CN104635510A - Control system model using retarder and exhaust brake for combined braking and building method of control system model - Google Patents
Control system model using retarder and exhaust brake for combined braking and building method of control system model Download PDFInfo
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- CN104635510A CN104635510A CN201410757737.8A CN201410757737A CN104635510A CN 104635510 A CN104635510 A CN 104635510A CN 201410757737 A CN201410757737 A CN 201410757737A CN 104635510 A CN104635510 A CN 104635510A
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Abstract
The invention discloses a control system model using a retarder and an exhaust brake for combined braking and a building method of the control system model. The method includes: acquiring the air pressure-transmission shaft rotation speed-retarder brake torque relation through repeated bench tests; acquiring the engine rotation speed-exhaust brake torque relation through repeated drum rotation; respectively acquiring retarder brake force, exhaust brake force, air resistance brake force and road resistance brake force through different modules; overlapping the brake force into total brake force, converting the brake force into acceleration, the acceleration is converted into speed, and a vehicle constant-speed downhill function and a vehicle brake function are achieved. The method has the advantages that MATLAB/SIMULINK is used as a tool to build a combined brake control system using the retarder including environmental resistance and the exhaust brake, and precise retarder and exhaust brake combined brake effects are achieved by fast changing control system model parameters.
Description
Technical field
The invention belongs to vehicle brake technology field, be specifically related to control system model and the method for building up thereof of retarder and exhaust brake Associated brake.
Background technology
Heavy vehicle is under the operating mode of complexity, such as: long down hill braking, level road is frequently braked, the more general operating mode severity of braking of driving main brake significantly increases, as: the enhance faster wear of detent, brake lining accelerates decline etc., reaches certain order of severity, the malfunctioning of main brake can be caused, cause traffic hazard.Retarder can realize constant speed and braking by grades function, effectively can reduce the pressure of main brake.Comparatively other auxiliary braking (engine braking, current vortex retarder), has braking moment large, and braking is steady, the advantages such as noise is little, the life-span is long, and volume is little.
The external research and development for electric control hydraulic retarder and application achieve significant progress, such as: German CF, Germany Fu Yite, Sweden's Scania, the Allison series Retarder etc. of General Motors Overseas Corporation, though but external Retarder technology maturation, but cost is higher, therefore domestic main frame manufacturer fails to mate on a large scale, the development of domestic Retarder with method scholar specially for pioneer, domestic Retarder technology was constantly ripe and pushed Retarder to market in recent years, obtain the accreditation of user, and cost is far below the Retarder of foreign vendor.
The electric-control system of current domestic Retarder is all hand-written code form, but the many parameters for control system need experiment repeatedly to determine, this for platform experiment and entrucking testing cost higher, change again if parameter is changed, cost of development not only can be caused to increase, also the construction cycle can be caused to increase.
Summary of the invention
In order to overcome the defect that above-mentioned prior art exists, the object of the present invention is to provide control system model and the method for building up thereof of retarder and exhaust brake Associated brake, the present invention take MATLAB/SIMULINK as instrument, setting up the retarder and the exhaust brake Associated brake control system model that comprise environmental resitance, obtaining the result of accurate retarder and exhaust brake Associated brake by changing model parameter efficiently.
For achieving the above object, the present invention adopts following technical scheme:
The control system model method for building up of retarder and exhaust brake Associated brake, comprises the following steps:
1) external characteristic curve of retarder is obtained by platform experiment repeatedly, that is: air pressure-rotating speed of transmission shaft-retarder braking torque relation;
2) exhaust brake external characteristic curve is accurately obtained, that is: engine speed-exhaust brake power relation by rotary drum repeatedly;
3) according to tire radius, rear axle ratio and the speed of a motor vehicle obtain rotating speed of transmission shaft, with the external characteristic curve of retarder for foundation, obtain retarder braking torque according to air pressure and rotating speed of transmission shaft, and then obtain retarder damping force by retarder braking torque, rear axle ratio and tire radius; Engine speed is obtained according to rotating speed of transmission shaft and gearbox-gear, with exhaust brake external characteristic curve for foundation, obtain exhaust brake power according to engine speed, then calculate exhaust brake torque, and then obtain exhaust brake power by exhaust brake torque, rear axle ratio and tire radius; Windage damping force is obtained according to coefficient of air resistance, front face area and the speed of a motor vehicle; Road resistance damping force is obtained according to the gradient, car weight and coefficient of frictional resistance;
4) retarder damping force, exhaust brake power, windage damping force and road resistance damping force are superposed to total braking force, are then converted into acceleration, are finally converted into speed, thus realize constant speed descending function and the braking function of vehicle.
Further, step 3) in obtain retarder braking torque according to air pressure and rotating speed of transmission shaft method be: according to air pressure-rotating speed of transmission shaft-braking torque close tie up in MATLAB/SIMULINK carry out three-dimensional tabulation and interpolation table look-up namely can obtain any air pressure and car load rotating speed of transmission shaft under corresponding retarder braking torque.
Further, step 3) in obtain exhaust brake power according to exhaust brake external characteristic curve method be: according to engine speed-exhaust brake power relation carry out in MATLAB/SIMULINK two dimension tabulation and interpolation is tabled look-up the exhaust brake power that can access under any engine speed.
Further, step 3) according to the method for exhaust brake power calculation exhaust brake torque be: set an engine speed, when engine speed > setting value, T=P × 9550/N, wherein T is exhaust brake torque, P is exhaust brake power, and N is engine speed; When engine speed≤setting value, exhaust brake torque is 0.
Further, step 4) in constant speed descending function be as the control algolithm in constant speed descending process with pid algorithm, described pid algorithm comprises Proportional coefficient K p, integration time constant Ti and derivative time constant Td tri-parameters, by inputting the difference regulating parameter of the real-time speed of a motor vehicle and target vehicle speed to desired value, finally make speed of a motor vehicle held stationary.
The control system model of retarder and exhaust brake Associated brake, comprising:
Rotating speed of transmission shaft modular converter: for by tire radius, rear axle ratio and the speed of a motor vehicle are converted to rotating speed of transmission shaft;
Retarder module: for air pressure and rotating speed of transmission shaft are converted into retarder braking torque, and then obtain retarder damping force by retarder braking torque, rear axle ratio and tire radius;
Exhaust brake module: for rotating speed of transmission shaft and gearbox-gear are converted into engine speed, and with exhaust brake external characteristic curve for foundation, exhaust brake power is obtained according to engine speed, then calculate exhaust brake torque, and then obtain exhaust brake power by exhaust brake torque, rear axle ratio and tire radius;
Windage module: for coefficient of air resistance, front face area and the speed of a motor vehicle are converted into windage damping force;
Road resistance module: for the gradient, car weight and coefficient of frictional resistance are converted into road resistance damping force;
Speed of a motor vehicle conversion module: for retarder damping force, exhaust brake power, windage damping force and road resistance damping force are superposed to total braking force, be then converted into acceleration;
Speed of a motor vehicle output module: be converted into the speed of a motor vehicle for degree of will speed up, and the speed of a motor vehicle is passed to rotating speed of transmission shaft modular converter and windage module.
Further, also comprise constant speed pid control module: for receiving the speed of a motor vehicle of speed of a motor vehicle output module, and reconcile inherent parameters according to the difference of the speed of a motor vehicle and target vehicle speed, then send the atmospheric pressure value of output to retarder module.
Further, retarder module comprises the braking torque transform subblock for air pressure and rotating speed of transmission shaft being converted into retarder braking torque and is used for retarder braking torque, rear axle ratio and tire radius to be converted into the damping force transform subblock of retarder damping force, and wherein braking torque transform subblock comprises the inertial element module for simulating retarder Oil feeding process.
Further, exhaust brake module comprises for rotating speed of transmission shaft and gearbox-gear are converted into engine speed, and with exhaust brake external characteristic curve for foundation, the exhaust brake submodule of exhaust brake torque is obtained according to engine speed, wherein exhaust brake submodule comprises for judging whether engine speed is greater than the if-else judge module of setting value, if, T=P × 9550/N calculates exhaust brake torque with the formula, wherein T is exhaust brake torque, P is exhaust brake power, and N is engine speed; If not, exhaust brake torque is 0.
Further, the gradient is gathered by gradient pick-up transducers.
Compared with prior art, the present invention has following useful technique effect:
The present invention take MATLAB/SIMULINK as instrument, set up the retarder and the exhaust brake Associated brake control system that comprise environmental resitance, the result of accurate retarder and exhaust brake Associated brake is obtained by changing Controlling model parameter efficiently, can control system model is quick, accurate and effective whereby the constant speed drawing retarder and braking effect, and this control system model is all modular form, facilitate the transplanting etc. of subsequent development car load brake system (retarder braking, driving main brake, engine braking, exhaust brake).And retarder mates the database of car load under setting up different operating mode, the theory calculate in early stage of effective shortening retarder coupling car load, can to car load factory coupling retarder especially in the car load coupling retarder process of mass, make the response of quickly, efficiently and accurately, shorten the cycle of retarder coupling car load, effectively increase work efficiency, cost-saving, increase economic efficiency.
Accompanying drawing explanation
Fig. 1 is control system general frame figure of the present invention;
Fig. 2 is retarder module diagram;
Fig. 3 is braking torque transform subblock schematic diagram;
Fig. 4 is damping force transform subblock schematic diagram;
Fig. 5 is exhaust brake module diagram;
Fig. 6 is exhaust brake submodule schematic diagram;
Fig. 7 is windage module diagram;
Fig. 8 is road resistance module diagram;
Fig. 9 is sinusoidal submodule schematic diagram;
Figure 10 is cosine submodule schematic diagram;
Figure 11 is constant speed pid algorithm schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail:
The control system model method for building up of retarder and exhaust brake Associated brake, comprising:
1) external characteristic curve of retarder is obtained by platform experiment repeatedly, that is: air pressure-rotating speed of transmission shaft-retarder braking torque relation;
2) exhaust brake external characteristic curve is accurately obtained, that is: engine speed-exhaust brake power relation by rotary drum repeatedly;
3) according to tire radius, rear axle ratio and the speed of a motor vehicle obtain rotating speed of transmission shaft, with the external characteristic curve of retarder for foundation, retarder braking torque is obtained according to air pressure and rotating speed of transmission shaft, its method be according to air pressure-rotating speed of transmission shaft-braking torque close tie up in MATLAB/SIMULINK carry out three-dimensional tabulation and interpolation table look-up namely can obtain any air pressure and car load rotating speed of transmission shaft under corresponding retarder braking torque, and then obtain retarder damping force by retarder braking torque, rear axle ratio and tire radius;
Engine speed is obtained according to rotating speed of transmission shaft and gearbox-gear, with exhaust brake external characteristic curve for foundation, exhaust brake power is obtained according to engine speed, its method is in MATLAB/SIMULINK, carry out the two-dimentional exhaust brake power that can access under any engine speed and interpolation is tabled look-up of tabulating according to engine speed-exhaust brake power relation, then exhaust brake torque is calculated, when engine speed > setting value, T=P × 9550/N, wherein T is exhaust brake torque, P is exhaust brake power, N is engine speed, when engine speed≤setting value, exhaust brake torque is 0, and then obtains exhaust brake power by exhaust brake torque, rear axle ratio and tire radius,
According to coefficient of air resistance, front face area and speed of a motor vehicle windage damping force; Road resistance damping force is obtained according to the gradient, car weight and coefficient of frictional resistance;
4) retarder damping force, exhaust brake power, windage damping force and road resistance damping force are superposed to total braking force, then acceleration is converted into, finally be converted into speed, thus realize constant speed descending function and the braking function of vehicle, wherein constant speed descending function is as the control algolithm in constant speed descending process with pid algorithm, described pid algorithm comprises Proportional coefficient K p, integration time constant Ti and derivative time constant Td tri-parameters, by inputting the difference regulating parameter of the real-time speed of a motor vehicle and target vehicle speed to desired value, finally make speed of a motor vehicle held stationary.
See Fig. 1, the control system model of retarder and exhaust brake Associated brake, comprising:
Rotating speed of transmission shaft modular converter: for by tire radius, rear axle ratio and the speed of a motor vehicle are converted to rotating speed of transmission shaft;
Retarder module: for air pressure and rotating speed of transmission shaft are converted into retarder braking torque, and then obtain retarder damping force by retarder braking torque, rear axle ratio and tire radius; Retarder module comprises the braking torque transform subblock for air pressure and rotating speed of transmission shaft being converted into retarder braking torque and is used for retarder braking torque, rear axle ratio and tire radius to be converted into the damping force transform subblock of retarder damping force, and wherein braking torque transform subblock comprises the inertial element module for simulating retarder Oil feeding process.
Exhaust brake module: for rotating speed of transmission shaft and gearbox-gear are converted into engine speed, and with exhaust brake external characteristic curve for foundation, exhaust brake power is obtained according to engine speed, then calculate exhaust brake torque, and then obtain exhaust brake power by exhaust brake torque, rear axle ratio and tire radius; Exhaust brake module comprises for rotating speed of transmission shaft and gearbox-gear are converted into engine speed, and with exhaust brake external characteristic curve for foundation, the exhaust brake submodule of exhaust brake torque is obtained according to engine speed, wherein exhaust brake submodule comprises for judging whether engine speed is greater than the if-else judge module of setting value, if, T=P × 9550/N calculates exhaust brake torque with the formula, wherein T is exhaust brake torque, P is exhaust brake power, and N is engine speed; If not, exhaust brake torque is 0.
Windage module: for coefficient of air resistance, front face area and the speed of a motor vehicle are converted into windage damping force;
Road resistance module: for the gradient, car weight and coefficient of frictional resistance are converted into road resistance damping force; Wherein the gradient is gathered by gradient pick-up transducers.
Speed of a motor vehicle conversion module: for retarder damping force, exhaust brake power, windage damping force and road resistance damping force are superposed to total braking force, be then converted into acceleration;
Speed of a motor vehicle output module: be converted into the speed of a motor vehicle for degree of will speed up, and the speed of a motor vehicle is passed to rotating speed of transmission shaft modular converter and windage module;
Constant speed pid control module: for receiving the speed of a motor vehicle of speed of a motor vehicle output module, and reconcile inherent parameters according to the difference of the speed of a motor vehicle and target vehicle speed, and send the atmospheric pressure value of output to retarder module.
See Fig. 2 to Fig. 4, retarder module as shown in Figure 2, rotating speed of transmission shaft can according to tire radius, rear axle ratio and the speed of a motor vehicle calculate, retarder module comprises braking torque transform subblock and damping force transform subblock, in braking torque transform subblock, wherein air pressure is calibration value, rotating speed of transmission shaft is real-time calculated value, the braking torque of retarder can be obtained accurately by the external characteristic curve (air pressure-rotating speed of transmission shaft-braking torque) of retarder, retarder damping force can be obtained by the transformational relation of moment of torsion and power in damping force transform subblock.In order to simulate the actual Oil feeding process of retarder, in braking torque transform subblock, add an inertial element module.
See Fig. 5 and Fig. 6, exhaust brake model comprises exhaust brake submodule, in exhaust brake submodule, with Fa Shite 9JSD200T mechanical gear box for foundation, by setting up engine speed and exhaust brake power two-dimensional table, T=P × 9550/N calculates exhaust brake torque with the formula, wherein: T is moment of torsion (NM), P is power (kW), N is engine speed (rpm).As engine speed≤1200rpm, exhaust brake output torque will be 0, therefore in exhaust brake submodule, add if-else judge module as judgement.
See Fig. 7, in actual driving conditions, windage is relevant with coefficient of air resistance, front face area and the speed of a motor vehicle, according to formula: F
a=S × C × V
2/ 21.15 determine, wherein, and F
afor windage damping force (N), S is front face area (m
2), C is coefficient of air resistance, and V is the speed of a motor vehicle (km/h).Coefficient of air resistance gets empirical value, and for specific vehicle, front face area is fixed value, is namely all calibration value for coefficient of air resistance and front face area.
See Fig. 8 to Figure 10, when descending, road resistance is presented as that gravity is along the component in direction, slope and force of rolling friction, straight road is only presented as force of rolling friction, adds the real-time gradient of Slope Transducer collection.Fig. 9 is sinusoidal submodule, the percentage gradient is converted into the sine value of angle, and Figure 10 is cosine submodule, the percentage gradient is converted into the cosine value of angle, and the final form of expression of road resistance is:
Wherein: m is car weight (kg); G is acceleration of gravity (m/s
2); μ is coefficient of rolling friction; I is the percentage gradient.
See Figure 11, one of most important function of retarder is exactly constant speed descending function, and adopt pid algorithm to the control of constant speed, the difference being input as the real-time speed of a motor vehicle and target vehicle speed of constant speed pid control module, exports as atmospheric pressure value.PID comprises three parameters: Proportional coefficient K p, integration time constant Ti and derivative time constant Td, and the adjustment of parameter is extremely important to pid control algorithm, and when parameter regulates suitable, what the speed of a motor vehicle can be made to keep relatively steadily reduces concussion.By to the analysis of existing coupling retarder real vehicle data with constantly test adjustment, the pid parameter finally determined is Kp:8, Ti:4, Td:2, and under this parameter, the speed of a motor vehicle can keep relative steady.
The present invention mainly comprises control system model and the method for building up thereof of retarder and exhaust brake Associated brake.Whole control system model completes based on MATLAB/SIMULINK, each several part module (retarder module, exhaust brake module, windage module and road resistance module) has been built separately, builds general frame according to whole-car parameters.
For retarder module, with Fa Shite FHB320B Retarder in parallel for foundation, do a large amount of platform experiment in my unit experimental center, obtain the relation of air pressure-rotating speed of transmission shaft-braking torque accurately, in MATLAB/SIMULINK, carry out three-dimensional tabulation to go forward side by side row interpolation.
With Weihe River bavin WP12 engine, 375 horsepowers, Fa Shite 9JSD200T mechanical gear box, Fa Shite FHB320B Retarder in parallel is car load configuration, when rotating drum experiments room only at exhaust brake obtain the relation data of engine speed and exhaust brake power, in MATLAB/SIMULINK, carry out two dimension to tabulate row interpolation of going forward side by side.Windage module and road resistance module are set up according to respective mathematics physics model.
After integral module has been built, constant speed function is debugged under different car weights and the gradient, under different specific speed, car weight scope and the gradient scope of constant speed is realized under determining retarder and exhaust brake Associated brake, in level road braking procedure, with the braking acceleration of exhaust brake Associated brake under the different air pressure of confirmation retarder.Set up the database of retarder coupling car load under different operating mode, the effective theory calculate in early stage shortening retarder coupling car load, to car load factory coupling retarder especially in the car load coupling retarder process of mass, the response of quickly, efficiently and accurately can be made.
Claims (10)
1. the control system model method for building up of retarder and exhaust brake Associated brake, is characterized in that, comprise the following steps:
1) external characteristic curve of retarder is obtained by platform experiment repeatedly, that is: air pressure-rotating speed of transmission shaft-retarder braking torque relation;
2) exhaust brake external characteristic curve is accurately obtained, that is: engine speed-exhaust brake power relation by rotary drum repeatedly;
3) according to tire radius, rear axle ratio and the speed of a motor vehicle obtain rotating speed of transmission shaft, with the external characteristic curve of retarder for foundation, obtain retarder braking torque according to air pressure and rotating speed of transmission shaft, and then obtain retarder damping force by retarder braking torque, rear axle ratio and tire radius; Engine speed is obtained according to rotating speed of transmission shaft and gearbox-gear, with exhaust brake external characteristic curve for foundation, obtain exhaust brake power according to engine speed, then calculate exhaust brake torque, and then obtain exhaust brake power by exhaust brake torque, rear axle ratio and tire radius; Windage damping force is obtained according to coefficient of air resistance, front face area and the speed of a motor vehicle; Road resistance damping force is obtained according to the gradient, car weight and coefficient of frictional resistance;
4) retarder damping force, exhaust brake power, windage damping force and road resistance damping force are superposed to total braking force, are then converted into acceleration, are finally converted into speed, thus realize constant speed descending function and the braking function of vehicle.
2. the control system model method for building up of retarder according to claim 1 and exhaust brake Associated brake, it is characterized in that, step 3) in obtain retarder braking torque according to air pressure and rotating speed of transmission shaft method be: according to air pressure-rotating speed of transmission shaft-braking torque close tie up in MATLAB/SIMULINK carry out three-dimensional tabulation and interpolation table look-up namely can obtain any air pressure and car load rotating speed of transmission shaft under corresponding retarder braking torque.
3. the control system model method for building up of retarder according to claim 1 and exhaust brake Associated brake, it is characterized in that, step 3) in obtain exhaust brake power according to exhaust brake external characteristic curve method be: according to engine speed-exhaust brake power relation carry out in MATLAB/SIMULINK two dimension tabulation and interpolation is tabled look-up the exhaust brake power that can access under any engine speed.
4. the control system model method for building up of retarder according to claim 1 and exhaust brake Associated brake, it is characterized in that, step 3) according to the method for exhaust brake power calculation exhaust brake torque be: set an engine speed, when engine speed > setting value, T=P × 9550/N, wherein T is exhaust brake torque, and P is exhaust brake power, and N is engine speed; When engine speed≤setting value, exhaust brake torque is 0.
5. the control system model method for building up of retarder according to claim 1 and exhaust brake Associated brake, it is characterized in that, step 4) in constant speed descending function be as the control algolithm in constant speed descending process with pid algorithm, described pid algorithm comprises Proportional coefficient K p, integration time constant Ti and derivative time constant Td tri-parameters, by inputting the difference regulating parameter of the real-time speed of a motor vehicle and target vehicle speed to desired value, finally make speed of a motor vehicle held stationary.
6. the control system model of retarder and exhaust brake Associated brake, is characterized in that, comprising:
Rotating speed of transmission shaft modular converter: for by tire radius, rear axle ratio and the speed of a motor vehicle are converted to rotating speed of transmission shaft;
Retarder module: for air pressure and rotating speed of transmission shaft are converted into retarder braking torque, and then obtain retarder damping force by retarder braking torque, rear axle ratio and tire radius;
Exhaust brake module: for rotating speed of transmission shaft and gearbox-gear are converted into engine speed, and with exhaust brake external characteristic curve for foundation, exhaust brake power is obtained according to engine speed, then calculate exhaust brake torque, and then obtain exhaust brake power by exhaust brake torque, rear axle ratio and tire radius;
Windage module: for coefficient of air resistance, front face area and the speed of a motor vehicle are converted into windage damping force;
Road resistance module: for the gradient, car weight and coefficient of frictional resistance are converted into road resistance damping force;
Speed of a motor vehicle conversion module: for retarder damping force, exhaust brake power, windage damping force and road resistance damping force are superposed to total braking force, be then converted into acceleration;
Speed of a motor vehicle output module: be converted into the speed of a motor vehicle for degree of will speed up, and the speed of a motor vehicle is passed to rotating speed of transmission shaft modular converter and windage module.
7. the control system model of retarder according to claim 6 and exhaust brake Associated brake, it is characterized in that, also comprise constant speed pid control module: for receiving the speed of a motor vehicle of speed of a motor vehicle output module, and reconcile inherent parameters according to the difference of the speed of a motor vehicle and target vehicle speed, then send the atmospheric pressure value of output to retarder module.
8. the control system model of retarder according to claim 6 and exhaust brake Associated brake, it is characterized in that, retarder module comprises the braking torque transform subblock for air pressure and rotating speed of transmission shaft being converted into retarder braking torque and is used for retarder braking torque, rear axle ratio and tire radius to be converted into the damping force transform subblock of retarder damping force, and wherein braking torque transform subblock comprises the inertial element module for simulating retarder Oil feeding process.
9. the control system model of retarder according to claim 6 and exhaust brake Associated brake, it is characterized in that, exhaust brake module comprises for rotating speed of transmission shaft and gearbox-gear are converted into engine speed, and with exhaust brake external characteristic curve for foundation, the exhaust brake submodule of exhaust brake torque is obtained according to engine speed, wherein exhaust brake submodule comprises for judging whether engine speed is greater than the if-else judge module of setting value, if, T=P × 9550/N calculates exhaust brake torque with the formula, wherein T is exhaust brake torque, P is exhaust brake power, N is engine speed, if not, exhaust brake torque is 0.
10. the control system model of retarder according to claim 6 and exhaust brake Associated brake, is characterized in that, the gradient is gathered by gradient pick-up transducers.
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| CN108762113B (en) * | 2018-06-21 | 2021-07-27 | 陕西法士特齿轮有限责任公司 | Method for establishing retarder torque characteristic calculation model |
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| CN113984405A (en) * | 2021-10-18 | 2022-01-28 | 中国第一汽车股份有限公司 | Method for testing braking performance of retarder |
| CN113984405B (en) * | 2021-10-18 | 2024-05-07 | 中国第一汽车股份有限公司 | Retarder braking performance test method |
| CN114013422A (en) * | 2021-10-31 | 2022-02-08 | 东风商用车有限公司 | Auxiliary braking system and method for vehicle-mounted engine and vehicle |
| CN114013422B (en) * | 2021-10-31 | 2023-05-30 | 东风商用车有限公司 | Auxiliary braking system and method of vehicle-mounted engine and vehicle |
| CN114590233A (en) * | 2022-03-09 | 2022-06-07 | 一汽解放汽车有限公司 | Downhill constant speed control method and device and storage medium |
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