CN202879466U - Road surface detector, anti-lock brake system including road surface detector and automobile - Google Patents
- ️Wed Apr 17 2013
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Publication number
- CN202879466U CN202879466U CN 201220393408 CN201220393408U CN202879466U CN 202879466 U CN202879466 U CN 202879466U CN 201220393408 CN201220393408 CN 201220393408 CN 201220393408 U CN201220393408 U CN 201220393408U CN 202879466 U CN202879466 U CN 202879466U Authority
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- China Prior art keywords
- road surface
- wheel
- automobile
- condition
- detection device Prior art date
- 2012-08-08 Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Abstract
The utility model relates to a road surface detector, an anti-lock brake system including the road surface detector and an automobile. The road surface detector detects conditions of a road surface where the automobile travels by means of a wheel speed energy spectrum density, can precisely provide the conditions of the road surface where the automobile travels, provides a quick response speed, and enables traveling to be safe. The anti-lock brake system can precisely deal with the conditions of the road surface, and performs the braking, anti-lock, anti-side-slipping and deflection-proof functions. The automobile can travel safely, reduces speed, brakes and does not slip sideward or deflect on various road surfaces.
Description
Technical field
The utility model relates to a kind of pavement detection device that uses the situation on the road surface that the wheel velocity energy spectral density detects running car.
The utility model also relates to a kind of anti-skid brake system that adopts described pavement detection device.
The utility model also relates to a kind of automobile that adopts described anti-skid brake system.
Background technology
Automobile has become the requisite vehicle in daily life.In the process of moving, automobile need in time and reposefully slow down or stops according to various situations.Therefore, for the brake efficiency (being stopping distance) of automobile, the stability of brake efficiency and the directional balance of auto in Braking very high requirement has been proposed all, to guarantee the safety of automobile.
Drg all is installed on the automobile.Drg applies lock torque to wheel, and wheel then road pavement applies a periphery power forward, and conversely, the road surface applies a braking force backward to wheel.When the braking force on the wheel reached adhesive ability between wheel and the road surface, wheel namely stopped operating fully, and wheel is done pure slip by " locking " along the road surface.When the wheel lockup slippage, the side direction cohesive resistance complete obiteration between wheel and road surface.This moment, then automobile can not turn in braking procedure if front-wheel (wheel flutter) locking slippage and trailing wheel continue to roll.And this moment is if rear lock slippage and front-wheel continue to roll, then in Motor Vehicle Braking Procedure, even be subject to such as Cross Wind Force, the bump little side interference power such as impulsive force to wheel face, automobile also can be around its vertical axis rotation, the whipping phenomenon appears, the situation that can occur turning around when serious.No matter be which kind of locking slippage recited above, traffic accident all easily occurs, jeopardize the person and property safety, consequence is very serious.
Anti-skid brake system (Anti-lock Brake System is called for short ABS) is the improved technique on conventional brake gear basis, can divide two kinds of mechanical type and electronic types.ABS all is housed on the present automobile basically.The braking function of the existing common brake system of ABS, can prevent wheel locking again, automobile still can be turned under braking mode, guarantee the brake direction steady of automobile, preventing to break away and sideslip, is the brake equipment most advanced on the present automobile, that braking effect is best.
During emergency braking, ABS relies on and to be contained in highly sensitive wheel speed sensor on each wheel, in case find certain wheel lockup, immediately control presssure regulating control brake cylinder pressure release that this is taken turns of computing machine, make wheel recover to rotate, reach the purpose that prevents wheel lockup.The working process of ABS is actually the On The Cycle Working Process of " locking-unclamp-locking-unclamp ", be equivalent to repeatedly " point is stopped ", make vehicle be in all the time the rolling condition at intermittence of critical locking, the running out the way phenomenon that is produced by wheel lockup when effectively overcoming emergency braking prevents the generation of the situations such as vehicle body is out of control.
Install on the market the vehicle at present modal be four-sensor four-way ABS system, each wheel can be realized the independent control to single wheel by independently hydraulic tubing and solenoid control.This configuration can realize good anti-lock function.
On plain asphalt road surface (as shown in Figure 1), even in the situation that the road surface is wet and slippery, ABS also can significantly improve the brake of vehicle, shortens braking distance.Yet on the softer road surface such as sand ground, snowfield, ABS can obviously increase braking distance.Especially when automobile occurs using the event of ABS when uneven road surfaces such as fluctuating road surface (as shown in Figure 2), Cobbles road surface (as shown in Figure 3) and Belgian pavement (as shown in Figure 4) travels, present ABS algorithm is slightly different, wheel side sliding will be controlled with relatively high level, so that car deceleration.Current algorithm is paid close attention to wheel acceleration situation and is detected uneven road surface and since sometimes wheel to accelerate be that poor quality by sensor module causes, so current algorithm is always incorrect.So far several events of recalling vehicle owing to the parts problem among the ABS occurred, wherein some reason is exactly that ABS can not detect uneven road surface and keep releasing brake pressure, so that vehicle loses braking force, causes accident.
As seen, in the braking procedure of vehicle, ABS can play effectively anti-skidding, the anti-lock effect of waiting indefinitely.A very crucial step was the road surface situation that correctly and rapidly detects during yet ABS played a role.Be necessary the device that detects the road surface among the current ABS is improved, so that ABS plays one's part to the full, avoid occurring accident, guarantee better vehicle driver and crew's the person and property safety.
The utility model is intended to solve above-mentioned one or more problems.
The utility model content
A purpose of the present utility model provides a kind of pavement detection device that can accurately detect the road surface situation that automobile travels.The wheel velocity energy spectral density of utilizing this pavement detection device detects the situation on the road surface of running car, and the condition of road surface of running car can be provided more accurately, provides faster speed of response, so that it is safer to travel.
Another purpose of the present utility model provides a kind ofly can accurately tackle condition of road surface, play braking, anti-locking, the anti-sideslip and the anti-skid brake system of sideslip.
Another purpose of the present utility model provide a kind of can both safety traffic, deceleration and braking on various road surfaces and can not break away and the automobile of sideslip.
According to a kind of pavement detection device of the present utility model, this pavement detection device comprises:
Sensor, described installation of sensors are used for sending wheel velocity signal on the wheel of automobile;
Condition of road surface indicating device, described condition of road surface indicating device utilize the wheel velocity signal of described sensor transmission and draw the situation that the wheel energy spectral density is indicated the road surface of running car.
According to the first embodiment of the present utility model, described condition of road surface indicating device comprises memory device and the comparator that compares for the pre-stored spectral distribution figure with resulting wheel energy spectral density and described memory device.
According to the second embodiment of the present utility model, described condition of road surface indicating device comprises the integrator that obtains the condition of road surface index for the energy spectral density curve that will obtain carries out integration.
According to the second embodiment of the present utility model, described condition of road surface indicating device also comprises memory device and the comparator that compares for the pre-stored threshold value with resulting condition of road surface index and described memory device.
Alternatively, according to the second embodiment of the present utility model, described condition of road surface indicating device also comprises memory device and the comparator that compares for the pre-stored corresponding road surface status index with resulting condition of road surface index and described memory device.
According to the utility model, the described sensor of described pavement detection device is linear wheel speed sensors.
Alternatively, according to the utility model, the described sensor of described pavement detection device is annular wheel speed sensors.
Alternatively, according to the utility model, the described sensor of described pavement detection device is Hall wheel speed sensor.
According to a kind of anti-skid brake system of the present utility model, this anti-skid brake system comprises aforesaid pavement detection device.
According to a kind of automobile of the present utility model, this automobile comprises aforesaid anti-skid brake system.
Description of drawings
With way of example particular content of the present utility model is described with reference to the accompanying drawings, wherein:
Figure 1 shows that plain asphalt/cement concrete road.
Figure 2 shows that the fluctuating road surface.
Figure 3 shows that the Cobbles road surface.
Figure 4 shows that Belgian pavement.
Fig. 5 is the schematic top plan view of common four-wheel automobile.
Fig. 6 is the energy spectral density figure of four wheels obtaining when plain asphalt/cement concrete road travels of automobile.
Fig. 7 is automobile at the energy spectral density figure of four wheels that the fluctuating road surface is up to be obtained when sailing.
Fig. 8 is the energy spectral density figure of four wheels obtaining when travelling on the Cobbles road surface of automobile.
Fig. 9 is the energy spectral density figure of four wheels obtaining when Belgian pavement travels of automobile.
Figure 10 is the wheel velocity curve when automobile at the uniform velocity drives.
Figure 11 is wheel acceleration and pickup curve when automobile at the uniform velocity drives.
Figure 12 is wheel signal when automobile at the uniform velocity drives and corresponding energy spectral density figure.
Figure 13 is wheel velocity, the speed of a motor vehicle of being calculated by ABS and the diagram of curves of the special speed of a motor vehicle of measuring of instrument when entering low adhesive ability road surface from the high adhesion force road surface at automobile.
Wheel signal and corresponding energy spectral density figure when Figure 14 hangs down the adhesive ability road surface for entering from the high adhesion force road surface at automobile.
Figure 15 is the feature of automobile wheel velocity signal when travelling on different road surfaces.
Figure 16 is the bonding jumper road surface.
Figure 17 A and Figure 17 B are respectively the uneven Cobbles road surface of moderate and low uneven Cobbles road surface.
Figure 18 A and Figure 18 B are respectively the uneven fluctuating road surface of moderate and low uneven fluctuating road surface.
Figure 19 A and Figure 19 B are respectively the uneven Belgian pavement of moderate and low uneven Belgian pavement.
Figure 20 A-20H is magnificent safe B11 three box car with the energy spectral density figure of low speed when the various road traveling.
Figure 21 A-21H is magnificent safe B11 three box car with the energy spectral density figure when the various road traveling at a high speed.
Figure 22 A-22H soars for long wind and 2 drives cross-country car with the energy spectral density figure of low speed when the various road traveling.
Figure 23 A-23H soars for long wind and 2 drives cross-country car with the energy spectral density figure of high speed when the various road traveling.
Figure 24 A-24H soars for long wind and 4 drives cross-country car with the energy spectral density figure of low speed when the various road traveling.
Figure 25 A-25H soars for long wind and 4 drives cross-country car with the energy spectral density figure of high speed when the various road traveling.
The specific embodiment
Along with the development of society, automobile enters common people house already.The utility model aims to provide pavement detection device, the anti-skid brake system (ABS) that comprises this pavement detection device and the automobile that comprises this anti-skid brake system that can accurately detect the road surface situation that automobile travels.
Below describe as an example of common four-wheel automobile example.As shown in Figure 5, common four-
wheel automobile1 has
vehicle body10 and four
wheels20, i.e. the near front wheel LF, off front wheel RF, left rear wheel LR and off hind wheel RR.Automobile can at various road travelings, include but not limited to plain asphalt/cement concrete road (as shown in Figure 1), fluctuating road surface (as shown in Figure 2), Cobbles road surface (as shown in Figure 3), Belgian pavement (as shown in Figure 4) etc. usually.In the process of moving, the
wheel20 of
automobile1 contacts with the road surface.On the road surface of injustice, because the interaction on
wheel20 and road surface,
wheel20 vertical vibratings are so that
wheel20 speed curves are also along with vibration.The vibration information of vehicle wheel rotational speed is blended in from the signal that wheel sensor obtains.
The contriver carries out Fourier transform through concentrated research discovery to the wheel signal that obtains, and the power spectrum the when wheel in frequency domain of acquisition travels on different road surfaces is not identical.
Fig. 6 is the energy spectral density figure of four wheels obtaining when plain asphalt/cement concrete road travels of automobile.Fig. 7 is automobile at the energy spectral density figure of four wheels that the fluctuating road surface is up to be obtained when sailing.Fig. 8 is the energy spectral density figure of four wheels obtaining when travelling on the Cobbles road surface of automobile.Fig. 9 is the energy spectral density figure of four wheels obtaining when Belgian pavement travels of automobile.In each width of cloth figure, every line represents the energy spectral density curve of a wheel.
Can see from Fig. 6 to 9, the energy spectral density of
wheel20 on different road surfaces alters a great deal.As shown in Figure 6, when automobile when plain asphalt/cement concrete road travels, the energy spectral density of four wheel LF, RF, LR and RR is all very very little, only be the most about 0.3 the energy spectral density that burst is arranged in the frequency limit of 7-11 hertz (Hz), and this often since stone, the unexpected situations such as hollow on the road cause.And as shown in Figs. 7-9, when automobile travelled on the road surface of injustice, the energy spectral density of four wheels was larger.In Fig. 7, because automobile can be because fluctuating place and so that unsteadiness of wheels is comparatively violent when fluctuating road traveling shown in Figure 2, so energy spectral density has the peak value of power spectrum at approximately 9Hz, 25Hz and 47-50Hz place, and greatest peak reaches 0.7.In Fig. 8 and Fig. 9, because automobile is to travel on Cobbles road surface and Belgian pavement respectively, be in the state that jolts always, the energy spectral density indentation curve shape of four wheels, greatest peak is also higher, reaches respectively about 0.55 and 1.4.
The contriver studies discovery, and when frequency was lower than 15Hz, it may be owing to the problems such as the emergent stone in low-quality, road surface that is installed in the sensor on the wheel, hollow cause that energy spectral density changes.In view of this, when considering condition of road surface, can only consider the energy spectral density when frequency is higher than 15Hz.Utilize situation that such energy spectral density reacts the road surface more accurately and reliably.Certainly, it will be understood by those skilled in the art that the energy spectral density that also can consider in the whole frequency domain.
For the failure-free quantizating index that provides to weigh condition of road surface, the contriver has defined a condition of road surface index I, and this condition of road surface index I is the integration that is higher than the energy spectral density curve of 15Hz.Numerical value for the condition of road surface index of energy spectral density shown in Fig. 6 to Fig. 9 is as shown in table 1:
Table 1
| The road surface | The numerical value of condition of road surface index I |
| Plain asphalt/cement concrete road | 0.12 |
| The fluctuating road surface | 5.42 |
| The Cobbles road surface | 4.99 |
| Belgian pavement | 5.65 |
As seen from Table 1, the numerical value of condition of road surface index I can be distinguished various uneven road surfaces and plain asphalt/cement concrete road at an easy rate.And, utilize condition of road surface index I to separate at an easy rate because the wheel noise that uneven road surface causes and wheel accelerate, more failure-free condition of road surface data are provided thus.
Based on this, the contriver designs a kind of pavement detection device of automobile, and this pavement detection device comprises: sensor, described installation of sensors are used for sending the signals such as wheel velocity on the wheel of automobile; Condition of road surface indicating device, described condition of road surface indicating device utilize the wheel velocity signal of sensor transmission and draw the situation that the wheel energy spectral density is indicated the road surface.
Sensor can be any sensor that is applicable to send wheel velocity signal, mostly is greatly at present inductance sensor, and its exportable signal is realized the Real Time Monitoring to wheel speed to the condition of road surface indicating device.
For example, sensor can be the linear wheel speed sensors that mainly is comprised of permanent magnet, pole axis, induction coil and gear ring etc.During the gear ring rotation, tooth top and backlash replace the subtend pole axis.In the gear ring rotary course, thereby the magnetic flow of induction coil inside alternately changes the generation induced electric motive force, and this signal is by the cable input condition of road surface indicating device of induction coil end.When the rotating speed of gear ring changed, the frequency of induced electric motive force also changed.
In addition, sensor also can be the annular wheel speed sensors that mainly is comprised of permanent magnet, induction coil and gear ring etc.Permanent magnet is comprised of magnetic pole several, and in the gear ring rotary course, thereby the magnetic flow of induction coil inside alternately changes the generation induced electric motive force, and this signal is by the cable input condition of road surface indicating device of induction coil end.When the rotating speed of gear ring changed, the frequency of induced electric motive force also changed.
In addition, sensor can also be the Hall wheel speed sensor that mainly is comprised of Hall element and gear etc.When gear rotated, the density of line of magnetic force of passing Hall element changed, thereby caused that the variation of Hall voltage, Hall element will export the quasi-sinusoid voltage of a millivolt level.This signal also needs to be converted to by electronic circuit the pulse voltage of standard.And then be transferred to the condition of road surface indicating device.
Certainly, those skilled in the art it will also be appreciated that other is applicable to measure the sensor of wheel velocity etc.
Condition of road surface indicating device in the utility model comprises integrator, and this integrator is used for the energy spectral density curve that obtains is carried out integration, obtains condition of road surface index I.
The condition of road surface indicating device can comprise comparator.After obtaining condition of road surface index I, can utilize comparator and the threshold value of setting in advance to compare, and then definite condition of road surface.For example, data instance with table 1, can set the threshold to 1, when the numerical value of condition of road surface index I then is plain asphalt/cement concrete road less than 1 the time, when the numerical value of condition of road surface index I then is uneven road surface such as fluctuating road surface, Cobbles road surface, Belgian pavement etc. greater than 1 the time.But, such result can only determine whether to be smooth or rough road.What substitute is that the condition of road surface indicating device also can comprise holder, stores in advance the numerical value of the corresponding road surface status index of various road conditions in the holder.Compare by the record of comparator with institute's poke in the numerical value of the measured condition of road surface index I that obtains and the memory device, can know the situation on the road surface that automobile travels.
Certainly, it will be appreciated by those skilled in the art that, the condition of road surface indicating device can not comprise integrator, only by comparator with in the energy spectral density curve that obtains and the memory device in advance the spectral distribution figure of storage compare, namely as can be known automobile the road surface of process be which kind of road surface.
The utility model also provides a kind of anti-skid brake system, and this anti-skid brake system comprises above-mentioned pavement detection device.
The utility model also provides a kind of automobile, and this automobile comprises described anti-skid brake system.
Industrial applicibility
Utilize the situation on the road surface of wheel velocity energy spectral density detection running car according to pavement detection device of the present utility model, the condition of road surface of running car can be provided more accurately, provide faster speed of response, so that it is safer to travel.
According to anti-skid brake system of the present utility model can accurately tackle condition of road surface, play braking, anti-locking, the anti-sideslip and sideslip.
Can both safety traffic, deceleration and braking on various road surfaces and can not break away and the automobile of sideslip according to automobile of the present utility model.
1. feasibility in theory experiment
At first, in order to verify that the energy spectral density of utilizing that the contriver proposes detects the feasibility of running car condition of road surface, the contriver has carried out confirmatory experiment, has compared the common four-wheel automobile that pavement detection device of the present utility model and anti-skid brake system are not installed and enter wheel velocity signal under the low adhesive ability pavement conditions and the difference between the energy spectral density when at the uniform velocity travelling and from the high adhesion force road surface.
Figure 10 is the wheel velocity curve when common four-wheel automobile at the uniform velocity drives.As shown in figure 10, when the automobile uniform movement, the wheel velocity class of a curve is like sinusoidal waveform.Figure 11 is wheel acceleration and pickup curve when automobile at the uniform velocity drives.As shown in figure 11, because automobile at the uniform velocity travels, pickup is almost 0, and wheel acceleration+-0.6g between.Figure 12 is wheel signal when automobile at the uniform velocity drives and corresponding energy spectral density figure.As shown in figure 12, only the energy spectral density between 3-15Hz has higher value, and peak value is all less than 0.4.
The speed of a motor vehicle that Figure 13 calculates for wheel velocity when automobile enters the low-frictional force road surface from high friction force road surface, by common ABS and the diagram of curves of the special speed of a motor vehicle of measuring of instrument.When automobile entered low adhesive ability road surface from the high adhesion force road surface, front-wheel at first entered low adhesive ability road surface, and front-wheel speed reduces rapidly, and trailing wheel still is in the high adhesion force road surface, and trailing wheel speed is close to the speed of a motor vehicle, and common ABS begins to work.The locking that at every turn is applied to front-wheel also reduces trailing wheel speed, and this is so that trailing wheel also is difficult to recovery when system's maintenance discharges.Braking force is almost all produced by front pressure, and is delivered to trailing wheel by 4 wheel driven, transmits before and after the moment of torsion, and vibration occurs and amplifies.When wheel acceleration reaches certain level, the speed of four wheels will be refused by the wheel velocity computational algorithm, adopt certain algorithm to slow down, vibration is so that the increase of uneven road surface effect, in case surpass certain value, will lose faith in sensor signal, the ECU (Electrical Control Unit) of common ABS (ECU) is ignored all the sensors signal, the reference car speed fast-descending that common ABS calculates is with the special actual vehicle speed more poor (as shown in figure 13) far away of measuring of instrument.
Figure 14 is wheel signal and corresponding energy spectral density figure in situation shown in Figure 13.As shown in figure 14, because automobile enters low adhesive ability road surface from the high adhesion force road surface, very large vibration appears in wheel velocity signal, peak value appears corresponding to the energy spectral density between the 5-10Hz, this peak value is up to 100, and this energy spectral density peak-peak during with the automobile uniform movement only is that 0.4 to compare be very high.
As seen, be not only to travel at uneven road surface for automobile, and enter this more special situation in low adhesive ability road surface from the high adhesion force road surface for automobile, can utilize energy spectral density to judge road conditions, utilize energy spectral density can so that the condition of road surface of pavement detection device detect response rapidly, anti-skid brake system reply condition of road surface is more accurate.
2. uneven road surface confirmatory experiment
Figure 15 is the feature of automobile wheel velocity signal when travelling on different road surfaces.As can see from Figure 15, when automobile when plain asphalt/cement concrete road travels, the speed signal of wheel is milder sine curve, and when automobile when all uneven road surfaces as shown in Figure 2 to Figure 3 travel, the speed signal of wheel becomes high frequency waves.
As seen, different road surfaces has different structures, therefore has different power spectrums at each frequency place.The interaction on tire and road surface passes to speed signal with the information on road surface.Signal in the analysis frequency domain can obtain the distribution of power spectrum.
For further checking practicality of the present utility model, the contriver utilizes different automobile types to carry out a series of confirmatory experiments on different road surfaces with high speed and low speed, and concrete experiment condition is as follows:
Test car: magnificent safe B11 three box car, long wind are soared and 2 are driven cross-country car, and long wind is soared and 4 driven cross-country car;
Low speed: 40kph;
At a high speed: 60～70kph;
Every kind of speed is tested on following different road surfaces:
◆ plain asphalt/cement concrete road (Fig. 1);
◆ bonding jumper road surface (Figure 16);
◆ the uneven Cobbles road surface (Figure 17 A) of moderate, low uneven Cobbles road surface (Figure 17 B);
◆ the uneven fluctuating road surface (Figure 18 A) of moderate, low uneven fluctuating road surface (Figure 18 B);
◆ the uneven Belgian pavement (Figure 19 A) of moderate, low uneven Belgian pavement (Figure 19 B).
Figure 20 A-20H is magnificent safe B 11 three box cars with the energy spectral density figure of low speed when the various road traveling.Figure 21 A-21H is magnificent safe B11 three box car with the energy spectral density figure when the various road traveling at a high speed.Figure 22 A-22H soars for long wind and 2 drives cross-country car with the energy spectral density figure of low speed when the various road traveling.Figure 23 A-23H soars for long wind and 2 drives cross-country car with the energy spectral density figure of high speed when the various road traveling.Figure 24 A-24H soars for long wind and 4 drives cross-country car with the energy spectral density figure of low speed when the various road traveling.Figure 25 A-25H soars for long wind and 4 drives cross-country car with the energy spectral density figure of high speed when the various road traveling.In each width of cloth figure, every line represents the energy spectral density curve of a wheel.
Shown in Figure 20 A to Figure 25 H, under the condition of travelling for different wheel type, different driving mode and friction speed, described rule is still identical before, and for various typical road surfaces, its energy spectral density has certain typicalness.If in the pavement detection device, stored in advance the energy spectral density distribution graph, each information of road surface and the energy spectral density distribution graph that obtains compared, namely as can be known automobile the road surface of process be which kind of road surface.
And it is more accurate compared with method before to utilize energy spectral density to react the situation on road surface.In the algorithm of common ABS, add energy spectral density and can so that more safe and reliable when a lot of road traveling, can obtain faster speed of response.
Persons of ordinary skill in the art may appreciate that under the condition that does not depart from scope of the present utility model and aim, can carry out multiple modification and remodeling to framework of the present utility model.Those of ordinary skill in the art can understand other embodiment of the framework of machine from the considering of specification sheets disclosed herein and practice.Described specification sheets and example are only considered as exemplary, and true scope of the present utility model is by claim and be equal to requirement and indicate.
Claims (10)
1. a pavement detection device is characterized in that, described pavement detection device comprises:
Sensor, described installation of sensors are used for sending wheel velocity signal on the wheel of automobile;
Condition of road surface indicating device, described condition of road surface indicating device utilize the wheel velocity signal of described sensor transmission and draw the situation that the wheel energy spectral density is indicated the road surface of running car.
2. pavement detection device according to claim 1 is characterized in that, described condition of road surface indicating device comprises memory device and the comparator that compares for the pre-stored spectral distribution figure with resulting wheel energy spectral density and described memory device.
3. pavement detection device according to claim 1 is characterized in that, described condition of road surface indicating device comprises the integrator that obtains the condition of road surface index for the energy spectral density curve that will obtain carries out integration.
4. pavement detection device according to claim 3 is characterized in that, described condition of road surface indicating device also comprises memory device and the comparator that compares for the pre-stored threshold value with resulting condition of road surface index and described memory device.
5. pavement detection device according to claim 3, it is characterized in that, described condition of road surface indicating device also comprises memory device and the comparator that compares for the pre-stored corresponding road surface status index with resulting condition of road surface index and described memory device.
6. each described pavement detection device is characterized in that according to claim 1-5, and described sensor is linear wheel speed sensors.
7. each described pavement detection device is characterized in that according to claim 1-5, and described sensor is annular wheel speed sensors.
8. each described pavement detection device is characterized in that according to claim 1-5, and described sensor is Hall wheel speed sensor.
9. anti-skid brake system, this anti-skid brake system comprises according to claim 1 each described pavement detection device in-8.
10. automobile, this automobile comprises anti-skid brake system according to claim 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220393408 CN202879466U (en) | 2012-08-08 | 2012-08-08 | Road surface detector, anti-lock brake system including road surface detector and automobile |
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| CN 201220393408 CN202879466U (en) | 2012-08-08 | 2012-08-08 | Road surface detector, anti-lock brake system including road surface detector and automobile |
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Cited By (3)
* Cited by examiner, † Cited by third party| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104648361A (en) * | 2014-06-21 | 2015-05-27 | 柳州聚龙科技有限公司 | Automobile sideslip prevention brake device |
| CN109343042A (en) * | 2018-11-20 | 2019-02-15 | 吉林大学 | A road detection device suitable for transportation vehicles in mining areas |
| CN111105616A (en) * | 2019-12-13 | 2020-05-05 | 江苏大学 | Road surface information acquisition system |
-
2012
- 2012-08-08 CN CN 201220393408 patent/CN202879466U/en not_active Expired - Lifetime
Cited By (5)
* Cited by examiner, † Cited by third party| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104648361A (en) * | 2014-06-21 | 2015-05-27 | 柳州聚龙科技有限公司 | Automobile sideslip prevention brake device |
| CN109343042A (en) * | 2018-11-20 | 2019-02-15 | 吉林大学 | A road detection device suitable for transportation vehicles in mining areas |
| CN109343042B (en) * | 2018-11-20 | 2023-09-29 | 吉林大学 | Road surface detection device suitable for mining area transport vehicle |
| CN111105616A (en) * | 2019-12-13 | 2020-05-05 | 江苏大学 | Road surface information acquisition system |
| CN111105616B (en) * | 2019-12-13 | 2021-09-10 | 江苏大学 | Road surface information acquisition system |
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