CN109808661A - Vehicle braking method, motor vehicle braking system and logistics distribution transport vehicle - Google Patents
Vehicle braking method, motor vehicle braking system and logistics distribution transport vehicle Download PDFInfo
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- CN109808661A CN109808661A CN201910070209.8A CN201910070209A CN109808661A CN 109808661 A CN109808661 A CN 109808661A CN 201910070209 A CN201910070209 A CN 201910070209A CN 109808661 A CN109808661 A CN 109808661A
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Abstract
The invention discloses a kind of vehicle braking method, motor vehicle braking system and logistics distribution transport vehicles, are related to logistics transportation, and movement speed v, vehicle wheel rotational speed w including obtaining vehicle calculate the actual slip rate δ of vehicle by Predistribution Algorithm；Compare actual slip rate δ and standard slip rate range (a, b), if actual slip rate δ is less than the lower threshold value a of standard slip rate, weakens braking ability；If actual slip rate δ is greater than the lower threshold value a of standard slip rate and is less than the upper threshold value b of standard slip rate, increase vehicle down force；If actual slip rate δ is greater than the upper threshold value b of standard slip rate, enhance braking ability.Reply is made for the actual slip rate size of vehicle respectively, actual slip rate is adjusted, and further increase friction to standard slip rate range, realizes more preferably braking effect.
Description
Technical field
The present invention relates to vehicle braking fields, more specifically, it relates to a kind of vehicle braking method, motor vehicle braking system
And logistics distribution transport vehicle.
Background technique
Using the business of truck hauling cargo, abbreviation forwarding motor is the chief component of highway transportation.Forwarding motor
Have the characteristics that wide, point is more, dispersion, the through cargo transport of " door-to-door ", can save transfer typically between two places
Terminal charges reduces loading cost and leakage loss, shortens cargo in the way time.Forwarding motor is also railway transportation, waterway transportation, air transportation
Etc. collecting and distributing cargo.
Forwarding motor is longer compared to the usual braking distance of small vehicle due to vehicle load is big, inertia is larger,
It brakes more difficult.
Summary of the invention
In view of the deficiencies of the prior art, the present invention intends to provide a kind of vehicle braking method, vehicle braking
System and logistics distribution transport vehicle have the advantages that improve braking effect.
To achieve the above object, the present invention provides the following technical scheme that
A kind of vehicle braking method, including
Movement speed v, the vehicle wheel rotational speed w for obtaining vehicle calculate the actual slip rate δ of vehicle by Predistribution Algorithm；
Compare actual slip rate δ and standard slip rate range (a, b), if actual slip rate δ is less than the lower threshold value of standard slip rate
A weakens braking ability；
If actual slip rate δ be greater than standard slip rate lower threshold value a and be less than standard slip rate upper threshold value b, increase vehicle to
Lower active force；
If actual slip rate δ is greater than the upper threshold value b of standard slip rate, enhance braking ability.
By adopting the above technical scheme, it is primarily based on vehicle movement speed v and vehicle wheel rotational speed w calculates the actual slip of vehicle
Actual slip rate is compared by rate with standard slip rate range later, so that the practical braking conditions for vehicle are answered in time
It is right, when actual slip rate δ is less than the lower threshold value a of standard slip rate, weaken braking ability, so that actual slip rate be promoted to increase
In to standard slip rate range (a, b), enhance braking effect；If actual slip rate δ is fallen in standard slip rate range (a, b),
Vehicle braking effect is preferable at this time, simultaneously, increases vehicle down force, continues to increase friction, enhances braking effect；?
When actual slip rate δ is greater than the upper threshold value b of standard slip rate, enhance braking ability, promotes actual slip rate to be decreased to standard sliding
In shifting rate range (a, b), enhance braking effect.Reply is made for the actual slip rate size of vehicle respectively, by actual slip
Rate is adjusted to standard slip rate range, and further increases friction, realizes more preferably braking effect.
Further, increase vehicle down force include apply upward directed force F to mass with obtain to vehicle to
Lower reaction force-F.
By adopting the above technical scheme, down force-F is obtained by applying upward directed force F to mass, it is this
Mode can be realized according to needs in each position of vehicle, and the time is controllable, in addition for the size of directed force F, may be used also
Enhance reaction force by the difference or acceleration difference of counterweight amount of substance, implementation is varied, meets each of vehicle
Kind braking requirement.
Further, for mass after by upward directed force F, moment accelerates to v0, and upward with initial velocity v0, is made in perpendicular
Histogram is to only by the uniformly retarded motion of gravity.
Further, mass is only limited in vertical direction movement.
By adopting the above technical scheme, mass is limited in vertical direction movement, and upper and lower friction is smaller, does not influence
Vehicle down force, while mass is limited in vertical direction movement, then only has down force to vehicle when falling,
The active force that will not occur horizontal direction suddenly influences vehicle driving.
It further, further include actual slip rate situation for each wheel of vehicle, according to presetting rule to each wheel
Distribute the down force at the brake force and the corresponding each wheel of increase of different proportion.
By adopting the above technical scheme, the slip rate of wheel, reasonable distribution brake force, while corresponding increase vehicle are calculated separately
Down force enhances braking effect.
Second aspect, provides a kind of motor vehicle braking system, including processor and memory, and the memory is stored with instruction
Collection is for the memory calls to implement function such as:
Movement speed v, the vehicle wheel rotational speed w for obtaining vehicle calculate the actual slip rate δ of vehicle by Predistribution Algorithm；
Compare actual slip rate δ and standard slip rate range (a, b), if actual slip rate δ is less than the lower threshold value of standard slip rate
A, output weaken the control command of braking ability；
If actual slip rate δ is greater than the lower threshold value a of standard slip rate and is less than the upper threshold value b of standard slip rate, output increases vehicle
The control command of down force；
If actual slip rate δ is greater than the upper threshold value b of standard slip rate, the control command of output enhancing braking ability.
By adopting the above technical scheme, it is primarily based on vehicle movement speed v and vehicle wheel rotational speed w calculates the actual slip of vehicle
Actual slip rate is compared by rate with standard slip rate range later, so that the practical braking conditions for vehicle are answered in time
It is right, when actual slip rate δ is less than the lower threshold value a of standard slip rate, weaken braking ability, so that actual slip rate be promoted to increase
In to standard slip rate range (a, b), enhance braking effect；If actual slip rate δ is fallen in standard slip rate range (a, b),
Vehicle braking effect is preferable at this time, simultaneously, increases vehicle down force, continues to increase friction, enhances braking effect；?
When actual slip rate δ is greater than the upper threshold value b of standard slip rate, enhance braking ability, promotes actual slip rate to be decreased to standard sliding
In shifting rate range (a, b), enhance braking effect.Reply is made for the actual slip rate size of vehicle respectively, by actual slip
Rate is adjusted to standard slip rate range, and further increases friction, realizes more preferably braking effect.
Further, the processor, which also passes through, calls described instruction collection to implement function such as:
Increasing vehicle down force includes applying upward directed force F to mass to obtain the downward reaction force-to vehicle
F。
By adopting the above technical scheme, down force-F is obtained by applying upward directed force F to mass, it is this
Mode can be realized according to needs in each position of vehicle, and the time is controllable, in addition for the size of directed force F, may be used also
Enhance reaction force by the difference or acceleration difference of counterweight amount of substance, implementation is varied, meets each of vehicle
Kind braking requirement.
Further, the processor, which also passes through, calls described instruction collection to implement function such as:
For mass after by upward directed force F, moment accelerates to v0, and upward with initial velocity v0, be made in vertical direction only by
The uniformly retarded motion of gravity；Mass is only limited in vertical direction movement.
By adopting the above technical scheme, mass is limited in vertical direction movement, and upper and lower friction is smaller, does not influence
Vehicle down force, while mass is limited in vertical direction movement, then only has down force to vehicle when falling,
The active force that will not occur horizontal direction suddenly influences vehicle driving.
Further, the processor, which also passes through, calls described instruction collection to implement function such as: for each wheel of vehicle
Actual slip rate situation, it is each to the brake force of each wheel distribution different proportion and corresponding increase according to presetting rule
Down force at wheel.
By adopting the above technical scheme, the slip rate of wheel, reasonable distribution brake force, while corresponding increase vehicle are calculated separately
Down force enhances braking effect.
The third aspect provides a kind of logistics distribution transport vehicle, including motor vehicle braking system as described above.
By adopting the above technical scheme, good braking effect improves Transport Safety.
In conclusion the invention has the following advantages:
1. making reply for the actual slip rate size of vehicle respectively, actual slip rate is adjusted to standard slip rate range,
And friction is further increased, realize more preferably braking effect；
2. obtaining down force-F by applying upward directed force F to mass, this mode can exist according to needs
Each position of vehicle is realized, and the time is controllable, can also be by counterweight amount of substance not in addition for the size of directed force F
With or acceleration difference enhance reaction force, implementation is varied, meet the various braking requirements of vehicle；
3. the slip rate of wheel is calculated separately, reasonable distribution brake force, and meanwhile corresponding increase vehicle down force, enhancing
Braking effect.
Detailed description of the invention
Fig. 1 is the flow diagram of vehicle braking method in the present invention.
Specific embodiment
With reference to the accompanying drawings and embodiments, the present invention will be described in detail.
This specific embodiment is only explanation of the invention, is not limitation of the present invention, those skilled in the art
Member can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as at this
All by the protection of Patent Law in the scope of the claims of invention.
Embodiment 1
A kind of vehicle braking method, including step S101 to step S103:
Step S101: movement speed v, the vehicle wheel rotational speed w of vehicle are obtained.
The revolving speed w of the real-time movement speed v of vehicle and each wheel is obtained by the velocity-measuring system of vehicle.
Step S102: the actual slip rate δ of vehicle is calculated by Predistribution Algorithm.
Preset algorithm is δ=(v-wr)/v × 100%, and the practical cunning of vehicle is calculated by mobile speed, vehicle wheel rotational speed
Shifting rate δ, wherein r is the radius of wheel of vehicle, when wheel pure rolling, δ=0；When simple sliding, δ=100%.
Step S103: comparing actual slip rate δ and standard slip rate range (a, b),
If actual slip rate δ is less than the lower threshold value a of standard slip rate, weaken braking ability；
If actual slip rate δ be greater than standard slip rate lower threshold value a and be less than standard slip rate upper threshold value b, increase vehicle to
Lower active force；
If actual slip rate δ is greater than the upper threshold value b of standard slip rate, enhance braking ability.
It is primarily based on vehicle movement speed v and vehicle wheel rotational speed w calculates the actual slip rate of vehicle, later by actual slip
Rate is compared with standard slip rate range, so that the practical braking conditions for vehicle are coped in time, it is small in actual slip rate δ
When the lower threshold value a of standard slip rate, weaken braking ability, so that actual slip rate be promoted to increase to standard slip rate range
In (a, b), enhance braking effect；If actual slip rate δ is fallen in standard slip rate range (a, b), at this time vehicle braking effect
Preferably, simultaneously, increase vehicle down force, continue to increase friction, enhance braking effect；It is greater than in actual slip rate δ
When the upper threshold value b of standard slip rate, enhance braking ability, actual slip rate promoted to be decreased in standard slip rate range (a, b),
Enhance braking effect.Reply is made for the actual slip rate size of vehicle respectively, by actual slip rate to standard slip rate model
Adjustment is enclosed, and further increases friction, realizes more preferably braking effect.
Wherein, increasing vehicle down force includes applying upward directed force F to mass to obtain to the downward of vehicle
Reaction force-F.
For mass after by upward directed force F, moment accelerates to v0, and upward with initial velocity v0, is made in vertical direction
Only by the uniformly retarded motion of gravity；Mass is only limited in vertical direction movement.
Mass is limited in vertical direction movement, and upper and lower friction is smaller, does not influence vehicle down force, together
When mass be limited in vertical direction movement, then only have down force to vehicle when falling, will not occur level suddenly
The active force in direction influences vehicle driving.
For the actual slip rate situation of each wheel of vehicle, different proportion is distributed to each wheel according to presetting rule
Brake force and the corresponding down force increased at each wheel.Calculate separately the slip rate of wheel, reasonable distribution braking
Power, while corresponding increase vehicle down force enhance braking effect.
Embodiment 2
A kind of motor vehicle braking system, including processor and memory, the memory are stored with instruction set for the memory tune
To implement function such as:
Movement speed v, the vehicle wheel rotational speed w for obtaining vehicle calculate the actual slip rate δ of vehicle by Predistribution Algorithm；
Compare actual slip rate δ and standard slip rate range (a, b), if actual slip rate δ is less than the lower threshold value of standard slip rate
A, output weaken the control command of braking ability；
If actual slip rate δ is greater than the lower threshold value a of standard slip rate and is less than the upper threshold value b of standard slip rate, output increases vehicle
The control command of down force；
If actual slip rate δ is greater than the upper threshold value b of standard slip rate, the control command of output enhancing braking ability.
Increasing vehicle down force includes applying upward directed force F to mass to obtain the downward reaction to vehicle
Power-F.
For mass after by upward directed force F, moment accelerates to v0, and upward with initial velocity v0, is made in vertical direction
Only by the uniformly retarded motion of gravity.Mass is only limited in vertical direction movement.
Embodiment 3
A kind of logistics distribution transport vehicle, including the motor vehicle braking system in such as embodiment 2.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of vehicle braking method, it is characterised in that: including
Movement speed v, the vehicle wheel rotational speed w for obtaining vehicle calculate the actual slip rate δ of vehicle by Predistribution Algorithm；
Compare actual slip rate δ and standard slip rate range (a, b), if actual slip rate δ is less than the lower threshold value of standard slip rate
A weakens braking ability；
If actual slip rate δ be greater than standard slip rate lower threshold value a and be less than standard slip rate upper threshold value b, increase vehicle to
Lower active force；
If actual slip rate δ is greater than the upper threshold value b of standard slip rate, enhance braking ability.
2. vehicle braking method according to claim 1, it is characterised in that: increasing vehicle down force includes to counterweight
Object applies upward directed force F to obtain the downward reaction force-F to vehicle.
3. vehicle braking method according to claim 2, it is characterised in that: mass is after by upward directed force F, wink
Between accelerate to v0, and it is upward with initial velocity v0, be made in vertical direction only by the uniformly retarded motion of gravity.
4. vehicle braking method according to claim 3, it is characterised in that: mass is only limited in vertical direction fortune
It is dynamic.
5. vehicle braking method according to claim 1, it is characterised in that: further include the reality for each wheel of vehicle
Slip rate situation, brake force from presetting rule to each wheel distribution different proportion and the corresponding each wheel of increase according to
The down force at place.
6. a kind of motor vehicle braking system, it is characterised in that: including processor and memory, the memory is stored with instruction set confession
The memory calls are to implement function such as:
Movement speed v, the vehicle wheel rotational speed w for obtaining vehicle calculate the actual slip rate δ of vehicle by Predistribution Algorithm；
Compare actual slip rate δ and standard slip rate range (a, b), if actual slip rate δ is less than the lower threshold value of standard slip rate
A, output weaken the control command of braking ability；
If actual slip rate δ is greater than the lower threshold value a of standard slip rate and is less than the upper threshold value b of standard slip rate, output increases vehicle
The control command of down force；
If actual slip rate δ is greater than the upper threshold value b of standard slip rate, the control command of output enhancing braking ability.
7. motor vehicle braking system according to claim 6, it is characterised in that: the processor also passes through calling described instruction
Collection implements function such as:
Increasing vehicle down force includes applying upward directed force F to mass to obtain the downward reaction force-to vehicle
F。
8. motor vehicle braking system according to claim 7, it is characterised in that: the processor also passes through calling described instruction
Collection implements function such as:
For mass after by upward directed force F, moment accelerates to v0, and upward with initial velocity v0, be made in vertical direction only by
The uniformly retarded motion of gravity；Mass is only limited in vertical direction movement.
9. motor vehicle braking system according to claim 8, it is characterised in that: the processor also passes through calling described instruction
Collection implements function such as: for the actual slip rate situation of each wheel of vehicle, being distributed not according to presetting rule to each wheel
Brake force and the corresponding down force increased at each wheel in proportion.
10. a kind of logistics distribution transport vehicle, it is characterised in that: including the vehicle braking system as described in claim 6 to 9 is any
System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910070209.8A CN109808661A (en) | 2019-01-24 | 2019-01-24 | Vehicle braking method, motor vehicle braking system and logistics distribution transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910070209.8A CN109808661A (en) | 2019-01-24 | 2019-01-24 | Vehicle braking method, motor vehicle braking system and logistics distribution transport vehicle |
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| CN109808661A true CN109808661A (en) | 2019-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910070209.8A Pending CN109808661A (en) | 2019-01-24 | 2019-01-24 | Vehicle braking method, motor vehicle braking system and logistics distribution transport vehicle |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1295952A (en) * | 2000-11-03 | 2001-05-23 | 华南理工大学 | Method for determing reference speed of car anti-blocking brake system and braking control program |
| CN107650893A (en) * | 2017-09-18 | 2018-02-02 | 天津职业技术师范大学 | Heavy vehicle brakeing during cornereing stability supplementary controlled system |
-
2019
- 2019-01-24 CN CN201910070209.8A patent/CN109808661A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1295952A (en) * | 2000-11-03 | 2001-05-23 | 华南理工大学 | Method for determing reference speed of car anti-blocking brake system and braking control program |
| CN107650893A (en) * | 2017-09-18 | 2018-02-02 | 天津职业技术师范大学 | Heavy vehicle brakeing during cornereing stability supplementary controlled system |
Non-Patent Citations (1)
| Title |
|---|
| 单鹏，刘树伟: "《车辆工程导论》", 30 September 2015, 北京理工大学 * |
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Application publication date: 20190528 |