Vehicle anti-skid executing mechanism, control system and control method

Abstract

The invention discloses a vehicle anti-skid executing mechanism, a control system and a control method.The vehicle anti-skid executing mechanism comprises a working swing arm support, a driving mechanism, a control system and a control method, and the working swing arm support is arranged below a vehicle and provided with a connecting hole; the working swing arm is rotatably connected with the working swing arm bracket through the connecting hole; the motor is connected with the working swing arm through a transmission mechanism; the brake shoe is arranged at the end part of the working swing arm; when the vehicle is in a sliding state, the driving motor works, the motor drives the working swing arm to rotate relative to the working swing arm support through the transmission mechanism, the brake shoe makes contact with the ground, friction force is provided for the vehicle, and the vehicle is assisted to decelerate; the wheel rotating speed and the vehicle speed can be monitored in real time, if the phenomenon that the vehicle is still not stopped when the wheels are locked for a long time occurs, the control unit in the system automatically judges that the vehicle slips and controls the anti-skid executing mechanism to work, the braking distance of the vehicle on the frozen road surface can be effectively shortened, and the accident occurrence probability is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of wheel control, and in particular to a vehicle anti-skid actuator, a control system and a control method. Background Art

[0002] During driving, snow and ice on the road will cause the adhesion of the vehicle tires to drop sharply, greatly increase the braking distance, and easily cause a series of traffic accidents. Although measures such as replacing winter tires or adding anti-skid chains can reduce the risk of vehicle skidding, car owners may not be able to respond in time when encountering sudden extreme weather. The above problems need to be solved urgently. Summary of the invention

[0003] The object of the present invention is to provide a vehicle anti-skid actuator, a control system and a control method to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: a vehicle anti-skid actuator, comprising:

[0005] A working swing arm bracket, the working swing arm bracket is arranged under the vehicle, and the working swing arm bracket is provided with a connecting hole;

[0006] A working swing arm, wherein the working swing arm is rotatably connected to the working swing arm bracket through the connecting hole;

[0007] A motor, wherein the motor is connected to the working swing arm through a transmission mechanism;

[0008] A brake shoe, wherein the brake shoe is arranged at the end of the working swing arm;

[0009] When the vehicle is in a slipping state, the drive motor works, and the motor drives the working swing arm to rotate relative to the working swing arm bracket through the transmission mechanism, so that the brake shoe contacts the ground, provides friction for the vehicle, and assists in decelerating the vehicle.

[0010] Furthermore, it also includes:

[0011] A motor bracket, the motor bracket is connected to the motor and the bottom of the vehicle respectively;

[0012] A worm connected to the motor;

[0013] A transmission turbine, the transmission turbine being connected to the worm gear;

[0014] A working swing arm is connected to the transmission turbine. When the transmission turbine is driven by the worm, the working swing arm is driven to rotate, so that the brake shoe contacts the ground.

[0015] Furthermore, it also includes a shock-absorbing spring. The brake shoe is connected to the working swing arm through a sliding column structure, and a shock-absorbing spring is arranged between the brake shoe and the working swing arm.

[0016] Furthermore, the vehicle is provided with a plurality of the vehicle anti-skid actuators, and each of the vehicle anti-skid actuators is respectively arranged at a position corresponding to the distance from each wheel and is symmetrically arranged relative to the vehicle axis.

[0017] In another aspect, a vehicle anti-skid control system is provided, comprising:

[0018] A detection module, the detection module is used to detect wheel speed information;

[0019] A first judgment module, judging whether the vehicle is in a slip state;

[0020] The control module receives wheel speed information and generates a control command if it determines that the vehicle is in a slipping state. The control command is sent to the motor, and the motor drives the vehicle anti-skid actuator according to the control command to generate corresponding friction with the ground, thereby assisting the vehicle in decelerating through the vehicle anti-skid actuator.

[0021] Furthermore, it also includes:

[0022] The second judgment module obtains the friction information between different wheels and the ground according to the wheel speed information of different wheels, and obtains the friction difference information between different tires according to the friction information;

[0023] The control module generates a control command according to the slip state information generated by the first judgment module and the friction difference information between the tires of each wheel. The control command drives the vehicle anti-skid actuators corresponding to different tires to generate corresponding friction with the ground, and performs friction compensation on the corresponding tires. After compensation, the friction between the tires tends to be the same, so that the vehicle decelerates with the same friction at each tire.

[0024] In another aspect, a vehicle anti-skid control method is provided, comprising:

[0025] Get wheel speed information;

[0026] Determine whether the vehicle is in a sliding state;

[0027] If it is determined that the vehicle is in a sliding state, the vehicle anti-skid actuator is driven to generate corresponding friction force with the ground, and the vehicle anti-skid actuator is used to assist in decelerating the vehicle.

[0028] Furthermore, obtaining wheel speed information also includes:

[0029] Get the wheel speed information of each wheel;

[0030] When the vehicle is in a sliding state, the wheel speed information of each wheel is obtained according to the wheel speed information of each wheel to determine the wheel speed difference information between each tire;

[0031] Determine the friction difference information between the tires according to the wheel speed difference information between the tires;

[0032] According to the friction difference information between the tires, the corresponding friction is generated by the vehicle anti-skid actuators arranged at the corresponding tires and the ground, and the friction of the corresponding tires is compensated;

[0033] By compensating for friction, the friction between the tires tends to be the same, and the vehicle decelerates with the same friction at each tire.

[0034] In another aspect, an electronic device is provided, the electronic device comprising:

[0035] one or more processors;

[0036] a storage device for storing one or more programs,

[0037] When the one or more programs are executed by the one or more processors, the one or more processors implement a vehicle anti-skid control method as described above.

[0038] On the other hand, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that when the program is executed by a processor, a vehicle anti-skid control method as described above is implemented.

[0039] Compared with the prior art, the beneficial effects of the present invention are: an automobile anti-skid system and control method of the present invention, the system can monitor the wheel rotation speed and vehicle speed in real time, if the wheel is locked for a long time and the vehicle has not stopped, the control unit in the system automatically determines that the vehicle is skidding, controls the anti-skid execution structure to work, can effectively shorten the braking distance of the vehicle on icy roads, and reduce the probability of accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the working state position of the vehicle anti-skid actuator in an embodiment of the present invention;

[0041] Figure 2 It is a schematic diagram of the position of the vehicle anti-skid actuator in the embodiment of the present invention when it stops working and is recovered;

[0042] Figure 3 It is a side view of the working state of the vehicle anti-skid actuator in the embodiment of the present invention;

[0043] Figure 4 It is a side view of the vehicle anti-skid actuator in the embodiment of the present invention in the stopped working recovery state;

[0044] Figure 5 A schematic diagram of a vehicle anti-skid control system in an embodiment of the present invention;

[0045] Figure 6 This is a flow chart of a vehicle anti-skid control method in an embodiment of the present invention;

[0046] Figure 7 This is a flow chart of a vehicle anti-skid control method in an embodiment of the present invention;

[0047] Figure 8 A schematic diagram of the connection structure of an electronic device and a computer-readable storage medium in an embodiment of the present invention;

[0048] In the figure: 1. transmission turbine; 2. working swing arm bracket; 3. working swing arm; 4. shock-absorbing spring; 5. brake shoe; 6. motor; 7. worm; 8. motor bracket; 10. memory; 11. processor; 12. communication bus; 13. communication interface; 14. computer program; 15. storage medium; 21. detection module; 22. first judgment module; 23. control module; 24. second judgment module. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] Please refer to the attached drawings of the specification, the present invention provides a technical solution: a vehicle anti-skid actuator, comprising:

[0053] A working swing arm bracket 2, wherein the working swing arm bracket 2 is arranged below the vehicle and is provided with a connecting hole;

[0054] A working swing arm 3, wherein the working swing arm 3 is rotatably connected to the working swing arm bracket 2 through the connecting hole;

[0055] A motor 6, wherein the motor 6 is connected to the working swing arm 3 through a transmission mechanism;

[0056] A brake shoe 5, wherein the brake shoe 5 is arranged at the end of the working swing arm 3;

[0057] When the vehicle is in a slipping state, the drive motor 6 works, and the motor 6 drives the working swing arm 3 to rotate relative to the working swing arm bracket 2 through the transmission mechanism, so that the brake shoe 5 contacts the ground, provides friction for the vehicle, and assists the vehicle in decelerating.

[0058] In the above embodiment, if Figure 1 , 2 As shown in FIG. 4 , the anti-skid actuator is installed on the rear sub-frame of the vehicle through a working swing arm bracket. When the brake shoe 5 contacts an uneven ground, the stability of the vehicle can be increased. When the anti-skid actuator is not working, the motor reverses to retract the working swing arm, and the vehicle can continue to travel normally.

[0059] Optionally, it also includes:

[0060] A motor bracket 8, wherein the motor bracket 8 is connected to the motor 6 and the bottom of the vehicle respectively;

[0061] The transmission mechanism includes:

[0062] A worm 7 connected to the motor 6;

[0063] A transmission turbine 1, wherein the transmission turbine 1 is drivingly connected to a worm 7;

[0064] The working swing arm 3 is connected to the transmission turbine 1. When the transmission turbine 1 is driven by the worm 7, the working swing arm 3 is driven to rotate, so that the brake shoe 5 contacts the ground.

[0065] In the above embodiment, the worm 7 rotates with the motor 6, driving the transmission turbine 1 and the working swing arm 3, so that the brake shoe 5 located at the end of the working swing arm 3 contacts the ground, providing friction, which can help the vehicle slow down to a stop.

[0066] Alternatively, if Figure 1 and 3 As shown, it also includes:

[0067] The damping spring 4 is connected to the working swing arm 3 through a sliding column structure, and a damping spring 4 is arranged between the brake shoe 5 and the working swing arm 3.

[0068] In the above embodiment, the brake shoe 5 is connected to the working swing arm 3 by a sliding column structure and has a shock-absorbing spring 4 structure. When the motor drives the brake shoe 5 to abut against the ground, it continues to provide driving force to retract the sliding column in the brake shoe 5 into the working swing arm. At the same time, the shock-absorbing spring 4 between the brake shoe 5 and the working swing arm 3 is compressed to generate potential energy. The spring potential energy drives the brake shoe 5 to press the ground, thereby generating friction between the vehicle's anti-skid actuator and the ground.

[0069] Optionally, it also includes:

[0070] The vehicle is provided with a plurality of the vehicle anti-skid actuators, each of which is arranged at a position corresponding to the distance from each wheel and is symmetrically arranged relative to the vehicle axis.

[0071] In the above embodiment, preferably, a vehicle anti-skid actuator is provided at each wheel, and the vehicle anti-skid actuator at each wheel can be driven by a motor to generate corresponding friction force, thereby effectively maintaining the force balance of the four wheels of the vehicle in a slipping state and preventing the vehicle from skidding due to uneven force on the four wheels.

[0072] On the other hand, Figure 5 As shown, a vehicle anti-skid control system is provided, comprising:

[0073] A detection module 21, the detection module is used to detect wheel speed information;

[0074] A first judging module 22, judging whether the vehicle is in a slipping state;

[0075] The control module 23 receives wheel speed information and generates a control command if the vehicle is in a slipping state. The control command is sent to the motor, and the motor drives the vehicle anti-skid actuator to generate corresponding friction with the ground according to the control command, thereby assisting the vehicle in decelerating through the vehicle anti-skid actuator.

[0076] In the above embodiment, the detection module is preferably a camera and a wheel speed sensor located at the front of the vehicle. The camera at the front of the vehicle monitors the actual speed of the vehicle body relative to the ground in real time, and the wheel speed sensor monitors the real-time rotation speed of the wheel. The control module receives the vehicle speed information and the wheel speed information at the same time. In the present invention, the slip state is preferably judged as follows: when the wheel speed is zero, the vehicle speed has not returned to zero in time, that is, during driving, the vehicle encounters a low-adhesion road surface, the driver steps on the brake, and the wheel continues to slide for a period of time after being locked. The system determines that the vehicle is in a slip state and controls the anti-skid actuator to switch to the anti-skid mode. After the anti-skid mode is activated, the control module controls the anti-skid actuator to act to provide the vehicle with corresponding friction against the ground. On the other hand, the vehicle anti-skid mode can also be determined by chassis control, the frequency of chassis intervention control, such as ABS, TCS and ESP. If chassis control occurs frequently, it means that the vehicle is driving on a slippery road surface. The more the frequency of the chassis control system's intervention control of the chassis, the more slippery the road surface reflecting the driving road condition. Therefore, the corresponding slip state can be determined according to the frequency of the chassis control system's intervention control of the chassis, and the anti-skid mode is activated accordingly.

[0077] Alternatively, if Figure 5 As shown, it also includes:

[0078] The second judgment module 24 obtains the friction information between different wheels and the ground according to the wheel speed information of different wheels, and obtains the friction difference information between different tires according to the friction information;

[0079] The control module 23 generates a control command based on the slip state information generated by the first judgment module and the friction difference information between the tires of each wheel. The control command drives the vehicle anti-skid actuators corresponding to different tires to generate corresponding friction with the ground, and performs friction compensation on the corresponding tires. After compensation, the friction between the tires tends to be the same, so that the vehicle decelerates with the same friction at each tire.

[0080] In the above embodiment, the difference in wheel speed of each tire is caused by the different ground friction. The friction between the corresponding tire of the wheel with a faster relative rotation speed and the ground is smaller than that of the wheel with a slower rotation speed. The ground it contacts is correspondingly more slippery than that of the wheel with a slower rotation speed. Therefore, by calculating the speed difference of each tire, the motor of the corresponding vehicle anti-skid actuator is driven by the control module to control the rotational displacement of the working swing arm, so as to compensate for the corresponding friction at the corresponding tire and make the friction at each tire approach to the same.

[0081] On the other hand, Figure 6 As shown, a vehicle anti-skid control method is provided, comprising the following steps:

[0082] S102, obtaining wheel speed information;

[0083] Among them, by detecting the real-time rotation speed of the wheel, the vehicle speed information and the wheel speed information are received;

[0084] S104, determining whether the vehicle is in a coasting state;

[0085] Among them, when the wheel speed is zero, the vehicle speed has not returned to zero in time, that is, during driving, the vehicle encounters a low-adhesion road surface, the driver steps on the brakes, and the wheels continue to slide for a period of time after being locked, the system determines that the vehicle is in a sliding state;

[0086] S106: If it is determined that the vehicle is in a sliding state, the vehicle anti-skid actuator is driven to generate corresponding friction force with the ground, and the vehicle anti-skid actuator is used to assist the vehicle in decelerating.

[0087] After the slip state is determined, the anti-skid actuator is controlled to provide the vehicle with corresponding friction force against the ground.

[0088] Furthermore, if Figure 7 As shown, obtaining wheel speed information also includes the following steps:

[0089] S202, obtaining wheel speed information of each wheel;

[0090] S204, when the vehicle is in a sliding state, obtaining the wheel speed information of each wheel according to the wheel speed information of each wheel to determine the wheel speed difference information between each tire;

[0091] S206, determining friction force difference information between the tires according to wheel speed difference information between the tires;

[0092] Among them, according to the wheel speed information of different wheels, the friction information between different wheels and the ground is obtained, and according to the friction information, the friction difference information between different tires is obtained; the difference in wheel speed of each tire is caused by the different ground friction. The tire friction of the wheel with a fast relative rotation speed is less than that of the wheel tire with a slow rotation speed, and the ground it contacts is correspondingly more slippery than that of the wheel tire with a slow rotation speed, thus generating the speed difference between each wheel.

[0093] S208, according to the friction difference information between the tires, a corresponding friction is generated between the vehicle anti-skid actuators arranged at the corresponding tires and the ground, and friction compensation is performed on the corresponding tires;

[0094] S210: By means of friction compensation, the friction between the tires tends to be the same, and the vehicle decelerates with the same friction at each tire.

[0095] By calculating the speed difference of each tire, the control module drives the motor of the corresponding vehicle anti-skid actuator, controls the rotation displacement of the working swing arm, compensates the corresponding friction force at the corresponding tire, and makes the friction force at each tire approach to the same.

[0096] On the other hand, Figure 8 As shown, an electronic device is provided, the electronic device comprising:

[0097] One or more processors 11;

[0098] a storage device for storing one or more programs,

[0099] When the one or more programs are executed by the one or more processors 11, the one or more processors 11 implement any of the above-mentioned vehicle anti-skid control methods.

[0100] Specifically, the storage device is a memory 10, a processor (CPU) 11 and a computer program 14, the computer program 14 is stored in the memory 10, and the processor 11 executes the computer program 14 to implement any one of the above-mentioned vehicle anti-skid control methods. The control system also includes: a communication interface 13 and a communication bus 12, the processor 11, the communication interface 13, and the memory 10 communicate through the communication bus 12, wherein the communication bus 12 is an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc., and if the memory 10, the processor 11 and the communication interface 13 are integrated on a chip, the memory 10, the processor 11 and the communication interface 13 can communicate with each other through an internal interface.

[0101] The processor 11 may also be a specific integrated circuit or multiple integrated circuits.

[0102] On the other hand, Figure 8 As shown, a computer-readable storage medium 15 is provided, on which a computer program 14 is stored. When the program is executed by a processor 11, a vehicle anti-skid control method as described above is implemented.

[0103] Specifically, the computer program 14 may include a program code, which includes a computer operation instruction; a memory 10, which is used to store the computer program 14. The memory 10 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory; a communication interface 13, which is used to communicate with other devices such as a client or other servers.

[0104] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vehicle anti-skid actuator, characterized in that: include: A working swing arm bracket, the working swing arm bracket is arranged under the vehicle, and the working swing arm bracket is provided with a connecting hole; A working swing arm, wherein the working swing arm is rotatably connected to the working swing arm bracket through the connecting hole; A motor, wherein the motor is connected to the working swing arm through a transmission mechanism; A brake shoe, wherein the brake shoe is arranged at the end of the working swing arm; When the vehicle is in a slipping state, the drive motor works, and the motor drives the working swing arm to rotate relative to the working swing arm bracket through the transmission mechanism, so that the brake shoe contacts the ground, provides friction for the vehicle, and assists in decelerating the vehicle.

2. A vehicle anti-skid actuator according to claim 1, characterized in that: Also includes: A motor bracket, the motor bracket being connected to the motor and the bottom of the vehicle respectively; A worm connected to the motor; A transmission turbine, the transmission turbine being connected to the worm gear; A working swing arm is connected to the transmission turbine. When the transmission turbine is driven by the worm, the working swing arm is driven to rotate, so that the brake shoe contacts the ground.

3. The vehicle anti-skid actuator according to claim 1, characterized in that: Also includes: Shock-absorbing spring, the brake shoe is connected to the working swing arm through a sliding column structure, and a shock-absorbing spring is arranged between the brake shoe and the working swing arm.

4. The vehicle anti-skid actuator according to claim 1, characterized in that: include: The vehicle is provided with a plurality of the vehicle anti-skid actuators, each of which is arranged at a position corresponding to the distance from each wheel and is symmetrically arranged relative to the vehicle axis.

5. A vehicle anti-skid control system, characterized in that: include: A detection module, the detection module is used to detect wheel speed information; A first judgment module, judging whether the vehicle is in a slip state; The control module receives wheel speed information and generates a control command if it determines that the vehicle is in a slipping state. The control command is sent to the motor, and the motor drives the vehicle anti-skid actuator according to the control command to generate corresponding friction with the ground, thereby assisting the vehicle in decelerating through the vehicle anti-skid actuator.

6. A vehicle anti-skid control system according to claim 5, characterized in that: include: The second judgment module obtains the friction information between different wheels and the ground according to the wheel speed information of different wheels, and obtains the friction difference information between different tires according to the friction information; The control module generates a control command according to the slip state information generated by the first judgment module and the friction difference information between the tires of each wheel. The control command drives the vehicle anti-skid actuators corresponding to different tires to generate corresponding friction with the ground, and performs friction compensation on the corresponding tires. After compensation, the friction between the tires tends to be the same, so that the vehicle decelerates with the same friction at each tire.

7. A vehicle anti-skid control method, characterized in that: include: Get wheel speed information; Determine whether the vehicle is in a sliding state; If it is determined that the vehicle is in a sliding state, the vehicle anti-skid actuator is driven to generate corresponding friction force with the ground, and the vehicle anti-skid actuator is used to assist in decelerating the vehicle.

8. A vehicle anti-skid control method according to claim 7, characterized in that: Obtaining wheel speed information also includes: Get the wheel speed information of each wheel; When the vehicle is in a sliding state, the wheel speed information of each wheel is obtained according to the wheel speed information of each wheel to determine the wheel speed difference information between each tire; Determine the friction difference information between the tires according to the wheel speed difference information between the tires; According to the friction difference information between the tires, the corresponding friction is generated by the vehicle anti-skid actuators arranged at the corresponding tires and the ground, and the friction of the corresponding tires is compensated; By compensating for friction, the friction between the tires tends to be the same, and the vehicle decelerates with the same friction at each tire.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement a vehicle anti-skid control method as described in any one of claims 7 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a vehicle anti-skid control method as claimed in any one of claims 7 to 8 is implemented.

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