技术领域technical field
本发明涉及汽车领域，尤其涉及一种基于虚拟道路载荷条件的制动器性能评价方法及系统。The invention relates to the field of automobiles, in particular to a brake performance evaluation method and system based on virtual road load conditions.
背景技术Background technique
随着我国经济水平的发展，人们的生活水平日渐提高，汽车已经成为了人们出行不可获取的交通工具，汽车的安全问题也越来越得到人们的广泛关注。其中，汽车制动性能好坏，是安全行车最重要的因素之一，因此也是汽车检测诊断的重点。汽车具有良好的制动性能，遇到紧急情况，可以化险为夷；在正常行驶时，可以提高平均行驶速度，从而提高运输生产效率，但是现有的汽车制动性能都大部分需要在实际的场地进行测试，通过测试汽车在不同路况环境的情况下进行实际制动，并采集数据进行分析，或者通过台架试验来对制动器实物在惯性试验台上进行1：1的模拟实验，由于其相对于定速和卡氏试验机更接近于制动片的实际使用工况，相对路试实验能更经济、快捷的采集数据，因此，台架试验也成为了汽车制造厂、制动器制造厂考察汽车制动器的制动性能的重要手段，基于这种现状，对试验和评价依据的试验规范和性能评价标准就显得尤为重要，并且通过现有的测试对汽车的制动器性能进行评价不够灵活，且效率较低，现有技术中绝大部分台架试验机均只能按恒输入控制方式进行台架试验，但是在恒输入的控制方式下要按规范进行试验，需要先通过若干次制动所测力矩值进行估算，然后再调整输入压力，使制动减速度达到要求，但众所周知，制动器的工况是不稳定的，特别是在衰退和恢复的试验中，所以采用这样的方法会使规范要求的控制值之间存在一定误差，且须多次中断试验，较为繁琐，因此，亟需一种新的汽车制动器性能的评价方法及系统，以解决上述问题。With the development of my country's economic level and the improvement of people's living standards, cars have become an inaccessible means of transportation for people to travel, and the safety of cars has attracted more and more attention. Among them, the performance of automobile braking is one of the most important factors for safe driving, so it is also the focus of automobile inspection and diagnosis. The car has good braking performance, which can save the day in an emergency; when driving normally, it can increase the average driving speed, thereby improving the transportation production efficiency, but most of the existing car braking performance needs to be tested on the actual site Test, by testing the actual braking of the car under different road conditions, and collecting data for analysis, or through the bench test to conduct a 1:1 simulation experiment on the actual brake on the inertia test bench, because it is relatively stable The speed and Karl Fischer testing machine is closer to the actual working conditions of the brake pads, and it can collect data more economically and quickly than the road test. Therefore, the bench test has also become the first choice for automobile manufacturers and brake manufacturers to investigate automobile brakes. An important means of braking performance. Based on this situation, it is particularly important to test and evaluate the basis of the test specifications and performance evaluation standards, and the evaluation of the brake performance of the car through the existing test is not flexible enough, and the efficiency is low. In the prior art, most of the bench testing machines can only perform the bench test according to the constant input control mode, but in the constant input control mode, the test should be carried out according to the specification, and it is necessary to perform the test by the torque value measured by several times of braking. Estimate, and then adjust the input pressure to make the brake deceleration meet the requirements, but it is well known that the working condition of the brake is unstable, especially in the test of fading and recovery, so using this method will make the control value required by the specification There is a certain error between them, and the test must be interrupted many times, which is relatively cumbersome. Therefore, a new method and system for evaluating the performance of automobile brakes is urgently needed to solve the above problems.
发明内容Contents of the invention
有鉴于此，本发明提供一种基于虚拟道路载荷条件的制动器性能评价方法及系统，以解决上述问题。In view of this, the present invention provides a brake performance evaluation method and system based on virtual road load conditions to solve the above problems.
本发明提供的一种基于虚拟道路载荷条件的制动器性能评价方法，其特征在于：包括A method for evaluating brake performance based on virtual road load conditions provided by the present invention is characterized in that: comprising
a.构建虚拟现实平台，模拟汽车行驶时的工况，所述虚拟现实平台包括用于仿真模拟汽车驾驶的汽车动力学模型和用于模拟驾驶道路环境的道路模型；a. build a virtual reality platform to simulate the working conditions of the car, and the virtual reality platform includes a vehicle dynamics model for simulating car driving and a road model for simulating the driving road environment;
b.通过道路模型模拟不同的道路环境，采集对应环境下的汽车动力学模型输出的制动信号；b. Simulate different road environments through the road model, and collect the braking signal output by the vehicle dynamics model in the corresponding environment;
c.通过所述制动信号，评价待测制动器的性能。c. Evaluate the performance of the brake to be tested through the braking signal.
进一步，所述步骤c具体包括Further, said step c specifically includes
c1.将所述制动信号作为边界条件发送至测试台架，对待测制动器进行测试；c1. Send the brake signal as a boundary condition to the test bench to test the brake to be tested;
c2.采集待测制动器的输出信号，并实时传送至虚拟现实平台；c2. Collect the output signal of the brake to be tested and transmit it to the virtual reality platform in real time;
c3.虚拟现实平台对制动器数据进行分析处理，对制动器的制动性能进行评价。c3. The virtual reality platform analyzes and processes the brake data, and evaluates the braking performance of the brake.
进一步，所述步骤a还包括，通过采集的真实道路信息构建所述虚拟现实平台。Further, the step a also includes constructing the virtual reality platform through the collected real road information.
进一步，所述步骤a还包括在模拟的过程中，随机模拟用于干扰驾驶员驾驶行为的突发事件，所述突发事件包括：Further, the step a also includes randomly simulating emergencies used to interfere with the driver's driving behavior during the simulation process, the emergencies include:
车辆突发事件：用于模拟车辆行驶过程中突发的其他车辆影响驾驶员的驾驶行为的状况；Vehicle emergencies: used to simulate the situation that other vehicles suddenly affect the driver's driving behavior during the driving process of the vehicle;
道路突发事件：用于模拟车辆行驶过程中道路突然出现的影响驾驶员的驾驶行为的状况。Road emergencies: It is used to simulate the conditions that suddenly appear on the road and affect the driver's driving behavior during the driving of the vehicle.
进一步，所述制动信号包括车辆速度、减速度和制动力矩信号；所述待测制动器的输出信号包括制动器的制动初速度、制动管路压力、制动力矩、制动鼓或制动盘的温度。Further, the braking signal includes vehicle speed, deceleration and braking torque signals; the output signal of the brake to be tested includes the initial braking speed of the brake, brake pipeline pressure, braking torque, brake drum or brake The temperature of the moving plate.
进一步，所述步骤c3具体包括：Further, the step c3 specifically includes:
通过制动器的平均减速度来评价制动效能；Evaluate the braking performance by the average deceleration of the brake;
通过制动力矩稳定系数来评价输出制动力矩的稳定性；The stability of the output braking torque is evaluated by the braking torque stability coefficient;
通过衰退率和恢复差率来评价制动器热衰退性和恢复性能；Evaluate the thermal decay and recovery performance of the brake through the decay rate and recovery difference rate;
通过制动时间来评价制动系统响应特性；Evaluate the response characteristics of the braking system through the braking time;
通过综合上述评价结果对待测制动器的制动性能进行综合评价。Comprehensively evaluate the braking performance of the brake to be tested by combining the above evaluation results.
进一步，所述真实道路信息包括道路宽度、坡度、限速、距离和交通流信息。Further, the real road information includes road width, slope, speed limit, distance and traffic flow information.
本发明还提供了一种基于虚拟道路载荷条件的制动器性能评价系统，包括用于模拟汽车行驶时的工况的虚拟现实平台、采集模块和评价模块；The present invention also provides a brake performance evaluation system based on virtual road load conditions, including a virtual reality platform, an acquisition module and an evaluation module for simulating the working conditions of the vehicle;
所述虚拟现实平台包括用于仿真模拟汽车驾驶的汽车动力学模型和用于模拟驾驶不同的道路环境的道路模型；The virtual reality platform includes a car dynamics model for simulating car driving and a road model for simulating driving in different road environments;
所述采集模块用于采集对应环境下的汽车动力学模型输出的制动信号；The collection module is used to collect the braking signal output by the vehicle dynamics model in the corresponding environment;
所述评价模块用于通过所述制动信号评价待测制动器的性能。The evaluation module is used for evaluating the performance of the brake to be tested through the braking signal.
进一步，所述虚拟现实平台还包括用于模拟干扰驾驶员驾驶行为的突发事件的随机模拟模块。Further, the virtual reality platform also includes a random simulation module for simulating emergencies that interfere with the driver's driving behavior.
进一步，还包括显示模块和用于对待测制动器进行测试的惯性测试台架。Further, it also includes a display module and an inertia test bench for testing the brake to be tested.
本发明的有益效果：本发明中的基于虚拟道路载荷条件的制动器性能评价方法，通过虚拟现实平台对汽车的制动器性能进行评价，使试验过程不受场地的限制，还可以模拟出多种随机事件，使测试过程非常具有现实参考意义，对制动器的开发和测试提供了更为准确的依据。本发明使测试方式更加灵活，降低了成本，大大简化了制动器台架试验流程，提高了试验的可操作性，提升了试验的效率。Beneficial effects of the present invention: the brake performance evaluation method based on virtual road load conditions in the present invention evaluates the brake performance of automobiles through a virtual reality platform, so that the test process is not limited by the site, and various random events can also be simulated , so that the test process has a very realistic reference significance, and provides a more accurate basis for the development and testing of the brake. The invention makes the test mode more flexible, reduces the cost, greatly simplifies the brake bench test process, improves the operability of the test, and improves the test efficiency.
附图说明Description of drawings
下面结合附图和实施例对本发明作进一步描述：The present invention will be further described below in conjunction with accompanying drawing and embodiment:
图1是本发明的原理示意图。Fig. 1 is a schematic diagram of the principle of the present invention.
图2是本发明的结构示意图。Fig. 2 is a structural schematic diagram of the present invention.
具体实施方式detailed description
下面结合附图和实施例对本发明作进一步描述：图1是本发明的原理示意图，图2是本发明的结构示意图。The present invention will be further described below in conjunction with accompanying drawing and embodiment: Fig. 1 is the schematic diagram of principle of the present invention, Fig. 2 is the structural representation of the present invention.
如图1所示，本实施例中的基于虚拟道路载荷条件的制动器性能评价方法，包括As shown in Figure 1, the brake performance evaluation method based on virtual road load conditions in the present embodiment includes
a.构建虚拟现实平台，模拟汽车行驶时的工况，所述虚拟现实平台包括用于仿真模拟汽车驾驶的汽车动力学模型和用于模拟驾驶道路环境的道路模型；a. build a virtual reality platform to simulate the working conditions of the car, and the virtual reality platform includes a vehicle dynamics model for simulating car driving and a road model for simulating the driving road environment;
b.通过道路模型模拟不同的道路环境，采集对应环境下的汽车动力学模型输出的制动信号；b. Simulate different road environments through the road model, and collect the braking signal output by the vehicle dynamics model in the corresponding environment;
c.通过所述制动信号，评价待测制动器的性能。c. Evaluate the performance of the brake to be tested through the braking signal.
在本实施例中，所述步骤c具体包括In this embodiment, the step c specifically includes
c1.将所述制动信号作为边界条件发送至测试台架，对待测制动器进行测试；c1. Send the brake signal as a boundary condition to the test bench to test the brake to be tested;
c2.采集待测制动器的输出信号，并实时传送至虚拟现实平台；c2. Collect the output signal of the brake to be tested and transmit it to the virtual reality platform in real time;
c3.虚拟现实平台对制动器数据进行分析处理，对制动器的制动性能进行评价。c3. The virtual reality platform analyzes and processes the brake data, and evaluates the braking performance of the brake.
在本实施例中，结合虚拟现实技术和硬件在环仿真技术搭建的制动器性能试验台。利用动力学仿真建立包含制动器的整车动力学模型和道路模型，模拟汽车制动行驶时的工况，生成汽车在实际道路上所需要的制动减速度、制动力矩等边界条件，并将该边界条件施加在制动器台架，利用数据采集系统采集制动器温升、制动力矩、制动器压力、制动器磨损等信息，该制动器试验台能够为制动器设计提供更为准确的依据。In this embodiment, a brake performance test bench is constructed by combining virtual reality technology and hardware-in-the-loop simulation technology. Use dynamics simulation to establish the vehicle dynamics model and road model including the brakes, simulate the working conditions of the vehicle when braking, and generate boundary conditions such as braking deceleration and braking torque required by the vehicle on the actual road, and The boundary conditions are applied to the brake bench, and the data acquisition system is used to collect information such as brake temperature rise, brake torque, brake pressure, and brake wear. This brake test bench can provide a more accurate basis for brake design.
在本实施例中，所述步骤a还包括，通过采集的真实道路信息构建所述虚拟现实平台。真实道路信息包括道路宽度、坡度、限速、距离和交通流信息等，可以通过图像采集设备将真实道路的信息进行仿真模拟，使测试更加具有参考性和实际意义。In this embodiment, the step a further includes constructing the virtual reality platform through the collected real road information. The real road information includes road width, slope, speed limit, distance and traffic flow information, etc. The real road information can be simulated through image acquisition equipment, making the test more reference and practical.
在本实施例中，还包括在模拟的过程中，随机模拟用于干扰驾驶员驾驶行为的突发事件，所述突发事件包括：In this embodiment, it also includes randomly simulating emergencies used to interfere with the driver's driving behavior during the simulation process, and the emergencies include:
车辆突发事件：用于模拟车辆行驶过程中突发的其他车辆影响驾驶员的驾驶行为的状况；Vehicle emergencies: used to simulate the situation that other vehicles suddenly affect the driver's driving behavior during the driving process of the vehicle;
道路突发事件：用于模拟车辆行驶过程中道路突然出现的影响驾驶员的驾驶行为的状况。Road emergencies: It is used to simulate the conditions that suddenly appear on the road and affect the driver's driving behavior during the driving of the vehicle.
通过模拟时增加随机道路突发事件，进一步模拟真实状况下的行车，综合考虑各种路况条件下的制动性能，对制动性能进行综合的评定，其中车辆的突发状况：如前方车辆急刹，突然变道、突然出现行人或动物等；道路的突发状况：如道路中突然出现有障碍物、夜间道路照明不均、隧道内渗水、掉块等情况。通过随机事件可以模拟出现实场地测试中难于搭建的各种测试环境，使测试的结果更加准确。By adding random road emergencies during the simulation, further simulating the driving under real conditions, comprehensively considering the braking performance under various road conditions, and comprehensively evaluating the braking performance. Braking, sudden lane changes, sudden pedestrians or animals, etc.; road emergencies: such as sudden obstacles on the road, uneven road lighting at night, water seepage in tunnels, falling blocks, etc. Through random events, various test environments that are difficult to build in real field tests can be simulated to make the test results more accurate.
在本实施例中，制动信号包括车辆速度、减速度和制动力矩信号；所述待测制动器的输出信号包括制动器的制动初速度、制动管路压力、制动力矩、制动鼓或制动盘的温度。驾驶员可以根据显示器显示的道路信息对驾驶员模拟器的方向盘、油门踏板和制动器踏板进行制动，信号采集及处理子系统采集到驾驶模拟器上对应传感器上的信号后，将它作为输入送到汽车动力学模型中，仿真机将汽车动力学模型的输出，包含车辆速度、减速度、制动力矩信号分别发送到试验台架上的控制系统后，制动器台架测试系统开始测试，其测量系统将采集制动器的制动初速度、制动管路压力、制动力矩、制动鼓(盘)初(终)温，并且实时的传给仿真机，仿真机即对该路况下制动器测试的数据进行分析处理，并给出测试制动器的性能评价。In this embodiment, the braking signal includes vehicle speed, deceleration and braking torque signals; the output signal of the brake to be tested includes the initial braking speed of the brake, brake pipeline pressure, braking torque, brake drum or brake disc temperature. The driver can brake the steering wheel, accelerator pedal and brake pedal of the driver simulator according to the road information displayed on the monitor. After the signal acquisition and processing subsystem collects the signal from the corresponding sensor on the driving simulator, it will be sent to Into the vehicle dynamics model, the simulator sends the output of the vehicle dynamics model, including the vehicle speed, deceleration, and braking torque signals to the control system on the test bench, and the brake bench test system starts testing. The system will collect the brake initial speed, brake pipeline pressure, brake torque, brake drum (disc) initial (final) temperature, and transmit it to the simulator in real time, and the simulator is the test vehicle for the brake under the road conditions. The data is analyzed and processed, and the performance evaluation of the tested brake is given.
在本实施例中，所述步骤c3具体包括：In this embodiment, the step c3 specifically includes:
通过制动器的平均减速度来评价制动效能；Evaluate the braking performance by the average deceleration of the brake;
通过制动力矩稳定系数来评价输出制动力矩的稳定性；The stability of the output braking torque is evaluated by the braking torque stability coefficient;
通过衰退率和恢复差率来评价制动器热衰退性和恢复性能；Evaluate the thermal decay and recovery performance of the brake through the decay rate and recovery difference rate;
通过制动时间来评价制动系统响应特性；Evaluate the response characteristics of the braking system through the braking time;
在本实施例中，通过上述四个方面来评价制动器的性能，最后通过综合上述评价结果对待测制动器的制动性能进行综合评价。In this embodiment, the performance of the brake is evaluated through the above four aspects, and finally the braking performance of the brake to be tested is comprehensively evaluated by integrating the above evaluation results.
如图2所示，在本实施例中还提供了一种基于虚拟道路载荷条件的制动器性能评价系统，包括用于模拟汽车行驶时的工况的虚拟现实平台、采集模块、评价模块显示模块和用于对待测制动器进行测试的惯性测试台架；As shown in Figure 2, a kind of brake performance evaluation system based on virtual road load conditions is also provided in the present embodiment, including a virtual reality platform for simulating the working conditions of the automobile when driving, an acquisition module, an evaluation module display module and Inertia test bench for testing the brake to be tested;
所述虚拟现实平台包括用于仿真模拟汽车驾驶的汽车动力学模型和用于模拟驾驶不同的道路环境的道路模型；The virtual reality platform includes a car dynamics model for simulating car driving and a road model for simulating driving in different road environments;
所述采集模块用于采集对应环境下的汽车动力学模型输出的制动信号；The collection module is used to collect the braking signal output by the vehicle dynamics model in the corresponding environment;
所述评价模块用于通过所述制动信号评价待测制动器的性能。The evaluation module is used for evaluating the performance of the brake to be tested through the braking signal.
在本实施例中，所述虚拟现实平台还包括用于模拟干扰驾驶员驾驶行为的突发事件的随机模拟模块。In this embodiment, the virtual reality platform further includes a random simulation module for simulating emergencies that interfere with the driver's driving behavior.
通过显示模块将真实道路采集到的路况信息，包含道路宽度、坡度、限速、距离、交通流等信息进行显示；汽车动力学模型以该路况信息为道路运行约束条件在虚拟现实平台中运行。The road condition information collected by the real road is displayed through the display module, including road width, slope, speed limit, distance, traffic flow and other information; the vehicle dynamics model runs on the virtual reality platform with the road condition information as the road operation constraint.
本实施例将采用结合虚拟现实技术和硬件在环仿真技术搭建的虚拟现实平台作为制动器性能试验台，驾驶员根据显示的道路信息对驾驶员模拟器的方向盘、油门踏板和制动器踏板进行制动，信号模块采集到驾驶模拟器上对应传感器上的信号后，将它作为输入送到汽车动力学模型中，仿真机将汽车动力学模型的输出，包含车辆速度、减速度、制动力矩信号分别发送到试验台架上的控制系统后，制动器台架测试系统开始测试，其测量系统将采集制动器的制动初速度、制动管路压力、制动力矩、制动鼓(盘)初(终)温，并且实时的传给仿真机，仿真机中的评价模块即对该路况下制动器测试的数据进行分析处理，并给出测试制动器的性能评价。In this embodiment, a virtual reality platform combined with virtual reality technology and hardware-in-the-loop simulation technology will be used as a brake performance test bed, and the driver will brake the steering wheel, accelerator pedal and brake pedal of the driver simulator according to the displayed road information. After the signal module collects the signal from the corresponding sensor on the driving simulator, it is sent as an input to the vehicle dynamics model, and the simulator sends the output of the vehicle dynamics model, including vehicle speed, deceleration, and braking torque signals, respectively After reaching the control system on the test bench, the brake bench test system starts testing, and its measurement system will collect the initial braking speed of the brake, the pressure of the brake pipeline, the braking torque, the initial (final) of the brake drum (disc) temperature, and transmit it to the simulator in real time, the evaluation module in the simulator analyzes and processes the data of the brake test under the road conditions, and gives the performance evaluation of the test brake.
最后说明的是，以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的宗旨和范围，其均应涵盖在本发明的权利要求范围当中。Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements without departing from the spirit and scope of the technical solution of the present invention shall be covered by the claims of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510787956.5ACN105352741B (en) | 2015-11-16 | 2015-11-16 | Brake performance evaluation method and system based on virtual road load conditions |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510787956.5ACN105352741B (en) | 2015-11-16 | 2015-11-16 | Brake performance evaluation method and system based on virtual road load conditions |
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| CN105352741Atrue CN105352741A (en) | 2016-02-24 |
| CN105352741B CN105352741B (en) | 2019-02-22 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201510787956.5AActiveCN105352741B (en) | 2015-11-16 | 2015-11-16 | Brake performance evaluation method and system based on virtual road load conditions |
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