k＝1或2，且i＝1或2时k＝1，i＝3或4时k＝2。In the formula: i=1 indicates the parameter of the left front brake, i=2 indicates the parameter of the right front brake, i=3 indicates the parameter of the left rear brake, i=4 indicates the parameter of the right rear brake, k=1 or 2, and When i=1 or 2, k=1, and when i=3 or 4, k=2.
步骤3：接触力计算单元采集主缸第一腔液压力传感器信号、主缸第二腔液压力传感器信号、左前制动轮缸液压力传感器信号、右前制动轮缸液压力传感器信号、左后制动轮缸液压力传感器信号、右后制动轮缸液压力传感器信号，计算输出左前、右前、左后、右后制动块与制动盘之间的接触力；Step 3: The contact force calculation unit collects the hydraulic pressure sensor signal in the first cavity of the master cylinder, the hydraulic pressure sensor signal in the second cavity of the master cylinder, the hydraulic pressure sensor signal of the front left brake wheel, the hydraulic pressure sensor signal of the front right brake wheel, and the rear left The brake wheel cylinder hydraulic pressure sensor signal, the right rear brake wheel cylinder hydraulic pressure sensor signal, calculate and output the contact force between the front left, front right, rear left, and rear right brake pads and the brake disc;
所述步骤3中制动块与制动盘之间的接触力的具体计算方法为：The specific calculation method of the contact force between the brake pad and the brake disc in the step 3 is:
31)接触力计算单元通过从CAN总线采集到的制动主缸、制动轮缸液压力信号计算制动轮缸进液口的制动液体积流量，制动轮缸进液口的制动液体积流量Q wi计算表达式如下： 31) The contact force calculation unit calculates the volume flow of brake fluid at the fluid inlet of the brake wheel cylinder through the hydraulic pressure signals of the brake master cylinder and brake wheel cylinder collected from the CAN bus, and the brake at the fluid inlet of the brake wheel cylinder The calculation expression of liquid volume flow Q wi is as follows:
Figure PCTCN2020090209-appb-000013
Figure PCTCN2020090209-appb-000013
式中：j＝1表示主缸第一腔的参数，j＝2表示主缸第二腔的参数，当i＝1或2时j＝1，当i＝3或4时j＝2，C d表示流量系数，A line表示制动管路截面积，P wi表示制动轮缸液压力，P mj表示主缸液压力，ρ表示制动液密度； In the formula: j=1 indicates the parameter of the first cavity of the master cylinder, j=2 indicates the parameter of the second cavity of the master cylinder, when i=1 or 2, j=1, when i=3 or 4, j=2, C d represents the flow coefficient, A line represents the cross-sectional area of the brake pipe, P wi represents the hydraulic pressure of the brake wheel cylinder, P mj represents the hydraulic pressure of the master cylinder, and ρ represents the brake fluid density;
32)轮缸活塞位移x wi通过如下表达式计算得到： 32) The wheel cylinder piston displacement x wi is calculated by the following expression:
Figure PCTCN2020090209-appb-000014
Figure PCTCN2020090209-appb-000014
式中：Bff wi表示制动轮缸制动液等效体积弹性模量，Q wi表示制动轮缸进液口的制动液体积流量，A wi表示制动管路截面积，V wi表示制动轮缸制动液初始体积； Where: Bff wi represents the equivalent bulk elastic modulus of brake fluid of the wheel cylinder, Q wi represents the volume flow of brake fluid at the fluid inlet of the wheel cylinder, A wi represents the cross-sectional area of the brake pipeline, and V wi represents The initial volume of brake fluid in the wheel cylinder;
33)制动块与制动盘之间的接触力F i的计算表达式如下： 33) The calculation expression of the contact force F i between the brake pad and the brake disc is as follows:
Figure PCTCN2020090209-appb-000015
Figure PCTCN2020090209-appb-000015
式中：F i表示制动块与制动盘之间的接触应力，k wi表示轮缸等效弹簧刚度，x wi表示轮缸活塞位移，C wi表示轮缸活塞的阻尼系数，m i表示轮缸活塞的质量。 Where: F i represents the contact stress between the brake pad and the brake disc, k wi represents the equivalent spring stiffness of the wheel cylinder, x wi represents the displacement of the wheel cylinder piston, C wi represents the damping coefficient of the wheel cylinder piston, mi represents The mass of the wheel cylinder piston.
步骤4：制动器效能因数自检测单元采集接触力计算单元输出的四个制动器接触力信号和制动力计算单元输出的四个制动器的实际制动力信号，计算制动器效能因数，并判断制动器是否处于安全工作区；Step 4: The brake efficiency factor self-detection unit collects the four brake contact force signals output by the contact force calculation unit and the actual braking force signals of the four brakes output by the braking force calculation unit, calculates the brake efficiency factor, and judges whether the brake is in safe operation Area;
所述步骤4中制动器效能因数BF ri的计算表达式为： The calculation expression of the brake efficiency factor BF ri in the step 4 is:
Figure PCTCN2020090209-appb-000016
Figure PCTCN2020090209-appb-000016
式中：r w表示车轮半径，R i表示制动盘的作用半径； Where: r w represents the wheel radius, R i represents the radius of action of the brake disc;
最后根据四个制动器效能因数判断响应盘式制动器是否处于可靠工作区，若制动器效能因数满足：Finally, judge whether the response disc brake is in a reliable working area according to the four brake performance factors. If the brake performance factor meets:
BF ri≥BF 0 BF ri ≥BF 0
则认为响应的制动盘处于可靠工作区；否则制动器不处于可靠工作区。It is considered that the responding brake disc is in the reliable working area; otherwise the brake is not in the reliable working area.
步骤5：当制动器处于安全工作区时，返回步骤1，进入下一个周期的自检测；当制动器不处于安全工作区时，制动器效能因数自检测单元发送控制信号到报警器，启动报警器。Step 5: When the brake is in the safe working area, return to step 1 and enter the next cycle of self-checking; when the brake is not in the safe working area, the brake efficiency factor self-checking unit sends a control signal to the alarm to start the alarm.
本发明具体应用途径很多，以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以作出若干改进，这些改 进也应视为本发明的保护范围。There are many specific applications of the present invention. The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements can be made. These Improvements should also be regarded as the protection scope of the present invention.

Claims (9)

  1. 一种基于多传感器融合的盘式制动器自检测***，其特征在于，包括：电子液压制动模块、传感器组、接触力计算单元、制动力计算单元及制动器效能因数自检测单元；其中，A disc brake self-detection system based on multi-sensor fusion, which is characterized by comprising: an electronic hydraulic brake module, a sensor group, a contact force calculation unit, a braking force calculation unit, and a brake performance factor self-detection unit; wherein,
    所述电子液压制动模块包括：制动电机、制动减速装置、串列双腔制动主缸、制动器组；其中制动电机、制动减速装置、串列双腔制动主缸顺次连接；制动器组包括左前制动器、右前制动器、左后制动器、右后制动器，左前制动器由左前制动轮缸、左前制动块、左前制动盘顺次连接组成，右前制动器由右前制动轮缸、右前制动块、右前制动盘顺次连接组成，左后制动器由左后制动轮缸、左后制动块、左后制动盘顺次连接组成，右后制动器由右后制动轮缸、右后制动块、右后制动盘顺次连接组成；串列双腔制动主缸中包括主缸第一腔和主缸第二腔，主缸第一腔分别与左前制动器、右前制动器连接，主缸第二腔分别与左后制动器、右后制动器连接；The electronic hydraulic brake module includes: a brake motor, a brake deceleration device, a tandem dual-chamber master cylinder, and a brake group; wherein the brake motor, a brake deceleration device, and a tandem dual-chamber master cylinder are in sequence Connection; the brake group includes the left front brake, the right front brake, the left rear brake, and the right rear brake. The left front brake is composed of the left front brake wheel cylinder, the left front brake pad, and the left front brake disc. The right front brake is composed of the right front brake wheel cylinder. , The right front brake block and the right front brake disc are connected in sequence. The left rear brake is composed of the left rear brake wheel cylinder, the left rear brake block and the left rear brake disc in sequence. The right rear brake is composed of the right rear brake. The wheel cylinder, the right rear brake block, and the right rear brake disc are connected in sequence; the tandem dual-chamber master cylinder includes the first chamber of the master cylinder and the second chamber of the master cylinder. The first chamber of the master cylinder is connected to the front left brake respectively. , The front right brake is connected, and the second cavity of the master cylinder is connected to the left rear brake and the right rear brake respectively;
    所述传感器组包括：主缸第一腔液压力传感器、主缸第二腔液压力传感器、左前制动轮缸液压力传感器、右前制动轮缸液压力传感器、左后制动轮缸液压力传感器、右后制动轮缸液压力传感器及单天线GPS模块；其中，主缸第一腔液压力传感器和主缸第二腔液压力传感器分别测量主缸第一腔液压力和主缸第二腔液压力，左前制动轮缸液压力传感器、右前制动轮缸液压力传感器、左后制动轮缸液压力传感器、右后制动轮缸液压力传感器分别测量左前制动轮缸、右前制动轮缸、左后制动轮缸、右后制动轮缸的液压力；单天线GPS模块安装于车辆顶部，并与车辆质心位置重合，单天线GPS模块测量整车的横摆角速度信号、纵向加速度信号、横向加速度信号；The sensor group includes: a hydraulic pressure sensor in the first chamber of the master cylinder, a hydraulic pressure sensor in the second chamber of the master cylinder, a hydraulic pressure sensor in the front left brake wheel cylinder, a hydraulic pressure sensor in the front right brake wheel cylinder, and a hydraulic pressure in the rear left brake wheel cylinder Sensors, hydraulic pressure sensor of the right rear brake wheel cylinder and single antenna GPS module; among them, the hydraulic pressure sensor in the first cavity of the master cylinder and the hydraulic pressure sensor in the second cavity of the master cylinder respectively measure the hydraulic pressure of the first cavity of the master cylinder and the second cavity of the master cylinder Cavity hydraulic pressure, left front brake wheel cylinder hydraulic pressure sensor, right front brake wheel cylinder hydraulic pressure sensor, left rear brake wheel cylinder hydraulic pressure sensor, right rear brake wheel cylinder hydraulic pressure sensor to measure the left front brake wheel cylinder and right front respectively Hydraulic pressure of brake wheel cylinder, left rear brake wheel cylinder, right rear brake wheel cylinder; single-antenna GPS module is installed on the top of the vehicle and coincides with the position of the vehicle's center of mass, single-antenna GPS module measures the yaw rate signal of the whole vehicle , Longitudinal acceleration signal, lateral acceleration signal;
    所述接触力计算单元与主缸第一腔液压力传感器、主缸第二腔液压力传感器、左前制动轮缸液压力传感器、右前制动轮缸液压力传感器、左后制动轮缸液压力传感器信号、右后制动轮缸液压力传感器电气连接，并通过车辆CAN总线实现通信；接触力计算单元从CAN总线采集主缸第一腔液压力传感器信号、主缸第二腔液压力传感器信号、左前轮缸液压力传感器信号、右前制动轮缸液压力传感器信号、左后制动轮缸液压力传感器信号、右后制动轮缸液压力传感器信号，并计算输出左前、右前、左后、右后制动器中制动块与制动盘之间的接触力信号；The contact force calculation unit and the hydraulic pressure sensor of the first cavity of the master cylinder, the hydraulic pressure sensor of the second cavity of the master cylinder, the hydraulic pressure sensor of the left front brake wheel cylinder, the hydraulic pressure sensor of the right front brake wheel cylinder, and the hydraulic pressure of the left rear brake wheel cylinder The force sensor signal and the right rear brake wheel cylinder hydraulic pressure sensor are electrically connected, and communicate through the vehicle CAN bus; the contact force calculation unit collects the master cylinder first cavity hydraulic pressure sensor signal and the master cylinder second cavity hydraulic pressure sensor from the CAN bus Signal, left front wheel cylinder hydraulic pressure sensor signal, right front brake wheel cylinder hydraulic pressure sensor signal, left rear brake wheel cylinder hydraulic pressure sensor signal, right rear brake wheel cylinder hydraulic pressure sensor signal, and calculated output left front, right front, The contact force signal between the brake pad and the brake disc in the left and right rear brakes;
    所述制动力计算单元与单天线GPS模块电气连接，并通过车辆CAN总线实现通信；制动力计算单元从CAN总线采集单天线GPS模块输出的整车横摆角速度信号、整车纵向加速度信号、整车横向加速度信号，并计算输出实际左前制动器制动力、实际右前制动器制动力、实际左后制动器制动力、实际右后制动器制动力信号；The braking force calculation unit is electrically connected to the single-antenna GPS module, and communicates through the vehicle CAN bus; the braking force calculation unit collects the vehicle yaw rate signal, the vehicle longitudinal acceleration signal, and the entire vehicle output from the single-antenna GPS module from the CAN bus. Vehicle lateral acceleration signal, and calculate and output the actual left front brake braking force, actual right front brake braking force, actual left rear brake braking force, actual right rear brake braking force signal;
    所述制动器效能因数自检测单元分别与接触力计算单元、制动力计算单元电气连接，并通过车辆CAN总线通信；制动器效能因数自检测单元从CAN总线采集接触力计算单元输出的 左前、右前、左后、右后制动器中制动块与制动盘之间的接触力信号以及制动力计算单元输出的左前、右前、左后、右后制动器制动力信号，进而计算四个制动器的制动器效能因数，并判断四个盘式制动器的状态。The brake performance factor self-detection unit is electrically connected to the contact force calculation unit and the braking force calculation unit, and communicates via the vehicle CAN bus; the brake performance factor self-detection unit collects the front left, front right, and left output from the contact force calculation unit from the CAN bus. The contact force signal between the brake pad and the brake disc in the rear and right rear brakes and the left front, right front, left rear, and right rear brake force signals output by the braking force calculation unit, and then calculate the brake efficiency factors of the four brakes, And judge the state of the four disc brakes.
  2. 根据权利要求1所述的基于多传感器融合的盘式制动器自检测***，其特征在于，所述制动减速装置为行星齿轮减速机构。The disc brake self-detection system based on multi-sensor fusion according to claim 1, wherein the brake reduction device is a planetary gear reduction mechanism.
  3. 根据权利要求1所述的基于多传感器融合的盘式制动器自检测***，其特征在于，所述自检测***还包括报警器，其与制动器效能因数自检测单元电气连接，当制动器效能因数自检测单元检测到盘式制动器故障后，发出控制信号，控制报警器报警。The disc brake self-detection system based on multi-sensor fusion according to claim 1, characterized in that the self-detection system further comprises an alarm, which is electrically connected with the brake performance factor self-detection unit, when the brake performance factor self-detection After the unit detects the disc brake failure, it sends out a control signal to control the alarm to alarm.
  4. 根据权利要求3所述的基于多传感器融合的盘式制动器自检测***，其特征在于，所述报警器为听觉报警器。The disc brake self-detection system based on multi-sensor fusion according to claim 3, wherein the alarm is an audible alarm.
  5. 一种基于多传感器融合的盘式制动器自检测方法，基于上述权利要求1至4中任意一项***，其特征在于，包括步骤如下：A disc brake self-detection method based on multi-sensor fusion, based on any one of the above claims 1 to 4, is characterized in that it comprises the following steps:
    步骤1：制动过程中，制动电机输出转速和转矩驱动制动减速装置，进而驱动串列双腔制动主缸的主缸活塞，使主缸第一腔、主缸第二腔制动液建压，进而实现左前制动轮缸、右前制动轮缸、左后制动轮缸、右后制动轮缸制动液建压，分别推动左前制动块、右前制动块、左后制动块、右后制动块以相应的接触力分别压向左前制动盘、右前制动盘、左后制动盘、右后制动盘，输出制动力；Step 1: During the braking process, the output speed and torque of the brake motor drive the brake deceleration device, which in turn drives the master cylinder piston of the tandem dual-chamber master cylinder to make the master cylinder first cavity and master cylinder second cavity control The hydraulic pressure builds up, and then realizes the brake fluid pressure buildup of the left front brake wheel cylinder, the right front brake wheel cylinder, the left rear brake wheel cylinder, and the right rear brake wheel cylinder, respectively pushing the left front brake pad, the right front brake pad, The left rear brake pad and the right rear brake pad are respectively pressed against the left front brake disc, right front brake disc, left rear brake disc, and right rear brake disc with corresponding contact forces to output braking force;
    步骤2：制动力计算单元采集单天线GPS模块输出的整车横摆角速度信号、整车纵向加速度信号、整车横向加速度信号，计算输出左前制动器的制动力、右前制动器的制动力、左后制动器的制动力、右后制动器的制动力；Step 2: The braking force calculation unit collects the vehicle yaw rate signal, vehicle longitudinal acceleration signal, and vehicle lateral acceleration signal output by the single-antenna GPS module, and calculates and outputs the braking force of the left front brake, the braking force of the right front brake, and the left rear brake Braking force, braking force of the right rear brake;
    步骤3：接触力计算单元采集主缸第一腔液压力传感器信号、主缸第二腔液压力传感器信号、左前制动轮缸液压力传感器信号、右前制动轮缸液压力传感器信号、左后制动轮缸液压力传感器信号、右后制动轮缸液压力传感器信号，计算输出左前、右前、左后、右后制动块与制动盘之间的接触力；Step 3: The contact force calculation unit collects the hydraulic pressure sensor signal in the first cavity of the master cylinder, the hydraulic pressure sensor signal in the second cavity of the master cylinder, the hydraulic pressure sensor signal of the front left brake wheel, the hydraulic pressure sensor signal of the front right brake wheel, and the rear left The brake wheel cylinder hydraulic pressure sensor signal, the right rear brake wheel cylinder hydraulic pressure sensor signal, calculate and output the contact force between the front left, front right, rear left, and rear right brake pads and the brake disc;
    步骤4：制动器效能因数自检测单元采集接触力计算单元输出的四个制动器接触力信号和制动力计算单元输出的四个制动器的实际制动力信号，分别计算四个制动器效能因数，并判断制动器是否处于安全工作区；Step 4: The brake effectiveness factor self-detection unit collects the four brake contact force signals output by the contact force calculation unit and the actual braking force signals of the four brakes output by the braking force calculation unit, respectively calculates the four brake effectiveness factors, and judges whether the brake is Be in a safe working area;
    步骤5：当制动器处于安全工作区时，返回步骤1，进入下一个自检测周期；当制动器不处于安全工作区时，制动器效能因数自检测单元发送控制信号到报警器，启动报警器。Step 5: When the brake is in the safe working area, return to step 1 and enter the next self-checking cycle; when the brake is not in the safe working area, the brake efficiency factor self-checking unit sends a control signal to the alarm to start the alarm.
  6. 根据权利要求5所述的基于多传感器融合的盘式制动器自检测方法，其特征在于，所述步骤2中制动力计算单元的具体工作方式为：The self-detection method of disc brake based on multi-sensor fusion according to claim 5, wherein the specific working mode of the braking force calculation unit in the step 2 is:
    制动力计算单元采集单天线GPS模块的整车横摆角速度信号w 1，并判断整车横摆角速度w 1是否满足如下关系： The braking force calculation unit collects the vehicle yaw rate signal w 1 of the single-antenna GPS module, and judges whether the vehicle yaw rate w 1 satisfies the following relationship:
    |w 1|≤w 0 |w 1 |≤w 0
    其中，w 0表示整车横摆角速度阈值；若满足，则认为整车无横摆角速度，整车沿直线行走，此时制动力计算单元、制动器效能因数自检测单元启动，否则返回步骤1； Among them, w 0 represents the vehicle yaw rate threshold; if it is satisfied, it is considered that the vehicle has no yaw rate, and the vehicle travels in a straight line. At this time, the braking force calculation unit and the brake efficiency factor self-detection unit are activated, otherwise, return to step 1;
    制动力计算单元采集单天线GPS模块的整车纵向加速度a 1、整车横向加速度a 2信号后，计算整车的加速度a 0，计算表达式如下： The braking force calculation unit collects the vehicle longitudinal acceleration a 1 and vehicle lateral acceleration a 2 signals of the single-antenna GPS module, and calculates the vehicle acceleration a 0 , the calculation expression is as follows:
    Figure PCTCN2020090209-appb-100001
    Figure PCTCN2020090209-appb-100001
    因此，整车总制动力F 0为： Therefore, the total braking force F 0 of the vehicle is:
    F 0＝ma F 0 ＝ma
    式中：m表示整车的质量；In the formula: m represents the quality of the whole vehicle;
    通过整车总制动力计算整车前轴制动力F u1、后轴制动力F u2表达式如下： The expressions of the front axle braking force F u1 and the rear axle braking force F u2 of the entire vehicle are calculated as follows:
    Figure PCTCN2020090209-appb-100002
    Figure PCTCN2020090209-appb-100002
    Figure PCTCN2020090209-appb-100003
    Figure PCTCN2020090209-appb-100003
    式中：ф表示路面附着系数，L表示整车前后轴轴距，a表示质心到前轴的距离，b表示质心到后轴的距离，h g表示整车质心的离地高度。 Where: ф represents the road adhesion coefficient, L represents the wheelbase of the vehicle's front and rear axles, a represents the distance from the center of mass to the front axle, b represents the distance from the center of mass to the rear axle, and h g represents the height of the vehicle's center of mass from the ground.
  7. 根据权利要求6所述的基于多传感器融合的盘式制动器自检测方法，其特征在于，所述步骤2还包括：横摆角速度足够小，左前制动器与右前制动器的制动力相等，左后制动器和右后制动器的制动力相等，根据前、后轴的制动力计算左前制动器制动力、右前制动器制动力、左后制动器制动力、右后制动器制动力，具体计算表达式如下：The self-detection method for disc brakes based on multi-sensor fusion according to claim 6, wherein said step 2 further comprises: the yaw rate is sufficiently small, the braking force of the left front brake and the right front brake are equal, and the left rear brake and The braking force of the right rear brake is equal. The left front brake braking force, the right front brake braking force, the left rear brake braking force, and the right rear brake braking force are calculated according to the braking forces of the front and rear axles. The specific calculation expressions are as follows:
    Figure PCTCN2020090209-appb-100004
    Figure PCTCN2020090209-appb-100004
    式中：i＝1表示左前制动器的参数，i＝2表示右前制动器的参数，i＝3表示左后制动器的参数，i＝4表示右后制动块的参数，k＝1或2，且i＝1或2时k＝1，i＝3或4时k＝2。In the formula: i=1 indicates the parameter of the left front brake, i=2 indicates the parameter of the right front brake, i=3 indicates the parameter of the left rear brake, i=4 indicates the parameter of the right rear brake, k=1 or 2, and When i=1 or 2, k=1, and when i=3 or 4, k=2.
  8. 根据权利要求5所述的基于多传感器融合的盘式制动器自检测方法，其特征在于，所述步骤3中制动块与制动盘之间的接触力的具体计算方法为：The disc brake self-detection method based on multi-sensor fusion according to claim 5, wherein the specific calculation method of the contact force between the brake pad and the brake disc in the step 3 is:
    31)接触力计算单元通过从CAN总线采集到的制动主缸、制动轮缸液压力信号计算制动轮缸进液口的制动液体积流量，制动轮缸进液口的制动液体积流量Q wi计算表达式如下： 31) The contact force calculation unit calculates the brake fluid volume flow at the fluid inlet of the brake wheel cylinder through the hydraulic pressure signals of the brake master cylinder and the brake wheel cylinder collected from the CAN bus, and the brake at the fluid inlet of the brake wheel cylinder The calculation expression of liquid volume flow Q wi is as follows:
    Figure PCTCN2020090209-appb-100005
    Figure PCTCN2020090209-appb-100005
    式中：j＝1表示主缸第一腔的参数，j＝2表示主缸第二腔的参数，当i＝1或2时j＝1，当i＝3或4时j＝2，C d表示流量系数，A line表示制动管路截面积，P wi表示制动轮缸液压力，P mj表示主缸液压力，ρ表示制动液密度； In the formula: j=1 indicates the parameter of the first cavity of the master cylinder, j=2 indicates the parameter of the second cavity of the master cylinder, when i=1 or 2, j=1, when i=3 or 4, j=2, C d represents the flow coefficient, A line represents the cross-sectional area of the brake pipeline, P wi represents the hydraulic pressure of the brake wheel cylinder, P mj represents the hydraulic pressure of the master cylinder, and ρ represents the brake fluid density;
    32)轮缸活塞位移x wi通过如下表达式计算得到： 32) The wheel cylinder piston displacement x wi is calculated by the following expression:
    Figure PCTCN2020090209-appb-100006
    Figure PCTCN2020090209-appb-100006
    式中：Bff wi表示制动轮缸制动液等效体积弹性模量，Q wi表示制动轮缸进液口的制动液体积流量，A wi表示制动管路截面积，V wi表示制动轮缸制动液初始体积； Where: Bff wi represents the equivalent bulk elastic modulus of brake fluid of the wheel cylinder, Q wi represents the volume flow of brake fluid at the fluid inlet of the wheel cylinder, A wi represents the cross-sectional area of the brake pipeline, and V wi represents The initial volume of brake fluid in the wheel cylinder;
    33)制动块与制动盘之间的接触力F i的计算表达式如下： 33) the contact force between the calculation expression brake shoe and the brake disk F i, as follows:
    Figure PCTCN2020090209-appb-100007
    Figure PCTCN2020090209-appb-100007
    式中：F i表示制动块与制动盘之间的接触应力，k wi表示轮缸等效弹簧刚度，x wi表示轮缸活塞位移，C wi表示轮缸活塞的阻尼系数，m i表示轮缸活塞的质量。 Where: F i represents the contact stress between the brake pad and the brake disc, k wi represents the equivalent spring stiffness of the wheel cylinder, x wi represents the displacement of the wheel cylinder piston, C wi represents the damping coefficient of the wheel cylinder piston, and mi represents The mass of the wheel cylinder piston.
  9. 根据权利要求5所述的基于多传感器融合的盘式制动器自检测方法，其特征在于，所述步骤4中制动器效能因数BF ri的计算表达式为： The self-detection method of disc brake based on multi-sensor fusion according to claim 5, wherein the calculation expression of the brake efficiency factor BF ri in the step 4 is:
    Figure PCTCN2020090209-appb-100008
    Figure PCTCN2020090209-appb-100008
    式中：r w表示车轮半径，R i表示制动盘的作用半径； Where: r w represents the wheel radius, R i represents the radius of action of the brake disc;
    最后根据四个制动器效能因数判断响应盘式制动器是否处于可靠工作区，若制动器效能因数满足：Finally, judge whether the response disc brake is in a reliable working area according to the four brake performance factors. If the brake performance factor meets:
    BF ri≥BF 0 BF ri ≥BF 0
    则认为响应的制动盘处于可靠工作区；否则制动器不处于可靠工作区。It is considered that the responding brake disc is in the reliable working area; otherwise the brake is not in the reliable working area.
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