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ABS real-time road surface recognition method and system

A technology of road surface recognition and road surface adhesion coefficient, which is applied in the direction of brakes, etc., can solve the problems of not being able to know the best slip rate of the road surface, identify roughness, etc., and achieve the effect of accurate road surface recognition and good braking effect

Inactive Publication Date: 2019-05-10
ZHEJIANG VIE SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Existing ABS generally adopts the logic threshold value control method, and usually judges the current road surface through the change of acceleration, deceleration and slip rate. The identification is relatively rough, and it is impossible to know the best slip rate of the current road surface.

Method used

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  • ABS real-time road surface recognition method and system
  • ABS real-time road surface recognition method and system

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] The first embodiment of the present invention provides an ABS real-time road surface recognition method, such as figure 1 As shown, it includes the following steps:

[0031] The first step is to collect vehicle motion signals through the vehicle CAN network, including vehicle speed signals, wheel speed signals, brake pressure signals and deceleration signals. Among them, the vehicle speed signal can be obtained or measured by the vehicle speed sensor installed on the vehicle; the wheel speed signal can be measured by the wheel speed sensor installed on the vehicle wheel; the brake pressure signal can be obtained by the pressure sensor connected to the wheel brake cylinder , At the same time, the caliper braking torque can also be obtained; the deceleration signal can be measured by the acceleration sensor installed on the car.

[0032] The second step is to calculate and obtain the wheel slip rate and the actual wheel angular deceleration based on the obtained vehicle ...

Embodiment approach

[0041] As a preferred embodiment, the vehicle single wheel model is:

[0042] I*dw / dt=Fxb*r-Tu

[0043] Among them, I is the moment of inertia of the wheel, dw / dt is the theoretical wheel angular deceleration, Fxb=Fn*φ is the ground braking force, Fn is the single wheel load, φ is the theoretical road adhesion coefficient, r is the rolling radius of the wheel, and Tu is the caliper dynamic moment.

[0044] The fifth step is to compare the theoretical wheel angular deceleration obtained in the previous step with the actual wheel angular deceleration calculated in the second step to obtain the theoretical wheel angular deceleration that is closest to the actual wheel angular deceleration, and use the theoretical wheel angular deceleration The theoretical road surface adhesion coefficient corresponding to the deceleration is used as the currently recognized actual road surface adhesion coefficient for road surface identification.

[0045] In the sixth step, according to the ide...

Embodiment 2

[0047] The second embodiment of the present invention provides an ABS real-time road surface recognition system, which includes:

[0048] A vehicle speed sensor, which is installed on the vehicle to obtain or measure real-time vehicle speed;

[0049] A wheel speed sensor, which is installed on the wheel of the car, is used to measure the wheel angular velocity;

[0050] An acceleration sensor, which is installed on the vehicle, is used to measure the acceleration of the vehicle;

[0051] A pressure sensor, which is connected to the wheel brake cylinder, is used to measure the brake pressure signal, and then obtain the brake torque of the caliper;

[0052] ABS anti-lock braking system, which is used to provide different slip ratios when the car is braking;

[0053] The controller is connected with the vehicle speed sensor, the wheel speed sensor, the acceleration sensor, the pressure sensor and the ABS anti-lock braking system respectively, and is used to identify the current...

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Abstract

The invention provides an ABS real-time road surface recognition method. The method includes the following steps that based on an automobile CAN network, vehicle movement signals are acquired, whereinthe vehicle movement signals comprise the vehicle speed signal, the wheel speed signal, the braking pressure signal and the decelerated speed signal; based on the vehicle movement signals, the wheelslip rate and the actual wheel angle decelerated speed are obtained through calculation; the wheel slip rate obtained through calculation is input into a Burckhardt tire friction model, theoretical road surface adhesion coefficients of different road surfaces are obtained; the theoretical road surface adhesion coefficients are input into a vehicle single-wheel model, corresponding theoretical wheel angle decelerated speeds are obtained; and the theoretical wheel angle decelerated speeds are compared with the actual wheel angle decelerated speed, the theoretical road surface adhesion coefficient corresponding to the theoretical wheel angle decelerated speed with the closest result serves as the currently-recognized actual road surface adhesion coefficient to conduct road surface recognition. By the adoption of the method, the road surface change can be continuously monitored in the braking process, and the best slip rate value of the current road surface is calculated and used for selection of a control parameter of an ABS.

Description

technical field [0001] The invention relates to the technical field of automobile engineering, in particular to an ABS real-time road surface recognition method and system. Background technique [0002] ABS plays an important role in modern automobile safety systems, and the road recognition algorithm in ABS is related to the calibration and selection of ABS control parameters. one of the core. [0003] Existing ABS generally adopts a logic threshold control method, and usually judges the current road surface through changes in acceleration, deceleration and slip rate. The identification is relatively rough, and it is impossible to know the best slip rate of the current road surface. Contents of the invention [0004] The technical problem to be solved by the present invention is to provide an ABS real-time road surface identification method and a corresponding method that can continuously monitor the road surface change during braking, and calculate the best slip ratio v...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/06B60W40/064B60T8/1763
Inventor 陈锋傅直全毛乐勇罗永俊何杨洁
Owner ZHEJIANG VIE SCI & TECH