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CN114701518B - Brake device and brake method for heavy truck brake-by-wire - Google Patents

Brake device and brake method for heavy truck brake-by-wire Download PDF

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Publication number
CN114701518B
CN114701518B CN202210374849.XA CN202210374849A CN114701518B CN 114701518 B CN114701518 B CN 114701518B CN 202210374849 A CN202210374849 A CN 202210374849A CN 114701518 B CN114701518 B CN 114701518B
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China
Prior art keywords
vehicle
braking
information
brake
controller
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CN202210374849.XA
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CN114701518A (en
Inventor
贾敏
田磊
于少远
赵玉超
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China National Heavy Duty Truck Group Jinan Power Co Ltd
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China National Heavy Duty Truck Group Jinan Power Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B60W10/192—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes electric brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/198—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with exhaust brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • B60W60/0054—Selection of occupant to assume driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
    • B60W2050/0011—Proportional Integral Differential [PID] controller
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention relates to a brake device for brake-by-wire of a heavy truck, which comprises: the intelligent driving controller, the vehicle braking system controller, the braking execution unit, the man-machine interaction unit and the information transmission unit; the intelligent driving controller is in data communication with the vehicle braking system controller and the man-machine interaction unit through the information transmission unit; the intelligent driving controller transmits braking acceleration request information of the vehicle braking system controller through the information transmission unit; the data information of the vehicles and the roads collected by the vehicle braking system controller is transmitted to the intelligent driving controller through the information unit.

Description

Brake device and brake method for heavy truck brake-by-wire
Technical Field
The invention belongs to the technical field of automatic driving control, and particularly relates to a brake device and a brake method for heavy truck brake-by-wire.
Background
Along with the development and popularization of intelligent driving technology, intelligent driving is gradually popularized and applied in the field of heavy trucks. The drive-by-wire chassis is used as an actuator of the intelligent driving system, and the system performance and reliability play a vital role in popularization of the intelligent driving technology. To increase system safety and reliability, the wire control requires the addition of redundant devices.
In the existing heavy truck technology, brake force adjustment is realized by virtue of pneumatic braking, and excessive calling of the pneumatic braking can cause overheating of a friction disc on one hand, so that the safety of a system is affected; on the other hand, due to the large air pressure fluctuation, the comfort is poor. The redundant braking mainly realizes vehicle parking through an electronic hand brake, and can not realize linear adjustment of braking deceleration of the vehicle, meanwhile, because the redundant braking is in open loop control, the phenomenon of instability and the like of the vehicle is most likely to be caused, and the safety of the vehicle is influenced. This is a disadvantage of the prior art.
In view of the above, the present invention provides a brake device and a brake method for brake-by-wire of heavy truck, which solve the defects existing in the prior art.
Disclosure of Invention
The invention aims to provide a brake device and a brake method for heavy truck brake-by-wire, which are designed to solve the technical problems.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a heavy truck brake-by-wire brake apparatus comprising:
The intelligent driving controller, the vehicle braking system controller, the braking execution unit, the man-machine interaction unit and the information transmission unit;
the intelligent driving controller is in data communication with the vehicle braking system controller and the man-machine interaction unit through the information transmission unit, and the intelligent driving controller transmits prompt information of the man-machine interaction unit through the information transmission unit;
the intelligent driving controller transmits braking acceleration request information of the vehicle braking system controller through the information transmission unit;
the data information of the vehicles and the roads collected by the vehicle braking system controller is transmitted to the intelligent driving controller through the information transmission unit;
the vehicle braking system controller is connected with the braking execution unit through the information transmission unit, and the vehicle braking system controller transmits control information of the braking execution unit through the information transmission unit; the brake execution unit transmits response information of the vehicle brake system through the information transmission unit.
Preferably, the data information of the vehicle and the road collected by the vehicle braking system controller includes: speed data information, acceleration data information, load data information, road adhesion coefficient data information, engine state data information, retarder state data information, air brake system state data information and electronic parking brake system state data information of a vehicle.
Preferably, the intelligent driving controller makes a corresponding driving strategy according to the acquired vehicle acceleration data information and the vehicle state data information, and transmits the vehicle state data information to the man-machine interaction unit.
Preferably, the vehicle braking system controller distributes braking requests according to vehicle state data information and road data information, and solves control quantity required by each executing mechanism according to a vehicle dynamics model; meanwhile, when the vehicle air brake system fails, the vehicle brake system controller estimates the road adhesion coefficient through a Kalman algorithm, and the formula is as follows:
Wherein: μ is the ratio of the longitudinal force of the vehicle to the vertical force, ；
K is the slope of the slip rate of the vehicle under a good road surface and the road surface irradiation coefficient;
s is the slip ratio of the vehicle;
The data information of the vehicles and the roads collected by the controller is corrected for the correction factors under different road conditions;
fx is the vehicle longitudinal force and Fz is the vehicle vertical force.
Preferably, the brake execution unit comprises an engine, a retarder, a pneumatic brake system and an electronic parking brake system, executes corresponding operation according to a control instruction of the vehicle brake system controller, and feeds back an execution result to the vehicle brake system controller.
Preferably, the man-machine interaction unit comprises an instrument, a buzzer and a brake lamp, wherein the instrument displays state information of an engine, a retarder, a pneumatic braking system and an electronic parking braking system and whether a driver is required to take over the information; the buzzer prompts a driver to take over the vehicle; the brake lamp is required to be lightened when the vehicle brakes; the man-machine interaction unit realizes information transmission between a driver and a vehicle and improves the safety of the vehicle.
Preferably, the information transmission unit is responsible for information transmission among various modules of the vehicle, the intelligent driving controller sends information of the vehicle required deceleration to the vehicle braking system controller through the information transmission unit, the vehicle braking system controller distributes vehicle braking force through the vehicle dynamics model and sends control instructions to the braking execution unit through the information transmission unit, the braking execution unit sends vehicle information and state information of the execution mechanism to the vehicle braking system controller through the information transmission unit, and the controller sends the vehicle information and the state information of the execution mechanism to the intelligent driving controller through the information transmission unit.
As shown in fig. 2, the invention further provides a brake-by-wire method for heavy truck, which comprises the following steps:
Step S1: the intelligent driving controller makes a decision on the target deceleration of the vehicle according to the vehicle information, the road information and the state information of the executing mechanism, and when the on-line control braking system is abnormal, the target deceleration of the current vehicle is calculated; when the brake-by-wire system is abnormal, the intelligent driving controller starts a safety mode, corrects and adjusts the braking deceleration of the vehicle in advance according to the road surface adhesion coefficient, and sends the requested deceleration to the vehicle braking system controller through the information transmission unit;
Step S2: when the brake-by-wire system is normal, the vehicle brake system controller distributes braking force according to target braking deceleration, when the braking request is smaller than a preset threshold value, the system brakes the vehicle according to a vehicle dynamics model through engine anti-dragging torque, when the braking force is smaller than the preset threshold value, the system is braked through calling engine exhaust braking, if the engine anti-dragging torque and the engine exhaust braking can not meet the braking request, the vehicle is braked through calling a retarder, and if the engine anti-dragging torque, the engine exhaust braking and the retarder torque can not meet the braking request, the braking force is adjusted through traditional air pressure braking; when the braking force is greater than a preset threshold value, the vehicle braking system controller simultaneously calls an engine anti-dragging moment, an engine exhaust brake, a retarder and a pneumatic brake system to brake the vehicle according to the vehicle dynamics model; when the brake-by-wire system is abnormal, the vehicle brake system controller calls the electronic parking brake system according to the target brake deceleration, and the opening of the pressure valve of the electronic parking brake system is regulated in real time through the PID controller according to the vehicle deceleration fed back by the real vehicle, so that the real-time regulation of the braking force is realized, meanwhile, the vehicle brake system controller calculates the road surface attachment coefficient of the current road through a Kalman filtering algorithm according to the current vehicle information, and feeds back the state information of the brake execution unit and the estimated road surface attachment coefficient to the intelligent driving controller through the information transmission unit;
Step S3: the vehicle braking system controller sends a control command to the braking execution unit through the information transmission unit according to the calculation result, and the braking execution unit adjusts the engine anti-dragging moment, the opening of an engine exhaust braking electromagnetic valve, the retarder torque, the opening of an air braking system electromagnetic valve and the opening of an electronic parking braking system electromagnetic valve according to the control command and feeds back actual execution condition and state information to the vehicle braking system controller;
Step S4: the vehicle braking system controller feeds back the state information of the braking execution unit and the road adhesion coefficient to the intelligent driving controller, when the engine exhaust brake or/and the retarder or/and the pneumatic brake system or/and the electronic parking brake system work, the intelligent driving controller can transmit relevant information to the man-machine interaction unit through the information transmission unit, the man-machine interaction unit respectively lights the corresponding working lamps on the instrument to prompt the driver, if the intelligent driving controller judges that the driver is required to take over currently, the intelligent driving controller can transmit the relevant information to the man-machine interaction unit, the man-machine interaction unit can prompt the driver to take over the vehicle at the instrument, and meanwhile the buzzer can give an alarm.
The brake device and the brake method for the heavy truck brake-by-wire have the advantages that the technical defects in the prior art are overcome, intelligent driving in the heavy truck field is further promoted, and the brake device and the brake method in the technical scheme have no technical defects in the prior art.
In addition, the invention has reliable design principle, simple structure and very wide application prospect.
It can be seen that the present invention has outstanding substantial features and significant advances over the prior art, as well as its practical advantages.
Drawings
Fig. 1 is a control schematic diagram of a brake device for brake-by-wire of a heavy truck.
Fig. 2 is a flow chart of a braking method of a heavy truck brake-by-wire provided by the invention.
The system comprises a 1-intelligent driving controller, a 2-vehicle braking system controller, a 3-braking execution unit, a 4-man-machine interaction unit and a 5-information transmission unit.
Detailed Description
The present invention will be described in detail below by way of specific examples with reference to the accompanying drawings, the following examples being illustrative of the present invention and the present invention is not limited to the following embodiments.
Example 1:
as shown in fig. 1, a brake device for brake-by-wire of a heavy truck provided in this embodiment includes:
The intelligent driving controller 1, the vehicle braking system controller 2, the braking execution unit 3, the man-machine interaction unit 4 and the information transmission unit 5;
The intelligent driving controller 1 performs data communication with the vehicle braking system controller 2 and the man-machine interaction unit 4 through the information transmission unit 5, and the intelligent driving controller 1 transmits prompt information of the man-machine interaction unit 4 through the information transmission unit 5;
The intelligent driving controller 1 transmits braking acceleration request information of the vehicle braking system controller 2 through the information transmission unit 5;
The data information of the vehicles and the roads collected by the vehicle braking system controller 2 is transmitted to the intelligent driving controller through the information transmission unit;
The vehicle brake system controller 2 is connected with the brake execution unit 3 through an information transmission unit, and the vehicle brake system controller transmits control information of the brake execution unit through the information transmission unit; the brake execution unit transmits response information of the vehicle brake system through the information transmission unit.
The data information of the vehicle and the road collected by the vehicle braking system controller 2 comprises: speed data information, acceleration data information, load data information, road adhesion coefficient data information, engine state data information, retarder state data information, air brake system state data information and electronic parking brake system state data information of a vehicle.
The intelligent driving controller 1 makes a corresponding driving strategy according to the acquired vehicle acceleration data information and the vehicle state data information, and transmits the vehicle state data information to the man-machine interaction unit.
The vehicle braking system controller 2 distributes braking requests according to vehicle state data information and road data information, and solves control quantity required by each executing mechanism according to a vehicle dynamics model; meanwhile, when the vehicle air brake system fails, the vehicle brake system controller estimates the road adhesion coefficient through a Kalman algorithm, and the formula is as follows:
Wherein: μ is the ratio of the longitudinal force of the vehicle to the vertical force, 。
K is the slope of the slip rate of the vehicle under a good road surface and the road surface irradiation coefficient;
s is the slip ratio of the vehicle;
The data information of the vehicles and the roads collected by the controller is corrected for the correction factors under different road conditions;
fx is the vehicle longitudinal force and Fz is the vehicle vertical force.
The brake execution unit 3 comprises an engine, a retarder, a pneumatic brake system and an electronic parking brake system, executes corresponding operation according to a control instruction of the vehicle brake system controller, and feeds back an execution result to the vehicle brake system controller.
The man-machine interaction unit 4 comprises an instrument, a buzzer and a brake lamp, wherein the instrument displays state information of an engine, a retarder, a pneumatic braking system and an electronic parking braking system and whether a driver is required to take over the information; the buzzer prompts a driver to take over the vehicle; the brake lamp is required to be lightened when the vehicle brakes; the man-machine interaction unit realizes information transmission between a driver and a vehicle and improves the safety of the vehicle.
The intelligent driving controller sends information of vehicle required deceleration to the vehicle braking system controller through the information transmission unit, the vehicle braking system controller distributes vehicle braking force through the vehicle dynamics model and sends control instructions to the braking execution unit through the information transmission unit, the braking execution unit sends vehicle information and state information of the execution mechanism to the vehicle braking system controller through the information transmission unit, and the controller sends the vehicle information and the state information of the execution mechanism to the intelligent driving controller through the information transmission unit.
Example 2:
the embodiment provides a braking method for a heavy truck by wire control, which comprises the following steps:
Step S1: the intelligent driving controller makes a decision on the target deceleration of the vehicle according to the vehicle information, the road information and the state information of the executing mechanism, and when the on-line control braking system is abnormal, the target deceleration of the current vehicle is calculated; when the brake-by-wire system is abnormal, the intelligent driving controller starts a safety mode, corrects and adjusts the braking deceleration of the vehicle in advance according to the road surface adhesion coefficient, and sends the requested deceleration to the vehicle braking system controller through the information transmission unit;
Step S2: when the brake-by-wire system is normal, the vehicle brake system controller distributes braking force according to target braking deceleration, when the braking request is smaller than a preset threshold value, the system brakes the vehicle according to a vehicle dynamics model through engine anti-dragging torque, when the braking force is smaller than the preset threshold value, the system is braked through calling engine exhaust braking, if the engine anti-dragging torque and the engine exhaust braking can not meet the braking request, the vehicle is braked through calling a retarder, and if the engine anti-dragging torque, the engine exhaust braking and the retarder torque can not meet the braking request, the braking force is adjusted through traditional air pressure braking; when the braking force is greater than a preset threshold value, the vehicle braking system controller simultaneously calls an engine anti-dragging moment, an engine exhaust brake, a retarder and a pneumatic brake system to brake the vehicle according to the vehicle dynamics model; when the brake-by-wire system is abnormal, the vehicle brake system controller calls the electronic parking brake system according to the target brake deceleration, and the opening of the pressure valve of the electronic parking brake system is regulated in real time through the PID controller according to the vehicle deceleration fed back by the real vehicle, so that the real-time regulation of the braking force is realized, meanwhile, the vehicle brake system controller calculates the road surface attachment coefficient of the current road through a Kalman filtering algorithm according to the current vehicle information, and feeds back the state information of the brake execution unit and the estimated road surface attachment coefficient to the intelligent driving controller through the information transmission unit;
Step S3: the vehicle braking system controller sends a control command to the braking execution unit through the information transmission unit according to the calculation result, and the braking execution unit adjusts the engine anti-dragging moment, the opening of an engine exhaust braking electromagnetic valve, the retarder torque, the opening of an air braking system electromagnetic valve and the opening of an electronic parking braking system electromagnetic valve according to the control command and feeds back actual execution condition and state information to the vehicle braking system controller;
Step S4: the vehicle braking system controller feeds back the state information of the braking execution unit and the road adhesion coefficient to the intelligent driving controller, when the engine exhaust brake or/and the retarder or/and the pneumatic brake system or/and the electronic parking brake system work, the intelligent driving controller can transmit relevant information to the man-machine interaction unit through the information transmission unit, the man-machine interaction unit respectively lights the corresponding working lamps on the instrument to prompt the driver, if the intelligent driving controller judges that the driver is required to take over currently, the intelligent driving controller can transmit the relevant information to the man-machine interaction unit, the man-machine interaction unit can prompt the driver to take over the vehicle at the instrument, and meanwhile the buzzer can give an alarm.
The foregoing disclosure is merely illustrative of the preferred embodiments of the invention and the invention is not limited thereto, since modifications and variations may be made by those skilled in the art without departing from the principles of the invention.

Claims (2)

1. A brake-by-wire heavy truck brake apparatus, comprising:
The intelligent driving controller, the vehicle braking system controller, the braking execution unit, the man-machine interaction unit and the information transmission unit;
the intelligent driving controller is in data communication with the vehicle braking system controller and the man-machine interaction unit through the information transmission unit, and the intelligent driving controller transmits prompt information of the man-machine interaction unit through the information transmission unit;
the intelligent driving controller transmits braking acceleration request information of the vehicle braking system controller through the information transmission unit;
the data information of the vehicles and the roads collected by the vehicle braking system controller is transmitted to the intelligent driving controller through the information transmission unit;
The vehicle braking system controller is connected with the braking execution unit through the information transmission unit, and the vehicle braking system controller transmits control information of the braking execution unit through the information transmission unit; the brake execution unit transmits response information of the vehicle brake system through the information transmission unit;
The data information of the vehicle and the road collected by the vehicle braking system controller comprises: speed data information, acceleration data information, load data information, road adhesion coefficient data information, engine state data information, retarder state data information, air brake system state data information and electronic parking brake system state data information of a vehicle;
The intelligent driving controller makes a corresponding driving strategy according to the acquired vehicle acceleration data information and the vehicle state data information, and transmits the vehicle state data information to the man-machine interaction unit;
The vehicle braking system controller distributes braking requests according to vehicle state data information and road data information, and solves control quantity required by each executing mechanism according to a vehicle dynamics model; meanwhile, when the vehicle air brake system fails, the vehicle brake system controller estimates the road adhesion coefficient through a Kalman algorithm, and the formula is as follows:
Wherein: μ is the ratio of the longitudinal force of the vehicle to the vertical force, ；
K is the slope of the slip rate of the vehicle under a good road surface and the road surface irradiation coefficient;
s is the slip ratio of the vehicle;
The data information of the vehicles and the roads collected by the controller is corrected for the correction factors under different road conditions;
Fx is the vehicle longitudinal force and Fz is the vehicle vertical force;
The brake execution unit comprises an engine, a retarder, a pneumatic brake system and an electronic parking brake system, executes corresponding operation according to a control instruction of the vehicle brake system controller, and feeds back an execution result to the vehicle brake system controller;
The man-machine interaction unit comprises an instrument, a buzzer and a brake lamp, wherein the instrument displays state information of an engine, a retarder, a pneumatic braking system and an electronic parking braking system and whether a driver is required to take over the information; the buzzer prompts a driver to take over the vehicle; the brake lamp is required to be lightened when the vehicle brakes; the man-machine interaction unit realizes information transmission between a driver and a vehicle, and improves the safety of the vehicle;
The intelligent driving controller sends information of vehicle required deceleration to the vehicle braking system controller through the information transmission unit, the vehicle braking system controller distributes vehicle braking force through the vehicle dynamics model and sends control instructions to the braking execution unit through the information transmission unit, the braking execution unit sends vehicle information and state information of the execution mechanism to the vehicle braking system controller through the information transmission unit, and the controller sends the vehicle information and the state information of the execution mechanism to the intelligent driving controller through the information transmission unit.
2. The brake method for the brake-by-wire of the heavy truck is characterized by comprising the following steps of:
Step S1: the intelligent driving controller makes a decision on the target deceleration of the vehicle according to the vehicle information, the road information and the state information of the executing mechanism, and when the on-line control braking system is abnormal, the target deceleration of the current vehicle is calculated; when the brake-by-wire system is abnormal, the intelligent driving controller starts a safety mode, corrects and adjusts the braking deceleration of the vehicle in advance according to the road surface adhesion coefficient, and sends the requested deceleration to the vehicle braking system controller through the information transmission unit;
Step S2: when the brake-by-wire system is normal, the vehicle brake system controller distributes braking force according to target braking deceleration, when the braking request is smaller than a preset threshold value, the system brakes the vehicle according to a vehicle dynamics model through engine anti-dragging torque, when the braking force is smaller than the preset threshold value, the system is braked through calling engine exhaust braking, if the engine anti-dragging torque and the engine exhaust braking can not meet the braking request, the vehicle is braked through calling a retarder, and if the engine anti-dragging torque, the engine exhaust braking and the retarder torque can not meet the braking request, the braking force is adjusted through traditional air pressure braking; when the braking force is greater than a preset threshold value, the vehicle braking system controller simultaneously calls an engine anti-dragging moment, an engine exhaust brake, a retarder and a pneumatic brake system to brake the vehicle according to the vehicle dynamics model; when the brake-by-wire system is abnormal, the vehicle brake system controller calls the electronic parking brake system according to the target brake deceleration, and the opening of the pressure valve of the electronic parking brake system is regulated in real time through the PID controller according to the vehicle deceleration fed back by the real vehicle, so that the real-time regulation of the braking force is realized, meanwhile, the vehicle brake system controller calculates the road surface attachment coefficient of the current road through a Kalman filtering algorithm according to the current vehicle information, and feeds back the state information of the brake execution unit and the estimated road surface attachment coefficient to the intelligent driving controller through the information transmission unit;
the vehicle braking system controller estimates the road adhesion coefficient through a Kalman algorithm, and the formula is as follows:
Wherein: μ is the ratio of the longitudinal force of the vehicle to the vertical force, ；
K is the slope of the slip rate of the vehicle under a good road surface and the road surface irradiation coefficient;
s is the slip ratio of the vehicle;
The data information of the vehicles and the roads collected by the controller is corrected for the correction factors under different road conditions;
Fx is the vehicle longitudinal force and Fz is the vehicle vertical force;
Step S3: the vehicle braking system controller sends a control command to the braking execution unit through the information transmission unit according to the calculation result, and the braking execution unit adjusts the engine anti-dragging moment, the opening of an engine exhaust braking electromagnetic valve, the retarder torque, the opening of an air braking system electromagnetic valve and the opening of an electronic parking braking system electromagnetic valve according to the control command and feeds back actual execution condition and state information to the vehicle braking system controller;
Step S4: the vehicle braking system controller feeds back the state information of the braking execution unit and the road adhesion coefficient to the intelligent driving controller, when the engine exhaust brake or/and the retarder or/and the pneumatic brake system or/and the electronic parking brake system work, the intelligent driving controller can transmit relevant information to the man-machine interaction unit through the information transmission unit, the man-machine interaction unit respectively lights the corresponding working lamps on the instrument to prompt the driver, if the intelligent driving controller judges that the driver is required to take over currently, the intelligent driving controller can transmit the relevant information to the man-machine interaction unit, the man-machine interaction unit can prompt the driver to take over the vehicle at the instrument, and meanwhile the buzzer can give an alarm.
CN202210374849.XA 2022-04-11 2022-04-11 Brake device and brake method for heavy truck brake-by-wire Active CN114701518B (en)

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