基于车身减速度估计的ABS路面识别方法

为改善制动防抱死系统(ABS)的控制效果,进行了大量实车道路试验,通过深入分析试验数据,提出了一种基于车身减速度估计的路面识别方法,从理论上证明了该方法的合理性,并结合试验数据说明了该方法的原理。将路面识别模块嵌入到ABS软件中,以捷达GTX轿车为试验车进行了干路面和雪路面工况下的实车试验。结果表明:基于车身减速度估计的路面识别方法能准确识别路面类型,ABS可根据路面识别结果采取不同的控制算法,最终改善了制动控制效果,提高了ABS对路面的适应性。     

Development of an Anti-Lock Brake System for Motorcycle

An Anti-Lock Brake System (ABS) system is developed for motorcycles using different control laws to improve the safety during emergent braking conditions. The mechanical design problem is first investigated so as to modify a scooter to be equipped with the proposed ABS brake system and to set up experimental test stand. For ABS control, the slip control, P1R3, and P2R4 methods are used to implement the controller using an Intel 80196KC single chip microcomputer. The hard-ware-in-the-loop (HITL) simulation is also performed in PC to check the performance in various road conditions including dry and wet roads. It is found experimentally that both P1R3 and P2R4 can both achieve ABS function, but P2R4 performs more desirably than P1R3 method.     

Development of an Anti-Lock Brake System for Motorcycle

SUMMARY

An Anti-Lock Brake System (ABS) system is developed for motorcycles using different control laws to improve the safety during emergent braking conditions. The mechanical design problem is first investigated so as to modify a scooter to be equipped with the proposed ABS brake system and to set up experimental test stand. For ABS control, the slip control, P1R3, and P2R4 methods are used to implement the controller using an Intel 80196KC single chip microcomputer. The hard-ware-in-the-loop (HITL) simulation is also performed in PC to check the performance in various road conditions including dry and wet roads. It is found experimentally that both P1R3 and P2R4 can both achieve ABS function, but P2R4 performs more desirably than P1R3 method.     

ABS轮速信号抗干扰处理方法

ABS的轮速处理模块的特性直接关系到系统控制效果，轮速信号中的随机和系统干扰和不能很好地识别和剔除，就有可能导致ABS控制的失效。在分析ABS轮速信号产生原因和特点的基础上，提出了轮速信号抗干扰处理方法，包括伪脉冲异点剔除预处理算法和轮算冲击平滑算法，对ABS试验数据的处理结果表明，所设计的轮速信号干扰处理方法具有干扰信号抑制彻底，实时性好的优点。     

马自达6轿车ABS故障诊断

马自达6轿车ABS由轮速传感器A熏BST/CSHUC/M等组成。ABST/CSHUC/M由液压控制单元和电子控制模块组合而成,通常被称为ABS控制器,采用这种结构可使系统紧凑。简述了马自达6轿车车载诊断试验过程。给出了马自达6轿车ABS的诊断故障代码及相应的诊断步骤,并列举了常见故障的诊断实例。     

Model-based automatic test case generation for automotive embedded software testing

We propose a method to automatically generate software and hardware test cases from a UML model developed through a model-based development process. Where languages such as source-code languages are used within the model, input and expected values for each test case are generated using a custom parser. As a next step, unit test cases are combined to generate integration test cases using a bottom-up approach. Then these cases are converted into hardware test cases for approval testing of embedded systems, using XQuery and hardware mapping tables. We demonstrate this process by applying it to the power window switch module of a Hyundai Santa Fe vehicle. Our approach provides an automatic testing procedure for embedded systems developed by model-based methods, and generates test cases efficiently using a recombination of signals. In conclusion, our proposed method could help reduce the resources needed for test case generation from software to hardware.     

Novel stability control strategy for distributed drive electric vehicle based on driver operation intention

In this paper, a novel direct yaw control method based on driver operation intention for stability control of a distributed drive electric vehicle is proposed. It was discovered that the vehicle loses its stability easily under an emergency steering alignment (EA) problem. An emergent control algorithm is proposed to improve vehicle stability under such a condition. A driver operation intention recognition module is developed to identify the driving conditions. When the vehicle enters into an EA condition, the module can quickly identify it and transfer the control method from normal direct yaw control to emergency control. Two control algorithms are designed. The emergency control algorithm is applied to an EA condition while the adaptive control algorithm is applied to other conditions except the EA condition. Both simulation results and real vehicle results show that: The driver module can accurately identify driving conditions based on driver operation intention. When the vehicle enters into EA condition, the emergent control algorithm can intervene quickly, and it has proven to outperform normal direct yaw control for better stabilization of vehicles.     

风神蓝鸟轿车ABS故障检测与诊断

介绍了蓝鸟系列轿车ABS自诊断系统中故障诊断以及故障码的读取与清除方法。在介绍ABS常见典型故障的基础上,分析了如何根据故障码进行传感器、执行器电磁阀、ABS电动机继电器、ABS控制元件以及系统低电压的故障诊断方法,论述了常见的故障现象以及诊断程序,给出了系统维修数据。     

防抱死制动系统模糊自学习控制研究

由于车辆参数和运行工况的复杂多变，针对特定参数和路面条件所设计的防抱死制动系统往往难以适应。为解决这一问题，文中首先建立了带有盘式制动器的双轮车辆直线制动系统的数学模型；而后提出了模糊自学习控制策略，该方案通过引入模糊学习机制以调整模糊控制器的规则集，可使车辆对象输出跟踪理想参考模型的输出；接着对所设计控制算法在不同路面条件下进行了性能模拟；最后开发了模糊自学习微控制器，基于硬件在环仿真技术，对设计控制器的性能进行了实验验证。     

基于MC9S12DP256的汽车ABS模糊滑模控制器

对于ABS控制器的设计,在控制逻辑确定后,其设计难点在于控制器的软硬件实现。文章基于模糊滑模控制逻辑,介绍了基于Freescale公司HCS12系列16位单片机——MC9S12DP256的汽车ABS模糊滑模控制器的软硬件设计。硬件电路设计中,采用最小系统板和目标功能电路板分离设计的方法,基于最小系统开发板,设计了包括电源模块、输入调理及输出驱动电路的目标功能板;软件设计中,依据控制需求,采用模块化编程思想,给出程序流程图,描述了ABS控制系统的控制过程。指出该滑模控制器为后续的台架试验验证及轿车的主动安全控制装置的集成化研究打下了坚实的基础。     

在转毂试验机上测试防抱死制动系统的研究

为了检测汽车防抱死制动系统的可靠性,在转毂试验台上对该系统进行了测试研究。介绍了转毂试验台的结构、原理、工作过程及测试程序。在转毂试验台上模拟了汽车的各种动态工况,测试了防抱死制动系统的性能。试验表明,该转毂试验台及其测试程序能满足防抱死制动系统性能的测试要求。     

汽车ABS液压调节器建模与分析

汽车ABS液压调节器是ABS的执行机构,它的性能好坏直接影响着汽车制动效能。为研究和评价ABS液压调节器性能,文章在分析调节器的组成和工作原理的基础上,基于AMESim建立了包括液压调节器、制动主缸及制动轮缸的模型,对影响调节器动态响应特性的制动液和控制阀(增、减压阀)结构因素进行了仿真分析;并针对某型号调节器进行了台架试验。试验结果表明,基于AMESim的汽车ABS液压调节器仿真结果与试验结果基本吻合。AMESim建模为调节器的研究提供了一种行之有效的方法。     

多功能液压ABS混和仿真试验台设计研究

为快速开发研究液压ABS系统,设计了多功能液压混和仿真试验台。设计了硬件接口电路、轮速传感器试验台、主动加压设备等硬件;在Simulink中搭建了ABS动力学模型,基于xPC目标环境实现软硬件连接,建立了双机模式的实时仿真系统。该试验台可以完成纯软件模拟、控制器原型实施、硬件在环仿真和参数匹配标定等功能,并能够对ABS所有部件进行研究和测试,具有控制逻辑再现、特殊工况模拟、故障模拟等功能。经试验证明,其能够提高ABS开发效率,缩短开发周期。     

发动机故障警示灯常亮的分析与解决

某车型在开发新的ABS控制模块时,因在设计初期对整车电气模块之间的匹配验证不充分,在批量装车后经动态路试检测,当点火开关置于ON挡时,仪表上发动机故障指示灯（EPC）常亮报警。文章主要是针对该故障现象,通过对整车的电气控制原理进行系统调查分析,从而得出该故障的具体产生原因,并根据具体原因对改进方案进行效果验证分析,制定出最终的改进方案。     

Integrated fault detection and diagnosis system for longitudinal control of an autonomous all-terrain vehicle (ATV)

This paper presents a fault detection and diagnosis (FDD) method to enhance the reliability and safety for longitudinal control of an autonomous all-terrain vehicle (ATV). An integrated approach using decentralized and centralized FDD is proposed to optimize the tradeoff between sensitivity and robustness. While the decentralized approach is suitable for detecting faults in actuators and sensors directly connected to a single processor, it is sensitive to noises and disturbances and thus may result in false alarms. On the other hand, the centralized approach is based on information communicated between multiple processors, and it detects and diagnoses faults through analyzing concurrent computations of multiple hardware modules. However, its performance is still limited to isolating faults specifically in terms of components in the single hardware. To incorporate the advantages of both FDD approaches, a two-layered structure integrating both decentralized and centralized FDD is proposed and allows us to perform more robust fault detection as well as more detailed fault isolation. Finally, the proposed method is validated experimentally via field tests of an ATV.     

牵引车、半挂车ABS道路试验及计算方法

ABS试验作为强制实施项目，受到汽车生产企业和检测部门的关注，牵引车、半挂车ABS试验往往连接在一起进行，与其它的机动车试验相比具有一定的特殊性，尤其是计算方法有所不同。详细介绍了半挂车空载、半挂车满载、牵引车满载工况的试验和计算方法，并以实例进行了说明。     

基于试验知识的ABS自适应控制策略研究与验证

文中根据大量道路试验获得的知识,在普遍采用的逻辑门限值控制方法的基础上提出了一种能够对不同路面和制动工况具有广泛自适应能力的ABS控制策略.该策略能够根据路面状况对主要控制门限进行自适应调整,并能准确估算参考车速.大量的匹配和实车道路试验表明,基于试验知识的ABS自适应控制策略能够提升控制效果并减少ABS在新车型上的匹配时间.开发完成的液压ABS性能和可靠性满足产业化要求,已在多款SUV和皮卡车上批量装车使用.     

基于LabVIEW的汽车PEPS测试系统设计

介绍一种汽车无钥匙进入及启动(PEPS)系统的测试系统,其以LabVIEW为核心,模拟PEPS系统中与BCM、ABS等汽车网络拓扑中各节点模块的交互信息,实现了对PEPS系统的测试。文章详细分析了测试系统的硬件架构以及软件设计,提出一种通用化的PEPS测试系统配置程序设计,并在实际车型的开发中得到了很好的应用。     

奔驰轿车的行驶稳定性电子控制系统

电子稳定程序（ＥＳＰ）控制系统是一种在各种行驶条件下能提高车辆行驶稳定性的主动安全体系。ＥＳＰ控制模块根据输入信号确定在当前行驶条件下，以下６种工作模式中的一些应被接通，即普通模式、ＡＢＳ控制模式、ＡＳＲ控制模式、ＭＳＲ控制模式、ＥＳＰ控制模式及ＥＳＰ切断模式。     

ABS轮速信号的滤波技术研究

常用的ABS轮速信号的滤波技术是滤波增益为常数的指数平滑数据滤波技术，由于没有考虑到测量信号的方差变化特性，滤波效果不能满足ABS系统的要求：文中根据实测轮速信号的方差数据，利用二阶多项式数据拟合得到了系统的测量方差。在假定系统方程和过程方差的情况下，轮速信号的处理采用了卡尔曼滤波器的结构。实际试验结果表明，可变滤波增益的滤波器滤波精度高、滞后小，可以满足计算ABS其它控制量的要求。