Journal of Jilin University(Engineering and Technology Edition) ›› 2019, Vol. 49 ›› Issue (6): 1764-1776.doi: 10.13229/j.cnki.jdxbgxb20181106

Previous Articles     Next Articles

Brake force assistant technology for vehicle electronicstability control system

Li-qiang JIN(),Duan-yang TIAN,Hao TIAN,Meng-meng LIU   

  1. College of Automotive Engineering, Jilin University, Changchun 130022, China
  • Received:2018-11-05 Online:2019-11-01 Published:2019-11-08

RICH HTML

 317   

PDF (PC)

17177

Abstract:

Aiming at driver panic or other factors causing the lack of braking force and decreasing the driver's braking operating burden when driving on a long ramp, HBA and HDC control strategy is carried out by Stateflow state machine theory and Matlab/Simulink. The brake pedal displacement and speed are selected as the identification parameters to better identify the driver intention. Meanwhile, the ramp recognition is designed by Newton's second law. Considering the braking problem of high temperature failure, the temperature model is built. Based on the above, MIL and HIL are carried out, the results verify the correctness of the control strategy. In addition, road tests' results show the HBA function can meet the ECE standard and the HDC function can keep vehicle speed near the target speed, proving that the control strategy achieved good control effect.

Key words: vehicle engineering, brake force assist, hydraulic brake assist, hill descent control

CLC Number: 

  • U463.53

Table 1

Brake pedal force and displacementsensor parameters"

名称 型号 参数

制动踏板位

移传感器

 SENST2-631

量程为635 mm，输出为0~5 V，

精度为0.25% FS

制动踏板

力传感器

 PKH2.0 输出为0~1.5 V，K值系数为1 000 N/V，即量程为1 500 N

Fig.1

Test results of emergency braking intentionrecognition parameters"

Fig.2

Filtered acceleration and filtered acceleration measured by sensors"

Fig.3

Flow chart of HBA control theory"

Fig.4

HBA and ABS coordinated control theory"

Fig.5

Flow chart of HDC control theory"

Fig.6

Co-simulating architecture"

Table 2

Vehicle parameters"

参数 数值 参数 数值
前轴到质心距离l f/mm 1 040 x轴转动惯量Ixx /(kg·m2) 288
前、后轴距离l/mm 2 600 y轴转动惯量Iyy /(kg·m2) 2 031.4
质心高度h c/mm 540

z轴动惯量Izz /

(kg·m2)

 2 031.4
左、右车轮距离d/mm 1 481 车轮转动惯量I w/(kg·m2) 0.6
簧载质量M s/kg 1 111 车轮滚动半径R dyn/mm 304

Fig.7

HBA and HDC state transition"

Fig.8

Master cylinder pressure"

Fig.9

Wheel cylinder pressure"

Fig.10

Off-line simulation vehicle velocity curves"

Fig.11

Braking deceleration with and without HBA"

Fig.12

HBA state transition flag"

Fig.13

Vehicle velocity at 20% slope"

Fig.14

Vehicle deceleration with HDC at 20% slope"

Fig.15

HIL test architecture"

Fig.16

HIL vehicle velocity curves"

Fig.17

Vehicle velocity at 20% slope"

Fig.18

Wheel cylinder pressure"

Fig.19

Test vehicle and pavement"

Fig.20

ABS function test curves"

Fig.21

Test results with HBA intervention"

Fig.22

Relationship curve of pedal force andaverage acceleration"

Fig.23

HBA test results curves"

Fig.24

HDC real vehicle test result curve"

1 杨秀芳，张新，常桂秀，等 . 汽车主动安全技术的发展现状及趋势[J]. 重庆理工大学学报：自然科学,2008,22(4):15-17.
1 Yang Xiu-fang , Zhang Xin , Chang Gui-xiu ,et al . Development status and trends of automobile active safety technology[J]. Journal of Chongqing Institute of Technology(Natural Science),2008,22(4):15-17.
2 杜天强，李海斌，王坤 . 汽车制动辅助系统BAS的应用现状[J]. 汽车工程师,2011(4):52-55.
2 Du Tian-qiang , Li Hai-bin , Wang Kun . Application status of break assist system[J]. Auto Engineer,2011(4):52-55.
3 冯小勇 . 液压制动辅助(HBA)工作原理与性能评测[J]. 科技与生活,2012,12:234-236.
3 Feng Xiao-yong . The working principle and performance evaluation of HBA[J]. Technology and Life,2012,12:234-236.
4 徐晓芬 . 车辆电子驻车制动系统辅助坡道起步的研究[D]. 武汉：武汉理工大学汽车工程学院,2011.
4 Xu Xiao-fen . Study on the hill-strat assist of automotive electronic parking brake system[D]. Wuhan：School of Automotive Engineering,Wuhan University of Technology,2011.
5 Feigel H J , Schonlau J . Mechanical brake assist—a potential new standard safety feature[C]∥SAE Paper,1999-01-0480.
6 麻友良,程胭脂,陈希 . 汽车制动辅助系统的作用与特点分析[J]. 大众汽车,2014,20(8):1-4.
6 Ma You-liang , Cheng Yan-zhi , Chen Xi . Analysis of the Functions and Features of Automobile Brake Assist System[J]. Popularauto,2014,20(8):1-4.
7 刘明勋,杨秀建 . 基于AMESim与Simulink联合仿真的车辆液压辅助制动系统研究[J]. 液压与气动,2014(4):45-48.
7 Liu Ming-xun , Yang Xiu-jian . Research on vehicles hydraulic auxiliary braking system based on co-simulation with AMESim and simulink[J]. Chinese Hydraulics Pneumatics,2014(4):45-48.
8 董伟,于秀敏,张友坤 . 汽车下长坡时发动机制动CVT控制策略[J]. 吉林大学学报：工学版,2006,36(5):650-653.
8 Dong Wei , Yu Xiu-min , Zhang You-kun . CVT control strategies for engine brake on long downhill of vehicle[J]. Journal of Jilin University(Engineering and Technology Editon),2006,36(5):650-653.
9 胡东海,何仁,顾晓丹 . 电涡流缓速器结构参数的节能优化设计[J]. 吉林大学学报：工学版,2014,44(5):1253-1257.
9 Hu Hai-dong , He Ren , Gu Xiao-dan . Optimal energy-saving design of structural parameter of eddy current retarder[J]. Journal of Jilin University (Engineering and Technology Edition),2014,44(5):1253-1257.
10 严军 . 车用液力缓速器设计理论和控制方法的研究[D]. 镇江：江苏大学汽车与交通工程学院,2009.
10 Yan Jun . Study on desigh theory and control method of hydraulic retarder in automobile[D]. Zhenjiang:School of Automobile and Traffice Engineering, Jiangsu University, 2009.
11 陈迪峰,冯曙,姜凤春 . 汽车智能化技术分析[J]. 汽车电器,2011(7):5-8.
11 Chen Di-feng , Feng Shu , Jiang Feng-chun . Analysis of automotive intelligence[J]. Auto Electric Parts,2011(7):5-8.
12 Inoue G , Ishida Y . Development of crawl control[C]∥SAE Paper,2008-01-1227.
13 韩云武 . 坡道工况下混合动力汽车安全辅助控制[D]. 北京：清华大学汽车工程学院，2014.
13 Han Yun-wu . Assistant safety control of HEV during downhill driving[D]. Beijing: Department of Automotive Engineering,Tsinghua University, 2014.
14 韩云武，罗禹贡，李克强 . 基于驾驶员意图和行车安全的下坡辅助制动退出方法[J]. 汽车工程， 2015,37(10)：1144-1149.
14 Han Yun-wu , Luo Yu-gong , Li Ke-qiang . A retreat scheme for downhill assist braking based on driver’s intent and driving safety[J]. Automotive Engineering, 2015,37(10)：1144-1149.
15 Kappelmann P . Rechnergestützte auslegung von pkw-bremsanlagen unter berücksichtigung des pedalgefühls[D]. Stuttgart：University of Stuttgart，2005.
16 Adamowicz A , Grzes P . Analysis of disc brake temperature distribution during single braking under non-axisymmetric load[J]. Applied Thermal Engineering,2011,31(6/7):1003-1012.
17 余强 ．汽车下坡持续制动性能研究[D]. 西安：长安大学汽车学院，2000．
17 Yu Qiang . Study on downhill continuous braking performance of automobile[D]. Xi’an: School of Automobile, Chang’an University,2000.
18 于雅静 . 商用车制动防抱死系统气室压力及车轮制动转矩识别研究[D]. 长春：吉林大学汽车工程学院，2017.
18 Yu Ya-jing . Research on the anti-lock braking system chamber pressure and wheel brake torque identification of commercial vehicle[D]. Changchun:College of Automotive Engineering, Jilin University, 2017.
[1] Fang-wu MA,Li-wei NI,Liang WU,Jia-hong NIE,Guang-jian XU. Position and attitude closed loop control of wheel⁃leggedall terrain mobile robot [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 1745-1755.
[2] Xin CHEN,Xin-jian RUAN,Ming LI,Ning WANG,Jia-ning WANG,Kai-xuan PAN. Application of modified discrete scheme based onlarge eddy simulation [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 1756-1763.
[3] Ren HE,Kun TU. Electromagnetic brake with changed⁃temperature air gap width [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 1777-1785.
[4] Jie LI, Wen-cui GUO, Qi ZHAO, Sheng-feng GU. Road roughness identification based on vehicle responses [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 1810-1817.
[5] Xin GUAN,Hao JIN,Chun-guang DUAN,Ping-ping LU. Estimation of lateral slope of vehicle driving road [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 1802-1809.
[6] Yang WANG,Zhan⁃shuai SONG,Kong⁃hui GUO,Ye ZHUANG. Measurement of inertial parameters of rotating inertia rig [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 1795-1801.
[7] Qiao-bin LIU,Wen-ku SHI,Zhi-yong CHEN,Lian-meng LUO,Zhi-yong SU,Kai-jun HUANG. Parameter estimation of mixed reliability model based on kernel density optimal grouping and gravity search algorithm [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 1818-1825.
[8] Wei-min ZHUANG,Yang LIU,Peng-yue WANG,Hong-da SHI,Ji-shuan XU. Simulation on peeling failure of self⁃piercing riveted joints insteel and aluminum alloy dissimilar sheets [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 1826-1835.
[9] Bai-chao CHEN,Meng ZOU,Zhao-long DANG,Han HUANG,Yang JIA,Rui-yang SHI,Jian-qiao LI. Experiment on pressure⁃sinkage for mesh wheels of CE⁃3lunar rover on lunar regolith [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 1836-1843.
[10] Fang-wu MA,Lu HAN,Yang ZHOU,Shi-ying WANG,Yong-feng PU. Multi material optimal design of vehicle product using polylactic acid composites [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1385-1391.
[11] Zhen-hai GAO,Tian-jun SUN,Lei HE. Causal reasoning decision⁃making for vehicle longitudinal automatic driving [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1392-1404.
[12] Bo ZHANG,Jian-wei ZHANG,Kong-hui GUO,Hai-tao DING,Hong-qing CHU. Current control of permanent magnet synchronous motor for road feeling simulation [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1405-1413.
[13] Peng-yu WANG,Shi-jie ZHAO,Tian-fei MA,Xiao-yong XIONG,Xin CHENG. Vehicle multi-sensor target tracking and fusion algorithm based on joint probabilistic data association [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1420-1427.
[14] Xing-jun HU,Zheng HUI,Peng GUO,Yang-hui ZHANG,Jing-long ZHANG,Jing-yu WANG,Fei LIU. Characteristics of aerodynamics for an automobile by fluid-structure coupled method [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1414-1419.
[15] Xiao-jian HAN,Wei-qiang ZHAO,Li-jun CHEN,Hong-yu ZHENG,Yang LIU,Chang-fu ZONG. Local path planning of bus based on RS-RRT algorithm [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1428-1440.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] Zhang Hui-ping, Jiang Zhong-hao, Liu Xian-li, Lian Jian-she, Hou Xu-feng, Li Guang-yu . Electroless plating nanocrystalline Cu film on glass substrate[J]. 吉林大学学报(工学版), 2007, 37(01): 11 -16 .
[2] Liu Jin-shan , Guo Ying-nan , Tan Man-zhi , Huang Wei-jun , Yang Li-ping, Gao Yuan. HCCI operating region of internal combustion engine with ethanol as fuel[J]. 吉林大学学报(工学版), 2006, 36(03): 327 -0330 .
[3] Zhang You-an;Fan Zuo-e;Mi Yu-lin . Route planning and threat avoidance algorithm for antiship missile[J]. 吉林大学学报(工学版), 2008, 38(03): 746 -0752 .
[4] . [J]. 吉林大学学报(工学版), 2007, 37(06): 1364 -1369 .
[5] Ge Feng-hua, Liu Xun-jun, Liu Ye, Wang Yue-zhi . Air pollution and natural ventilation in underground car park[J]. 吉林大学学报(工学版), 2007, 37(03): 696 -0700 .
[6] GUAN Xin，WANG Peng，ZHAN Jun，WU Zhen-xin . Steering force input model for real-time simulation of vehicle dynamics [J]. 吉林大学学报(工学版), 2008, 38(06): 1257 -1261 .
[7] LI Jing-cai，WANG Tai-yong，HE Gai-yun，ZHENG Hui-jiang，FAN Sheng-bo . 3D solid accurate modeling of spiral bevel gear based on manufacture method and meshing theory[J]. 吉林大学学报(工学版), 2008, 38(06): 1315 -1319 .
[8] Zheng Hai-hong,Zeng Ping,Wang Yi-feng . Robust watermarking algorithm based on polarity modulation[J]. 吉林大学学报(工学版), 2007, 37(03): 681 -0685 .
[9] Wang Rong-ben;Li Lin-hui;Guo Lie;Jin Li-sheng;Zhang Ming-heng . Stereo vision based crosscountry environmental perception technique[J]. 吉林大学学报(工学版), 2008, 38(03): 520 -0524 .
[10] Zhang Wen-bin，Zhang Zhong-zhao，Wang Xiao . New timing scheme for increasing TCP throughput in ad hoc network[J]. 吉林大学学报(工学版), 2008, 38(01): 233 -238 .
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd