CN107336700B - A kind of emergency vehicle method and system in slope - Google Patents
A kind of emergency vehicle method and system in slope Download PDFInfo
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- CN107336700B CN107336700B CN201611177039.6A CN201611177039A CN107336700B CN 107336700 B CN107336700 B CN 107336700B CN 201611177039 A CN201611177039 A CN 201611177039A CN 107336700 B CN107336700 B CN 107336700B
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- 238000004891 communication Methods 0.000 claims description 12
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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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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Abstract
The invention discloses a kind of emergency vehicle method and system in slope, this method comprises: whether detection current shift is neutral gear；If it is, whether detection currently steps on brake pedal, if it is not, then according to the level of driving direction marker demarcated in advance in the information of wheel speed sensors transmission, vehicle whether forward car slipping or car slipping backward are judged；When car slipping backward, rear axle brake vi is controlled by electronics hand brake valve and carries out parking braking；When car slipping forward, rear axle brake vi is controlled by electronics hand brake valve and carries out parking braking, and front brake is controlled by temporary parking valve and carries out parking braking, wherein temporary parking valve is connected between gas receiver and preceding anti-blocking brake system solenoid valve.The problem of more suitable parking braking mode is selected according to rolling direction, is unable to satisfy actual demand using the vehicle method in slope that the present invention can solve the prior art due to the present invention.
Description
Technical field
The present invention relates to technical field of electronic control, in particular to a kind of emergency vehicle method and system in slope.
Background technique
As vehicle population is increasing, the active safety of vehicle increasingly obtains the attention of people.In life often
The parking handle after parking is commonly encountered not draw due to lead to vehicle there is a phenomenon where " slipping by slope ", cause life and property loss it is serious after
Fruit.
Whether the emergency vehicle method in slope of the prior art mainly passes through has in seating pressure sensor detection main seat
People, and detect whether current shift is forward gear or retreating gear by shift sensor, if no one in main seat, and would work as front
Position is forward gear or retreating gear, then controls braking system and carry out parking braking.But additional setting seating pressure is needed to pass in this way
Sensor；Also, current shift is that when vehicle is located at ramp car slipping phenomenon still may occur for neutral gear.In addition, when vehicle is located at
When having the road surface in ramp, when headstock is towards direction of fall, then the axle load of vehicle can be shifted forward, i.e., fore bearing is more carried
Lotus, when headstock is towards upward slope direction, then the axle load meeting shifts backward of vehicle, i.e. rear axle can bear more load.Cargo vehicle
Parking system be typically all to act on rear axle, when headstock is towards when direction of fall parking, when occurring slipping by slope phenomenon,
The parking braking of rear axle may have that braking effect is unable to satisfy and require.
Summary of the invention
The present invention provides a kind of emergency vehicle method and system in slope, and the vehicle method in slope for solving the prior art can not
The problem of meeting actual demand.
The present invention provides a kind of emergency vehicle methods in slope, comprising:
Detect whether current shift is neutral gear；
If it is, whether detection currently steps on brake pedal；
If it is not, then the level for the driving direction marker demarcated in advance in the information sent according to wheel speed sensors, sentences
Disconnected vehicle whether forward car slipping or car slipping backward；
When car slipping backward, rear axle brake vi is controlled by electronics hand brake valve and carries out parking braking；
When car slipping forward, rear axle brake vi is controlled by electronics hand brake valve and carries out parking braking, and by temporarily stopping
Vehicle valve controls front brake and carries out parking braking, wherein temporary parking valve is connected to gas receiver and preceding anti-blocking brake system electricity
Between magnet valve.
Preferably, demarcating the driving direction marker demarcated in advance includes:
Wheel speed sensors are provided, wheel speed sensors include: gear ring and Hall sensor, and gear ring includes circle body and is uniformly distributed
Teeth portion on circle body；
After Hall sensor powers on, in ring gear against rotation, output has high level and low level square-wave signal；
Increase the resistance value between hall sensor output and ground connection, so that the difference between high level and low level becomes
Greatly, and Hall sensor is exported in ring gear against rotation with high level, middle level and low level square-wave signal, wherein adjacent
Two high level between there are several middle level；
A middle level position corresponding with vehicle traveling direction is chosen from the position of several middle level is used as traveling side
To marker.
Preferably, the method also includes:
In debug out after level, the shape for adjusting teeth portion makes difference between middle level and high level, low level
Become larger, wherein the shape of teeth portion adjusted are as follows: clockwise surface shape and anticlockwise surface shape not phase
Together.
Preferably, the shape of teeth portion adjusted are as follows:
Clockwise surface shape is concave surface, and anticlockwise surface shape is plane；Or
Clockwise surface shape is concave surface, and anticlockwise surface shape is convex surface；Or
Clockwise surface shape is plane, and anticlockwise surface shape is convex surface；Or
Clockwise surface shape is S-shaped cambered surface, and anticlockwise surface shape is plane.
Preferably, the shape of the teeth portion are as follows: clockwise surface shape is concave surface, anticlockwise surface shape
Shape is plane；
It is described that a middle level position corresponding with vehicle traveling direction is chosen from the position of several middle level as row
Sailing direction signs position includes:
Determine the number of the middle level between two adjacent high level；
Communication protocol is set, the level of level position corresponds to a byte in communication protocol, each byte in each
Indicate the height of the level of the level position, wherein middle level corresponding 1, low level corresponding 0；
Gear ring is rotated, the direction of each byte and ring gear against rotation in the signal of sensor output is compared；
If it is 0 that level position, which corresponds to byte when ring gear against rotation direction is clockwise, in some, and the byte is in tooth
Enclosing when rotation direction is counterclockwise is 1, then the byte can be used as driving direction marker；
One is chosen from the byte that can be used as driving direction marker is used as driving direction marker.
Correspondingly, the present invention also provides a kind of emergency vehicle systems in slope, comprising:
The shift sensor 2 that is connected respectively with electronic control unit 1, wheel speed sensors 3, electronics hand brake valve 4, braking are anti-
Locking system 5, brake pedal sensor 6 and temporary parking valve 51；
Shift sensor 2 is sent to electronic control unit 1 for acquiring current shift information；
Brake pedal sensor 6 is sent to electronic control unit 1 for acquiring whether step on brake pedal；
Wheel speed sensors 3 are used to the information of acquisition being sent to electronic control unit 1, wherein what wheel speed sensors 3 were sent
Information includes at least the level for the driving direction marker demarcated in advance；
Electronic control unit 1 is for judging whether current shift is neutral gear, if it is, judging whether driver steps on braking
Pedal, if it is not, then the level for the driving direction marker demarcated in advance in the information sent according to wheel speed sensors 3, judgement
Forward whether vehicle car slipping or car slipping backward pass through electronics hand brake valve 4 and control rear axle brake vi and carry out when car slipping backward
Parking braking controls rear axle brake vi by electronics hand brake valve 4 and carries out parking braking, and by interim when car slipping forward
Shut-off valve controls front brake and carries out parking braking；
Electronics hand brake valve 4, spring energy-storage gas chamber and the rear axle brake vi being sequentially connected with electronic control unit 1, electronics
When the judgement of control unit 1 needs to carry out parking braking, parking message is issued, after electronics hand brake valve 4 receives parking message, is closed
The gas outlet of electronics hand brake valve 4 is closed, the pressurization of spring energy-storage gas chamber carries out parking braking to control rear axle brake vi；
Anti-blocking brake system 5 includes: gas receiver, preceding braking anti-lock solenoid valve, the preceding system being connected with preceding wheel cylinder
Dynamic device；Temporary parking valve 51 is connected between the gas receiver of anti-blocking brake system 5 and preceding anti-blocking brake system solenoid valve, electricity
When the judgement of sub-control unit 1 needs front brake to carry out parking braking, the pressure of wheel cylinder before control temporary parking valve 51 increases
Power carries out parking braking to control front brake.
Preferably, the wheel speed sensors 3 include:
Gear ring 31, Hall sensor 32, capacitor 33, resistance 34 and adjusting resistance 35, the diameter of the probe of Hall sensor 32
The center of circle of gear ring 31 is passed through to extended line and is generally aligned in the same plane with gear ring 31, the power end and output end of Hall sensor 32
Between an in parallel capacitor 33, the output end of Hall sensor 32 is also grounded respectively and is connected with electronic control unit 1, the string of resistance 34
It is associated between the output end and ground connection of Hall sensor 32；
Resistance 35 is adjusted, is connected between the output end and ground connection of Hall sensor 32, for increasing Hall sensor 32
Resistance value between output end and ground connection, so that the difference between high level and low level becomes larger, and makes Hall sensor 32
When gear ring 31 rotates, output has high level, middle level and low level square-wave signal, and capacitor 33 plays a filtering role, wherein
There are several middle level between two adjacent high level；
Electronic control unit 1 is specifically used for choosing one from the corresponding position of several middle level of received square-wave signal
Middle level position corresponding with vehicle traveling direction is as driving direction marker, then according to the level of driving direction marker
Height determine the driving direction of vehicle.
Preferably, the gear ring 31 includes: circle body and the teeth portion that is evenly distributed on circle body；
The shape of the teeth portion makes the difference between middle level and high level, low level become larger；
The shape of the teeth portion are as follows: clockwise surface shape and anticlockwise surface shape be not identical.
Preferably, the shape of the teeth portion includes:
Clockwise surface shape is concave surface, and anticlockwise surface shape is plane；Or
Clockwise surface shape is concave surface, and anticlockwise surface shape is convex surface；Or
Clockwise surface shape is plane, and anticlockwise surface shape is convex surface；Or
Clockwise surface shape is S-shaped cambered surface, and anticlockwise surface shape is plane.
Preferably, the shape of the teeth portion are as follows: clockwise surface shape is concave surface, anticlockwise surface shape
Shape is plane；
The electronic control unit 1 is specifically used for:
During the setting of communication protocol: determining the number of the middle level between two adjacent high level；It is each
A byte, the height of the level of each byte representation level position is arranged in a middle level position, wherein middle level corresponding 1,
Low level corresponding 0；When gear ring 31 rotates, the side that each byte and gear ring 31 rotate in the signal that Hall sensor 32 exports is compared
To consistency, determine driving direction marker；Wherein, driving direction marker at least meets the following conditions: byte is in gear ring
31 rotation directions are 0 when being clockwise, and are 1 when 31 rotation direction of gear ring is counterclockwise；
In emergency vehicle during in slope: electronic control unit 1 determines the row of vehicle according to the value of driving direction marker
Sail direction, wherein when driving direction marker is 0, vehicle heading is to move forward；When driving direction marker is 1, vehicle
Driving direction is to travel backward.
A kind of emergency vehicle method and system in slope provided by the invention, whether detection current shift is neutral gear；If so,
Then whether detection currently steps on brake pedal；If it is not, then the traveling side demarcated in advance in the information sent according to wheel speed sensors
To the level of marker, vehicle whether forward car slipping or car slipping backward are judged；When car slipping backward, pass through electronics hand brake valve
It controls rear axle brake vi and carries out parking braking；When car slipping forward, rear axle brake vi is controlled by electronics hand brake valve and is stayed
Vehicle braking, and by temporary parking valve control front brake carry out parking braking, wherein temporary parking valve be connected to gas receiver and
Between preceding anti-blocking brake system solenoid valve.Since whether the real time monitoring signals vehicle sent according to wheel speed sensors moves,
Thus than according to whether judging whether the judgement for needing to carry out automatic parking brake more in forward range or reversing gear
Accurately.Further, since the wheel speed sensors can also judge the moving direction of vehicle, so that the present invention can be for forward
It slips by slope or slips by slope the more suitable mode of braking of selection backward and slipped forward only with rear axle brake vi when such as slipping by slope backward
Parking braking is then carried out using parking braking and emergency braking two ways simultaneously when slope, after solving to cause due to axle load Forward
The ineffective problem of bridge brake.
Further, emergency vehicle method and system in slope provided by the invention are judged using gear ring and Hall sensor
Whether vehicle is in the state of forward or backward.Specifically, in traveling direction signs position calibration process: being passed by increasing Hall
Resistance value between sensor output end and ground connection, so that the difference between high level and low level becomes larger, and Hall sensor exists
Output has high level, middle level and low level square-wave signal when ring gear against rotation, wherein deposits between two adjacent high level
In several middle level；A middle level position corresponding with vehicle traveling direction is chosen from the position of several middle level as row
Sail direction signs position.In emergency vehicle during in slope: determining the row of vehicle according to the height of the level of driving direction marker
Sail direction.The prior art generallys use gear ring and Hall sensor acquisition rotary speed information, but can not acquire directional information, this
Invention makes Hall sensor output in ring gear against rotation by adjusting the resistance value between hall sensor output and ground connection
With high level, middle level and low level square-wave signal, and middle level can be used to characterize the driving direction of vehicle.Utilize this
Invention fast automatic can identify the problem of itself being in forward travel state or fallback state.
Further, emergency vehicle method and system in slope provided by the invention, can also be by adjusting the shape of teeth portion
So that the difference between middle level and high level, low level becomes larger.In this way convenient for distinguishing high level and low level difference, especially
When there is also middle level, so that the difference between middle level and high level, low level becomes apparent from, driving direction marker is improved
Level recognition accuracy.
Further, emergency vehicle method and system in slope provided by the invention, additionally provide the shape of specific teeth portion:
Clockwise surface shape is concave surface, and anticlockwise surface shape is plane etc..Such teeth portion shape can be more preferable
Debugging go out in level, in order to which fast automatic identify of level itself is in forward travel state or fallback state in.
Further, emergency vehicle method and system in slope provided by the invention, additionally provide specifically driving direction mark
Know position and choose mode: setting communication protocol, the level of level position corresponds to a byte in communication protocol in each, according to
Whether each byte and ring gear against rotation direction unanimously determine whether each byte can be used as driving direction marker, if it is, therefrom
A byte is chosen as driving direction marker.Driving direction marker simply can be accurately selected in this way, in order to
The subsequent value according to driving direction marker judges that current vehicle is in forward travel state or fallback state.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only one recorded in the present invention
A little embodiments are also possible to obtain other drawings based on these drawings for those of ordinary skill in the art.
Fig. 1 is a kind of flow chart according to emergency vehicle method in slope provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart according to the determination method of driving direction marker provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of the active wheel speed sensor of the prior art；
Fig. 4 is the square wave figure that the active wheel speed sensor of the prior art exports；
Fig. 5 is the square wave figure exported according to Hall sensor provided in an embodiment of the present invention；
Fig. 6 is another flow chart according to the determination method of driving direction marker provided in an embodiment of the present invention；
Fig. 7 is according to the one of the method provided in an embodiment of the present invention for choosing driving direction marker from several middle level
Kind flow chart；
Fig. 8 is a kind of structural schematic diagram according to emergency vehicle system in slope provided in an embodiment of the present invention；
Fig. 9 is a kind of structural schematic diagram according to brake piping provided in an embodiment of the present invention；
Figure 10 is a kind of circuit diagram according to wheel speed sensors provided in an embodiment of the present invention.
Appended drawing reference:
In Fig. 1-Figure 10:
1 electronic control unit 35 adjusts resistance
2 shift sensor, 4 electronics hand brake valve
3 wheel speed sensors, 5 anti-blocking brake system
31 gear ring, 51 temporary parking valve
32 Hall sensor, 6 brake pedal sensor
33 capacitor, 1 ' gear ring
34 resistance, 2 ' Hall sensor
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar parameter or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Technical solution and technical effect in order to better understand the present invention, below with reference to flow diagram to specific
Embodiment is described in detail.As shown in Figure 1, for according to one kind of emergency vehicle method in slope provided in an embodiment of the present invention
Flow chart, this method may comprise steps of:
Step S01, whether detection current shift is neutral gear.
In the present embodiment, current shift information can be obtained by shift sensor, is then sentenced by electronic control unit
Whether disconnected current shift is neutral gear, since the prior art usually forbids neutral position sliding to improve drive safety, if working as front
Position is neutral gear, then shows that the driving intention of current driver's is so that vehicle remains static.
Step S02, if it is, whether detection currently steps on brake pedal.
In the present embodiment, it can detect whether driver tramples brake pedal by brake pedal sensor, if driven
The person of sailing tramples brake pedal, then shows driver in operator seat, without carrying out automatic parking brake, if driver does not trample system
Dynamic pedal then shows that driver it is different may not to show that car slipping occurs for vehicle in operator seat, if vehicle moves at this time
Often, it needs to carry out emergency brake.
It can determine whether current vehicle occurs car slipping exception by step S01 and step S02.
Step S03, if it is not, then the driving direction marker demarcated in advance in the information sent according to wheel speed sensors
Whether forward level judges vehicle car slipping or car slipping backward.
In the present embodiment, vehicle whether forward car slipping or car slipping backward, tool are judged using improved wheel speed sensors
Body, the level for the driving direction marker demarcated in the information sent according to wheel speed sensors in advance, judge vehicle whether to
Preceding car slipping or backward car slipping.The prior art judges that the direction of travel of vehicle usually relies on the modes such as GPS positioning, detection accuracy
It is low, the requirement of walking direction when being unable to satisfy car slipping.The wheel speed sensors of the prior art are commonly used in obtaining the revolving speed of wheel,
Then speed etc. being calculated according to the revolving speed of wheel, in the present embodiment, wheel speed sensors can be not only used for the revolving speed of acquisition vehicle,
It can be also used for the moving direction of acquisition vehicle.In order to select suitable parking braking side according to the vehicle moving direction of acquisition
Formula.
Step S04 controls rear axle brake vi by electronics hand brake valve and carries out parking braking when car slipping backward.
In the present embodiment, since the rear axle brake vi of vehicle is usually all disposed on rear axle, when vehicle car slipping backward,
Axle load is concentrated mainly on rear axle, therefore, can preferably realize parking braking function by rear axle brake vi.
Step S05 controls rear axle brake vi by electronics hand brake valve and carries out parking braking, and lead to when car slipping forward
It crosses anti-blocking brake system solenoid valve control front brake and carries out parking braking.
In the present embodiment, since the rear axle brake vi of vehicle is usually all disposed on rear axle, when vehicle car slipping forward,
Axle load is concentrated mainly on front axle, and at this time if only with rear axle brake vi, parking effect may be bad, particularly with loading
It is bad to may cause braking effect at this time if carrying out parking braking only with rear axle brake vi for lorry.Therefore, using urgent
The brake cooperation rear axle brake vi of braking system being arranged on front axle can preferably guarantee parking braking effect.
Further, the present invention can also judge whether vehicle is in after control front brake carries out parking braking
Stationary state, if it is, control front brake releases braking, next, it is determined that whether vehicle remains static, if not,
It then controls front brake and carries out parking braking.
In addition, can also be alarmed by alarm etc. when slipping by slope abnormal, such as light warning, sound report
Police, audio alert etc..
A kind of emergency vehicle method and system in slope provided by the invention, whether detection current shift is neutral gear；If so,
Then whether detection currently steps on brake pedal, if it is not, then the traveling side demarcated in advance in the information sent according to wheel speed sensors
To the level of marker, vehicle whether forward car slipping or car slipping backward are judged；When car slipping backward, pass through electronics hand brake valve
It controls rear axle brake vi and carries out parking braking；When car slipping forward, rear axle brake vi is controlled by electronics hand brake valve and is stayed
Vehicle braking, and parking braking is carried out by anti-blocking brake system solenoid valve control front brake.Due to according to wheel speed sensors
Whether the real time monitoring signals vehicle of transmission moves, and it is more accurate to judge in this way.Further, since the wheel speed sensors can also be sentenced
The moving direction of disconnected vehicle, so that the present invention can select more suitably braking side for slipping by slope forward or slipping by slope backward
Formula carries out parking braking only with rear axle brake vi when such as slipping by slope backward, then while using rear axle brakes when slipping by slope forward
Device and emergency braking two ways carry out parking braking, to solve to cause rear axle brake vi braking effect bad due to axle load Forward
The problem of.
As shown in Fig. 2, for according to a kind of process of the determination method of driving direction marker provided in an embodiment of the present invention
Figure.In the present embodiment, demarcating the driving direction marker demarcated in advance may comprise steps of:
The calibration of driving direction marker is carried out in advance, and calibration process may include:
Step S21, provides wheel speed sensors, and wheel speed sensors include: gear ring and Hall sensor, gear ring include circle body and
The teeth portion being evenly distributed on circle body.Specifically, the wheel speed sensors of the prior art can be used, it is not limited here.Such as Fig. 3
It is shown, it is a kind of structural schematic diagram of the active wheel speed sensor of the prior art, which passes through Hall
The Hull voltage that effect generates produces two level: high level and low level.It thus can be according to high in the unit time
The number that level or low level are sent calculates wheel speed.Its principle is that gear ring 1 ' ceaselessly rotates, when the teeth portion of gear ring 1 ' is close to suddenly
When your sensor 2 ', Hall sensor 2 ' exports a high level, when tooth socket is close to Hall sensor 2 ', Hall sensor 2 '
Generate a low level.
Step S22, after Hall sensor powers on, in ring gear against rotation, there is high level and low level square wave to believe for output
Number.
In the present embodiment, high level and low level square-wave signal are debugged out first.As shown in figure 4, being the prior art
Active wheel speed sensor output square wave figure, wherein two level of circuit output: high level I1 and low level I2, the wave
Shape figure is square-wave waveform figure.Wherein, capacitor plays the role of filtering, i.e., when level above and below I1 value in a certain range when, it is only defeated
A high level I1 out, when level above and below I2 value in a certain range when, only export a low level I2.For example, high level is
2.2mA, low level are that I2 is 1.1mA, then as the low level for exporting 1.1mA within the scope of level≤1.6mA, level > 1.6mA
Export the high level of 2.2mA.
Step S23 increases the resistance value between hall sensor output and ground connection, so that between high level and low level
Difference become larger, and Hall sensor exported in ring gear against rotation have high level, middle level and low level square-wave signal,
In, there are several middle level between two adjacent high level.
In the present embodiment, by adjusting the resistance value between hall sensor output and ground connection, so that the Hall passes
Sensor can export the middle level that can characterize vehicle moving direction, in order to according to electrical level judging vehicle moving direction in this.Tool
Body, when resistance value is bigger, the level range value of Hall sensor output is bigger, can be convenient for outside acquisition low and high level
An intermediate level is obtained again, for example, by increasing resistance value, so that Hall sensor exports the low level of a 1.2mA, one
The middle level of the high level of a 4.8mA, 2.4mA.Wherein, increase resistance after resistance value size can for 80 Ω, 100 Ω,
120 Ω, 150 Ω etc..As shown in figure 5, for the square wave figure exported according to Hall sensor provided in an embodiment of the present invention.Wherein,
There are 8 middle level between high level: b1, b2, b3, b4, b5, b6, b7, b8.It is present in vehicle traveling direction in this in level
Consistent part.
Step S24 chooses a middle level position corresponding with vehicle traveling direction from the position of several middle level and makees
For driving direction marker.
In the present embodiment, since the direction of travel of the rotation direction of gear ring and vehicle has corresponding relationship, for example, vehicle
Gear ring rotates counterclockwise when moving forward or gear ring rotates clockwise when forward travel, is then turned according to gear ring
The corresponding relationship in dynamic direction and each middle level, when there are one for the rotation direction of the height of the level of level position and gear ring in some
It, then can be according to the rotation direction of the consistent middle electrical level judging gear ring, and then according to the rotation side of gear ring when cause property
To the driving direction for determining vehicle.
It should be noted that after step S21 to step S24 can be primary calibration, subsequent in use, according to this deutero-albumose
Determining result use, all being re-scaled when without using every time.
In emergency vehicle during in slope, the traveling side of vehicle is determined according to the height of the level of driving direction marker
To.Specifically, since the driving direction of the height of the level of driving direction marker and vehicle is there are consistency, it can be with
The driving direction of vehicle is determined according to the height of the level of driving direction marker.For example, working as the level of driving direction marker
When for low level, then it may determine that vehicle is forward travel state, when the level of driving direction marker is high level, then can sentence
Disconnected vehicle is fallback state.Certainly, the driving direction of vehicle needs rotation direction and vehicle traveling side according to actual gear ring
To corresponding relationship be adjusted.
As shown in fig. 6, to be flowed according to the another of the determination method of driving direction marker provided in an embodiment of the present invention
Cheng Tu.
In the present embodiment, the method also includes step S66 adjusts the shape of teeth portion in debugging out after level
So that the difference between middle level and high level, low level becomes larger.
In the present embodiment, can by the Adjusting Shape stepped of teeth portion, the asymmetric shape in both sides and other it is contemplated that
Shape, if the shape of the teeth portion can make the difference between middle level and high level, low level become larger, and in this level and
The steering of gear ring is related.
In a specific embodiment, the shape of teeth portion are as follows: clockwise surface shape and anticlockwise table
Face shape is not identical.When gear ring can be made to rotate towards different directions in this way, Hall sensor exports different square waves, in this way
The rotation direction of gear ring can be determined according to the square wave.
Further, the shape of teeth portion are as follows: clockwise surface shape is concave surface, anticlockwise surface shape
For plane；Or clockwise surface shape is concave surface, anticlockwise surface shape is convex surface；Or it is square clockwise
To surface shape be plane, anticlockwise surface shape be convex surface；Or clockwise surface shape is S-shaped arc
Face, anticlockwise surface shape are plane.Three kinds of high level, middle level and low level level, middle electricity can be formed in this way
The flat rotation direction that can be used to characterize gear ring, high level can be used to characterize the velocity of rotation of gear ring, and a kind of sensor can be with
The acquisition of velocity of rotation and rotation direction is realized simultaneously.
As shown in fig. 7, to choose driving direction marker from several middle level according to provided in an embodiment of the present invention
A kind of flow chart of method.
In the present embodiment, with the shape of the teeth portion are as follows: clockwise surface shape is concave surface, counterclockwise
Surface shape be plane for be illustrated.It is described that one and vehicle traveling direction pair are chosen from the position of several middle level
The middle level position answered includes: as driving direction marker
Step S71 determines the number of the middle level between two adjacent high level.
Step S72 sets communication protocol, and the level of level position corresponds to a byte in communication protocol in each,
The height of the level of each byte representation level position, wherein middle level corresponding 1, low level corresponding 0.
Step S73 rotates gear ring, compares the direction of each byte and ring gear against rotation in the signal of sensor output.
Step S74, if it is 0 that level position, which corresponds to byte when ring gear against rotation direction is clockwise, in some, and
Ring gear against rotation direction is 1 when being counterclockwise, then the byte can be used as driving direction marker.
Step S75 chooses one from the byte that can be used as driving direction marker and is used as driving direction marker.
In a specific embodiment, I0 is middle level, and in communication protocol, level corresponds to a Bit in each
(byte), each Bit can correspond to 0 or 1 binary code by the presence or absence of its level, according to each middle level position
Level height and ring gear against rotation direction consistency, determine a Bit therein for characterizing the directionality of wheel speed sensors.
For example, the 3rd Bit b3 in Fig. 5 is used to characterize the driving direction of vehicle, b3 issues code 0 when advance, and when retrogressing issues generation
Code 1.B3 level is I0 when i.e. vehicle advances, and b3 level is I2 when retrogressing.
Correspondingly, the present invention also provides emergency vehicle systems in slope corresponding with the above method, as shown in figure 8, being root
According to a kind of structural schematic diagram of emergency vehicle system in slope provided in an embodiment of the present invention, comprising:
The shift sensor 2 that is connected respectively with electronic control unit 1, wheel speed sensors 3, electronics hand brake valve 4, braking are anti-
Locking system 5, brake pedal sensor 6 and temporary parking valve 51.
Shift sensor 2 is sent to electronic control unit 1 for acquiring current shift information.
Brake pedal sensor 6 is sent to electronic control unit 1 for acquiring whether step on brake pedal.
Wheel speed sensors 3 are used to the information of acquisition being sent to electronic control unit 1, wherein what wheel speed sensors 3 were sent
Information includes at least the level for the driving direction marker demarcated in advance.
Electronic control unit 1 is for judging whether current shift is neutral gear, if it is, judging whether driver steps on braking
Pedal, if it is not, then the level for the driving direction marker demarcated in advance in the information sent according to wheel speed sensors 3, judgement
Forward whether vehicle car slipping or car slipping backward pass through electronics hand brake valve 4 and control rear axle brake vi and carry out when car slipping backward
Parking braking controls rear axle brake vi by electronics hand brake valve 4 and carries out parking braking, and by interim when car slipping forward
Shut-off valve controls front brake and carries out parking braking.
Electronics hand brake valve 4, spring energy-storage gas chamber and the rear axle brake vi being sequentially connected with electronic control unit 1, electronics
When the judgement of control unit 1 needs to carry out parking braking, parking message is issued, after electronics hand brake valve 4 receives parking message, is closed
The gas outlet of electronics hand brake valve 4 is closed, the pressurization of spring energy-storage gas chamber carries out parking braking to control rear axle brake vi.
Anti-blocking brake system 5 includes: gas receiver, preceding braking anti-lock solenoid valve, the preceding system being connected with preceding wheel cylinder
Dynamic device；Temporary parking valve 51 is connected between the gas receiver of anti-blocking brake system 5 and preceding anti-blocking brake system solenoid valve, electricity
When the judgement of sub-control unit 1 needs front brake to carry out parking braking, the pressure of wheel cylinder before control temporary parking valve 51 increases
Power carries out parking braking to control front brake.As shown in figure 9, for according to one kind of brake piping provided in an embodiment of the present invention
Structural schematic diagram.
Specifically, as shown in Figure 10, for according to a kind of circuit diagram of wheel speed sensors provided in an embodiment of the present invention
Wheel speed sensors 3 may include: gear ring 31, Hall sensor 32, capacitor 33, resistance 34 and adjust resistance 35, Hall sensor
The radial extended line of 32 probe passes through the center of circle of gear ring 31 and is generally aligned in the same plane with gear ring 31, the electricity of Hall sensor 32
An in parallel capacitor 33 between source and output end, the output end of Hall sensor 32 also respectively ground connection and with electronic control unit 1
It is connected, resistance 34 is connected between the output end and ground connection of Hall sensor 32.
Resistance 35 is adjusted, is connected between the output end and ground connection of Hall sensor 32, for increasing Hall sensor 32
Resistance value between output end and ground connection, so that the difference between high level and low level becomes larger, and makes Hall sensor 32
When gear ring 31 rotates, output has high level, middle level and low level square-wave signal, and capacitor 33 plays a filtering role, wherein
There are several middle level between two adjacent high level.
Electronic control unit 1 chooses one and vehicle row from the corresponding position of several middle level of received square-wave signal
Into the corresponding middle level position in direction as driving direction marker, the height then according to the level of driving direction marker is true
Determine the driving direction of vehicle.
Further, in order to enable the difference between high level, middle level and low level becomes apparent from, the gear ring 31
It include: including circle body and the teeth portion being evenly distributed on circle body.The shape of the teeth portion make middle level and high level, low level it
Between difference become larger.
Wherein, the shape of the teeth portion are as follows: clockwise surface shape and anticlockwise surface shape not phase
Together.
Preferably, the shape of the teeth portion are as follows: clockwise surface shape is concave surface, anticlockwise surface shape
Shape is plane；Or clockwise surface shape is concave surface, anticlockwise surface shape is convex surface；Or clockwise
The surface shape in direction is plane, and anticlockwise surface shape is convex surface；Or clockwise surface shape is S-shaped
Cambered surface, anticlockwise surface shape are plane.It should be noted that example provided above, is merely illustrative citing, not
It can be interpreted as limitation of the invention.
In addition, the electronic control unit 1 be also used to by anti-blocking brake system solenoid valve control front brake into
After row parking braking, judge whether vehicle remains static, if it is, control front brake releases braking, then, sentences
Whether disconnected vehicle remains static, if it is not, then control front brake carries out parking braking.
In another embodiment, the electronic control unit 1 is specifically used for:
During the setting of communication protocol: determining the number of the middle level between two adjacent high level；It is each
A byte, the height of the level of each byte representation level position is arranged in a middle level position, wherein middle level corresponding 1,
Low level corresponding 0；When gear ring 31 rotates, the side that each byte and gear ring 31 rotate in the signal that Hall sensor 32 exports is compared
To consistency, determine driving direction marker；Wherein, driving direction marker at least meets the following conditions: byte is in gear ring
31 rotation directions are 0 when being clockwise, and are 1 when 31 rotation direction of gear ring is counterclockwise.
In emergency vehicle during in slope: electronic control unit 1 determines the row of vehicle according to the value of driving direction marker
Sail direction, wherein when driving direction marker is 0, vehicle heading is to move forward；When driving direction marker is 1, vehicle
Driving direction is to travel backward.
Certainly, this system can also include warning device, when electronic control unit 1 judges that car slipping currently occurs, control report
Alert unit is alarmed.
The emergency vehicle system in slope of the bright offer of this hair embodiment, comprising: the gear being connected respectively with electronic control unit 1
Sensor 2, wheel speed sensors 3, electronics hand brake valve 4 and anti-blocking brake system 5, brake pedal sensor 6 and temporarily stop
Vehicle valve 51.It is efficiently solved using the present invention and solves the problems, such as that the vehicle method in slope of the prior art is unable to satisfy actual demand.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other.For system embodiment, since it is substantially similar to the method embodiment, so describing
Fairly simple, the relevent part can refer to the partial explaination of embodiments of method.System embodiment described above is only to show
Meaning property, wherein the unit as illustrated by the separation member may or may not be physically separated.It can root
According to actual need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Ordinary skill
Personnel can understand and implement without creative efforts.
The embodiment of the present invention has been described in detail above, and specific embodiment used herein carries out the present invention
It illustrates, method and system of the invention that the above embodiments are only used to help understand；Meanwhile for the one of this field
As technical staff, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, to sum up institute
It states, the contents of this specification are not to be construed as limiting the invention.
Claims (9)
1. a kind of emergency vehicle method in slope characterized by comprising
Detect whether current shift is neutral gear；
If it is, whether detection currently steps on brake pedal；
If it is not, then the level for the driving direction marker demarcated in advance in the information sent according to wheel speed sensors, judges vehicle
Whether forward car slipping or backward car slipping；
When car slipping backward, rear axle brake vi is controlled by electronics hand brake valve and carries out parking braking；
When car slipping forward, rear axle brake vi is controlled by electronics hand brake valve and carries out parking braking, and passes through temporary parking valve
It controls front brake and carries out parking braking, wherein temporary parking valve is connected to gas receiver and preceding anti-blocking brake system solenoid valve
Between；
Demarcating the driving direction marker demarcated in advance includes:
Wheel speed sensors are provided, wheel speed sensors include: gear ring and Hall sensor, and gear ring includes circle body and is evenly distributed on circle
Teeth portion on body；
After Hall sensor powers on, in ring gear against rotation, output has high level and low level square-wave signal；
Increase the resistance value between hall sensor output and ground connection, so that the difference between high level and low level becomes larger,
And Hall sensor is exported in ring gear against rotation with high level, middle level and low level square-wave signal, wherein adjacent two
There are several middle level between a high level；
A middle level position corresponding with vehicle traveling direction is chosen from the position of several middle level as driving direction mark
Know position.
2. the method according to claim 1, wherein the method also includes:
In debugging out after level, the shape for adjusting teeth portion makes the difference between middle level and high level, low level become larger,
Wherein, the shape of teeth portion adjusted are as follows: clockwise surface shape and anticlockwise surface shape be not identical.
3. according to the method described in claim 2, it is characterized in that, the shape of teeth portion adjusted are as follows:
Clockwise surface shape is concave surface, and anticlockwise surface shape is plane；Or
Clockwise surface shape is concave surface, and anticlockwise surface shape is convex surface；Or
Clockwise surface shape is plane, and anticlockwise surface shape is convex surface；Or
Clockwise surface shape is S-shaped cambered surface, and anticlockwise surface shape is plane.
4. according to the method described in claim 3, it is characterized in that, the shape of the teeth portion are as follows: clockwise surface shape
Shape is concave surface, and anticlockwise surface shape is plane；
It is described that a middle level position corresponding with vehicle traveling direction is chosen from the position of several middle level as traveling side
Include: to marker
Determine the number of the middle level between two adjacent high level；
Communication protocol is set, the level of level position corresponds to a byte in communication protocol, each byte representation in each
The height of the level of the level position, wherein middle level corresponding 1, low level corresponding 0；
Gear ring is rotated, the direction of each byte and ring gear against rotation in the signal of sensor output is compared；
If it is 0 that level position, which corresponds to byte when ring gear against rotation direction is clockwise, in some, and the byte turns in gear ring
Dynamic direction is 1 when being counterclockwise, then the byte can be used as driving direction marker；
One is chosen from the byte that can be used as driving direction marker is used as driving direction marker.
5. a kind of emergency vehicle system in slope characterized by comprising
Shift sensor (2), wheel speed sensors (3), the electronics hand brake valve (4), system being connected respectively with electronic control unit (1)
Dynamic anti-lock braking system (5), brake pedal sensor (6) and temporary parking valve (51)；
Shift sensor (2) is sent to electronic control unit (1) for acquiring current shift information；
Brake pedal sensor (6) is sent to electronic control unit (1) for acquiring whether step on brake pedal；
Wheel speed sensors (3) are used to the information of acquisition being sent to electronic control unit (1), wherein wheel speed sensors (3) are sent
Information include at least the level of driving direction marker demarcated in advance；
Electronic control unit (1) is for judging whether current shift is neutral gear, if it is, judging whether driver steps on braking and step on
Plate, if it is not, then the level for the driving direction marker demarcated in advance in the information sent according to wheel speed sensors (3), judgement
Vehicle whether forward car slipping or car slipping backward, when car slipping backward, by electronics hand brake valve (4) control rear axle brake vi into
Row parking braking controls rear axle brake vi by electronics hand brake valve (4) and carries out parking braking, and pass through when car slipping forward
Temporary parking valve controls front brake and carries out parking braking；
Electronics hand brake valve (4), spring energy-storage gas chamber and the rear axle brake vi being sequentially connected with electronic control unit (1), electronics
When control unit (1) judgement needs to carry out parking braking, parking message is issued, electronics hand brake valve (4) receives parking message
Afterwards, the gas outlet of electronics hand brake valve (4) is closed, the pressurization of spring energy-storage gas chamber carries out parking braking to control rear axle brake vi；
Anti-blocking brake system (5) includes: gas receiver, preceding braking anti-lock solenoid valve, the preceding braking being connected with preceding wheel cylinder
Device；Temporary parking valve (51) is connected between the gas receiver of anti-blocking brake system (5) and preceding braking anti-lock solenoid valve, electronics
When control unit (1) judgement needs front brake to carry out parking braking, wheel cylinder before control temporary parking valve (51) increases
Pressure carries out parking braking to control front brake.
6. system according to claim 5, which is characterized in that the wheel speed sensors (3) include:
Gear ring (31), Hall sensor (32), capacitor (33), resistance (34) and adjusting resistance (35), Hall sensor (32)
The radial extended line of probe passes through the center of circle of gear ring (31) and is generally aligned in the same plane with gear ring (31), Hall sensor (32)
The in parallel capacitor (33) between power end and output end, the output end of Hall sensor (32) also respectively ground connection and with electronics control
Unit (1) processed is connected, and resistance (34) is connected between the output end and ground connection of Hall sensor (32)；
It adjusts resistance (35), is connected between the output end and ground connection of Hall sensor (32), for increasing Hall sensor
(32) resistance value between output end and ground connection, so that the difference between high level and low level becomes larger, and makes hall sensing
Device (32) output when gear ring (31) rotate has high level, middle level and low level square-wave signal, and capacitor (33) plays filtering
Effect, wherein there are several middle level between two adjacent high level；
Electronic control unit (1) is specifically used for from the corresponding position of several middle level of received square-wave signal, choose one with
The corresponding middle level position of vehicle traveling direction is as driving direction marker, then according to the level of driving direction marker
Height determines the driving direction of vehicle.
7. system according to claim 6, which is characterized in that the gear ring (31) includes: circle body and is evenly distributed on circle
Teeth portion on body；
The shape of the teeth portion makes the difference between middle level and high level, low level become larger；
The shape of the teeth portion are as follows: clockwise surface shape and anticlockwise surface shape be not identical.
8. system according to claim 7, which is characterized in that the shape of the teeth portion includes:
Clockwise surface shape is concave surface, and anticlockwise surface shape is plane；Or
Clockwise surface shape is concave surface, and anticlockwise surface shape is convex surface；Or
Clockwise surface shape is plane, and anticlockwise surface shape is convex surface；Or
Clockwise surface shape is S-shaped cambered surface, and anticlockwise surface shape is plane.
9. system according to claim 8, which is characterized in that the shape of the teeth portion are as follows: clockwise surface shape
Shape is concave surface, and anticlockwise surface shape is plane；
The electronic control unit (1) is specifically used for:
During the setting of communication protocol: determining the number of the middle level between two adjacent high level；For in each
A byte, the height of the level of each byte representation level position is arranged in level position, wherein middle level corresponding 1, low electricity
Flat corresponding 0；When gear ring (31) rotate, compare what each byte and gear ring (31) in the signal of Hall sensor (32) output rotated
The consistency in direction determines driving direction marker；Wherein, driving direction marker at least meets the following conditions: byte is in tooth
Enclosing when (31) rotation direction is clockwise is 0, and is 1 when gear ring (31) rotation direction is counterclockwise；
In emergency vehicle during in slope: electronic control unit (1) determines the traveling of vehicle according to the value of driving direction marker
Direction, wherein when driving direction marker is 0, vehicle heading is to move forward；When driving direction marker is 1, vehicle
Driving direction is to travel backward.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611177039.6A CN107336700B (en) | 2016-12-19 | 2016-12-19 | A kind of emergency vehicle method and system in slope |
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| CN201611177039.6A CN107336700B (en) | 2016-12-19 | 2016-12-19 | A kind of emergency vehicle method and system in slope |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20190119812A (en) * | 2018-04-13 | 2019-10-23 | 주식회사 만도 | Vehicle control apparatus and vehicle control method |
| CN109435919B (en) * | 2018-10-25 | 2020-05-15 | 北京汽车研究总院有限公司 | Braking system and vehicle |
| CN112550149B (en) * | 2020-12-18 | 2023-09-15 | 武汉格罗夫氢能汽车有限公司 | Intelligent reminding system and method for controlling longitudinal running direction of hydrogen energy automobile |
| CN115703466A (en) * | 2021-08-09 | 2023-02-17 | 长城汽车股份有限公司 | Four-wheel drive slope-parking control method, device and system and vehicle |
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