CN106919173A - A kind of braking integrated control method formed into columns based on heavy vehicle - Google Patents
A kind of braking integrated control method formed into columns based on heavy vehicle Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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Abstract
The invention discloses a kind of braking integrated control method formed into columns based on heavy vehicle, method is divided into signal sensing layer, Decision Control layer and order execution level；Position Design sensor type and braking model according to vehicle in formation, accurate vehicle load is measured under the conditions of air drag nonlinear change by front truck and trailer sensor, and real-time estimation intermediate car load obtains more precise results；Warning system is divided into vehicle trouble warning system and forms into columns plugs in car warning system；According to operation multimode recognition result of forming into columns, vehicle-mounted camera adjustment angle realizes different identification functions；Braking Integrating controls strategies are changed for the change of formation vehicle total amount odd even；The braking of liftable pontoon bridge changes toe-angle and obtains corresponding brake force and carry out runflat control；Designed with flabellum in eddy current retarder；Corresponding faults-tolerant control and model selection are taken according to driving mode and fault type.
Description
Technical field
Formed into columns the invention belongs to platooning's brake field, especially heavy goods vehicle and brake integrated control system.
Background technology
The problem that traffic accident, traffic congestion, greenhouse gas emission, environmental pollution, energy resource consumption etc. are on the rise into
It is the general character problem of the mankind.With energy resource consumption, environmental pollution, traffic jam issue it is increasingly serious, platooning control receive
To growing interest and attention.China human mortality is intensive, and traffic congestion and traffic accident are of common occurrence, and the more flourishing city of economy is particularly tight
Weight.Therefore improving the traffic system traffic capacity, raising traffic system degree of intelligence and security has its own strategic significance.From 20
Start global trade century and mostly rely on cargo transport and communication system, transportation system is most important to social development, transport
Defeated demand is closely coupled with economic development.In all road surface cargo transports, the transport that highway transportation assume responsibility for more than 60% is appointed
Business.Although road freight is most important in economic development, also faces fuel price rise, greenhouse gas emission supervision and strengthen
Etc. lot of challenges；Another aspect information and communication integration control technology and developing rapidly for intelligent transportation substantially increase transport system
System security and economy, formation transport can obviously reduce fuel consumption, and for cooperation, transportation system provides very strong driving force, to form into columns
The generation of transportation system is provided may.Constantly expand with economic scale as world population continues to increase, cargo transport demand meeting
Significantly improve.
China is in during urbanization high speed development, and the development of highway system is fairly obvious in Process of Urbanization,
Traffic and Intercity Transportation are all being developed rapidly in city, there is larger benefiting to national economic development.To reduce cargo transport cost, carrying
Mobility between market high, automobile formation control can very well coordinate the current behavior of entirety of fleet；Formation control not only can
Higher flexibility is enough kept, while also ensure that driving efficiency, this is significant to the current rate of road improvement and road capacity.
Although the congestion present situation very severe of China's urban transportation, fleet is not the key problem for causing traffic congestion, is effectively carried
Liter fleet's density and fleet's conevying efficiency have for solution traffic congestion necessarily to be benefited.Studying increasingly serious traffic problems
In, electronic information technology is largely introduced traffic and transportation system can not only solve traffic congestion, and to traffic safety, accident at
Reason has an immense impact on the aspect such as rescue, freight traffic management, road toll；As research, exploitation and trial stretch constantly expand,
Formation transportation system arises at the historic moment.Platooning's traveling is an important directions of intelligent vehicle highway system, is intelligent vehicle highway system
Improve the important step of road capacity.Platooning refers to the linear series fleet being made up of some vehicles, with smaller spacing edge
Same paths are travelled.Control that road vehicle density can be improved by platooning, increase road capacity, while it is right to reduce control
As, simplify traffic control complexity, driver's fatigue degree is reduced, increase traffic controllability, effectively alleviate traffic congestion, increase
Strong driving safety.By the aerodynamics analysis to formation vehicle and emulation, it is found that platooning's traveling can reduce vehicle
Suffered air drag, reduces oil consumption, and energy saving improves traveling economy.Platooning's control is intelligent bus or train route unison border
In a kind of derivative important fleet's driving behavior is travelled by column of traffic, it is with vehicle unit, fleet's lane-change etc., and fleet drives
Behavior combines the flexibility and flexibility that improve column of traffic, greatly improves column of traffic running efficiency.With channel radio
Letter technology is developed rapidly, and the car communication issue of car one is improved, realize that many car Collaborative Controls effectively strengthen by inter-vehicle communication
Vehicle environmental adaptability, this turns into an important directions of platooning's Study on Problems.
There is a small amount of research to be devoted to commercial car at present and brake integrated control and platooning's travel control method,《Based on system
The braking Integrated Algorithm of dynamic device temperature and wear control》One text proposes a kind of air-pressure electric-control brakes, engine and electric whirlpool
The integrated control algolithm of stream retarder three, for the brake force between voltage-controlled friction brakes and current vortex retarder point
Match somebody with somebody, as often as possible to use current vortex retarder as principle, and the braking force distribution between axle friction brake is then with to the greatest extent
Balanced the two the friction facing degree of wear of amount is principle, but the research does not take into full account different driving cycles to braking force distribution
It is required that difference.Patent《Commercial car integrated brake system divided working status braking force distribution optimization method》Propose that a kind of commercial car is integrated
Brakes divided working status braking force distribution optimization method, for the commercialization equipped with air-pressure electric-control brakes and current vortex retarder
Car, proposes the braking force distribution optimization method of front axle friction brake, rear axle friction brake and current vortex retarder, it is considered to tight
Anxious braking, lower long slope braking and other common damped conditions are to braking response speed, braking distance, brake temperature and friction lining
The difference of the requirement of pad wear uniformity, different control targe and Brake force distribution strategy are used to different damped conditions,
But article is without reference to the braking integrated control method during platooning.
The content of the invention
The purpose of the present invention is to propose to a kind of braking integrated control method formed into columns based on heavy vehicle, compiled in heavy vehicle
Braked under team's driving conditions, control to improve road vehicle density by platooning, increased road capacity, reduced control right
As, simplify traffic control complexity, driver's fatigue degree is reduced, increase traffic controllability, effectively alleviate traffic congestion, increase
Strong driving safety, while formation traveling can reduce air drag, improves fuel economy.
To reach above-mentioned purpose, the present invention is adopted the following technical scheme that：The integrated control of braking that will be formed into columns based on heavy vehicle
Method processed is divided into signal sensing layer, Decision Control layer and the part of order execution level three；Signal sensing layer is divided into vehicle-state perception
Perceived with external environment condition, vehicle-state is perceived and is divided into wheel speed measurement, braking deceleration measurement and load estimation, and external environment condition is perceived
It is divided into measuring wind speed, coefficient of road adhesion estimation, vehicle spacing estimates and road grade is estimated；Decision Control layer is divided into bicycle control
Preparative layer, formation control layer and faults-tolerant control layer, bicycle key-course include parameter identification strategy and brake logic control strategy, form into columns
Key-course includes formation vehicle spacing control strategy and formation sequential control strategy；Execution level includes sensor and brake, system
Dynamic form includes engine braking form, eddy current retarder form, wheel hub motor braking model, the braking of liftable pontoon bridge
Form and electronic mechanical braking model.
The method is applied to bicycle quantity more than or equal to three and vehicle identical heavy vehicle is formed into columns and brakes integrated control；
Wherein signal sensing layer is divided into vehicle-state and perceives and external environment condition perception, and vehicle-state sensing device has wheel speed sensors, system
Kinetic moment sensor, braking deceleration sensor and load transducer；External environment condition sensing device have air velocity transducer, radar and
Camera；Wherein air velocity transducer, load transducer and wheel speed sensors are only installed on the head car and trailer of formation vehicle, and
Braking moment sensor, braking deceleration sensor, radar and camera sensing device are installed as each formation vehicle to be had
It is standby；The braking model that head car has the most sensor of function and has with trailer in formation is identical with stopping power,
Head car breaks down or head car and trailer can reduce head car driver with transposition during driver's driving fatigue during traveling
Driving fatigue degree and improve fleet system faults-tolerant control ability.
Due to not considering air drag in current load method of estimation, do big in driving force running resistance equilibrium equation
Amount simplifies, so load estimated result is not accurate enough.Formation vehicle is same model in the present invention, so the intrinsic parameter phase of vehicle
Together, car load can accurately be estimated by contrasting the brake force of vehicle under the conditions of different air drag.Be installed on a car and
Wheel speed sensors on trailer obtain formation vehicle current driving speed, with formation intermediate car Control on Communication formation vehicle with phase
Travelled with speed；The air velocity transducer measurement wind speed being installed on a car and trailer is obtained in formation vehicle suffered by head car and trailer
Air drag, the different fitting air drag of the air drag according to suffered by diverse location vehicle in formation vehicle are non-in formation vehicle
Linear functional relation, so as to obtain air drag suffered by intermediate car, braking moment sensor and braking deceleration sensor are surveyed
Obtain wheel braking moment and braking deceleration when intermediate car is braked；The vehicle for being accurately obtained front truck and trailer by sensor is carried
Lotus, real-time estimation intermediate car load can obtain under the conditions of the change of Nonlinear Space atmidometer and intermediate car braking moment is considered
More accurate estimated result.
External environment condition is perceived includes that traffic signals identification, road grade are estimated and coefficient of road adhesion is estimated；Formation vehicle
One camera that can swing up and down certain angle and a radar are installed on headstock top, headstock bottom position is provided with one
Individual radar；Being installed on the radar on headstock top is used for the identification of vehicle spacing, and camera is used to recognize road adhesion condition and friendship
Messenger identification, is installed on the radar of headstock bottom position for detecting whether vehicle of jumping the queue is jumped the queue and is used for into walking along the street
The identification of face attachment coefficient and road grade；When car camera detects upcoming traffic signal lamp right overhead, the system sent by head car
Dynamic signal synchronized transmission in formation vehicle ECU, braked in advance by control formation vehicle；When headstock bottom radar has been recognized
When vehicle of jumping the queue occurs, ECU sends alarm signal；Camera can be swung up and down, and identification road traffic condition is gone forward side by side walking along the street
Face attachment coefficient identification.
Warning system is divided into vehicle trouble warning system and forms into columns plugs in car warning system；Vehicle trouble warning system is to form into columns
Part of functions in faults-tolerant control；Vehicle trouble warning system can be by abort situation and failure when detecting formation vehicle trouble
Type is sent on vehicle-carrying display screen, and controls alarm to send alarm, and alarm is respectively mounted in head car and trailer, positioned at head car
Can be taken measures to be processed according to warning information with the driver of trailer；During traveling of forming into columns, positioned at headstock bottom
If radar has detected non-formation vehicle insertion formation, to reduce the insertion parallel passing time of vehicle and and row distance raising
Driving safety, vehicle insertion position in radar identification formation, the vehicle behind ECU control formation insertion position is braked,
Make insertion vehicle quick insertion, plug in car time upper limit value of the insertion vehicle in formation is set, when plug in car vehicle surpasses in formation
After crossing certain hour, forming into columns to plug in car warning system and will send voice alarm warning insertion vehicle speeds away formation, insertion position
Vehicle below is blown a whistle and points out insertion vehicle to leave formation.When thering is new formation bicycle to insert in traveling of forming into columns, system identification
The stopping power of bicycle is inserted, and the stopping power being had according to bicycle determines the position to be inserted of bicycle, insertion point front is compiled
Team's vehicle is given it the gun, and the vehicle at insertion point rear is braked, and reduces parallel insertion time and and the line-spacing of new insertion vehicle
From；When making vehicle stopping power change because of increase and decrease goods in vehicle transport, vehicle identification load and according to car load
Formation vehicle rearrangement is carried out with the stopping power having, load is big and the less vehicle of stopping power is come before forming into columns
Face, load is small and vehicle that stopping power is big comes formation rear, and load comes in formation with the vehicle that stopping power matches
Between position.
Attachment coefficient, road conditions and weather condition according to different road surfaces carry out multimode recognition, and form into columns many of traveling
Pattern includes the municipal highway driving mode, highway driving mode, mountain area driving mode and the root that are divided according to road conditions
Adhere to according to the fine day driving mode of weather condition division, greasy weather driving mode and rainy day ice and snow weather driving mode and according to road surface
Dry pavement driving mode and wet-skid road surface driving mode that coefficient is divided；Headstock top camera is according to different driving mode roots
According to the difference of angle adjustment so as to detect the road conditions under vehicle front different distance；Under municipal highway driving mode, speed is small
And braking is frequent, camera is maximum in all driving modes with track angulation, and detection range is 50 meters of front；It is high
Formation speed is fast under fast its road-driving mode, and camera adjustment angle is minimum with track, and camera can detect front
300 meters of road conditions；Change in road slope is big under the driving mode of mountain area, and headstock camera adjustment angle is occupied with the angle of track
In, 150 meters of road conditions of vehicle front are detected by camera；Under driving mode according to weather condition division, fine day driving mode
Lower camera and ground-angle are minimum in Three models, and detection range is 300 meters of front, under greasy weather driving mode camera with
Ground-angle is maximum in Three models, and detection range is 50 meters of front, camera and ground under rainy day ice and snow weather driving mode
Face angle degree is placed in the middle, detects 150 meters of road conditions of vehicle front；According in the pattern that coefficient of road adhesion is divided, dry pavement travels mould
Camera detection 150 meters of road conditions of vehicle front under formula, 150 meters of roads of camera detection vehicle front under wet-skid road surface driving mode
Condition.
Brake logic control relies on engine braking form, eddy current retarder form, wheel hub motor braking shape
Formula, liftable pontoon bridge braking model and electronic mechanical braking model, the motor vehicle braking system of diverse location brake shape for more than
Several or diversified forms combinations in formula, the braking model that vehicle has more at most stopping power is bigger；In wherein forming into columns
Head car and trailer have all braking models, but head car braking model only plays partial brake form according to actual brake condition,
The all braking models of trailer are all played in actually braking, and head car and trailer have maximum stopping power, can carry out position mutual
Change；Order of the stopping power of formation intermediate car according to vehicle in formation is in from front to back increase tendency, when formation vehicle
During for even number bicycle, the braking model of intermediate car is the braking model and stopping power phase of adjacent two bicycles from front to back
Together, and intermediate car braking model and stopping power in the past successively in improve and increased trend；When formation vehicle is strange
During several bicycles, air drag suffered by most middle vehicle of forming into columns is minimum, the braking model and stopping power of most intermediate car with
Head car is identical with trailer, the braking model when braking model and stopping power of remaining intermediate car are even number bicycle with formation
It is identical with ability.
Liftable pontoon bridge braking model is symmetrically arranged on the vehicle frame both sides in the middle of chassis, by the wheel for being provided with wheel hub motor
The linear electric motors of vertical movement are produced to constitute with two；When ECU detects brake signal, linear electric motors are controlled in the process of moving
Decline pontoon bridge, pontoon bridge wheel produces brake force using wheel hub motor and vehicle wheel rotation sends out wheel hub motor behind contact ground
Electricity, for vehicle electricity system is powered after the power storage of generation；Liftable floating-bridge type linear electric motors and existing lifting pontoon bridge control
System processed is rapid compared to response, and during control pontoon bridge wheel declines, wheel hub motor makes wheel inwardly rotation one to linear electric motors
Determine angle and form toe-in, the braking deceleration according to system identification difference and adjust toeing-in angle；Linear electric motors are controlled
Pontoon bridge is lifted, and linear electric motors drive pontoon bridge to rise after end of braking makes tire depart from ground；Appearance blow out situation when, vehicle ECU
Automatic decision is blown out wheel position, produces the linear electric motors control pontoon bridge of lengthwise movement to be moved to position of blowing out, and makes to rise
The wheel for dropping pontoon bridge substitutes wheel of blowing out, so that riding stability when ensureing vehicle emergency work condition.
For current vortex retarder is braked under safe working temperature in making retarder braking model, under vehicle chassis
The flabellum of motor control is installed by side, and flabellum plane is fanned parallel to real-time road surface when brake signal is received when vehicle is not braked
Leaf opens perpendicular to the ground, and because the effect of air drag rotates flabellum, on the one hand the flabellum of rotation is slow using wind energy
Device lower the temperature, the rotation of another aspect flabellum also for vehicle braking deceleration provides a part of resistance, according to two proportions of function oneself
Dynamic regulation flabellum and the angle on ground, when retarder temperature reaches the safe working temperature upper limit, motor adjustment flabellum and ground
Angle is the angle that can provide maximum wind velocity, when retarder is not up to the safe working temperature upper limit, motor adjustment fan blade angles
For the angle of maximum braking force can be produced.
Faults-tolerant control layer includes bicycle faults-tolerant control strategy and formation faults-tolerant control strategy；In formation vehicle only have head car and
It is furnished with driver on trailer, is unmanned on intermediate car；Vehicle driving parameters and road that head car is measured by sensor
Parameter passes to other vehicles in forming into columns by wireless communication technology simultaneously；When car breaks down right overhead, fault-signal transmission
To in trailer, trailer can carry out location swap according to actual travel situation and head car, under conditions of normally travel is not influenceed after
Formation traveling is held in continuation of insurance；When formation intermediate car brakes breaks down, ECU sends alarm, fault car to driver
The stopping power that braking model and failure rear vehicle to normal work have is estimated, and enters according to new stopping power
Row formation vehicle is sorted, and the front truck of fault car is accelerated in the case where allowing to give it the gun after rearrangement, disabled vehicle
Rear car braked, increase fault car front-and-rear vehicle distance, so as to ensure the new pattern braking efficiency of fault car；When trailer occurs
During failure, whether driver's identification fault type influences normal traveling of forming into columns, from automatic Pilot if normally travel is not influenceed
Pattern switching is to manual operation mode, if fault impact is formed into columns travelled, driver's control fault car pulling over observing is formed into columns
Other vehicles are led lower continuation to form into columns and are travelled in head car.
The control of formation spacing uses multi-mode Threshold Control Method method, and the road traffic condition of vehicle identification is gone forming into columns
The pattern of sailing is divided into municipal highway driving mode, highway driving mode and mountain area driving mode；Formed into columns under Three models spacing
All increase with the raising of speed；Under municipal highway driving mode, because speed is minimum compared with the minimum safe spacing of low setting,
And do not allow non-formation vehicle to insert in forming into columns in such a mode；Formation vehicle speed is set soon under highway driving mode
Minimum safe spacing it is maximum；Formation vehicle such as is at the spacing traveling under first two driving mode；Under the driving mode of mountain area,
Road is risen and fallen and turning condition is frequently occurred, and sets formation vehicle to become spacing traveling, car when adjacent two cars stopping power is larger
Away from higher value is set, spacing is set to smaller value when adjacent two cars stopping power is smaller；If detecting target in braking procedure
The front truck of vehicle away from rear car away from difference exceed a certain limit value when, system call interception vehicle braking force makes vehicle front-and-rear vehicle distance uniform；
According under the driving mode that weather condition is divided, vehicle judges whether under the driving mode of mountain area, if it is form into columns according to
Become spacing traveling, if not then according to waiting spacing to travel, spacing is adjusted according to weather condition, and fine day spacing is minimum, rain
Its ice and snow weather spacing is maximum, and greasy weather spacing is placed in the middle；In pattern according to coefficient of road adhesion division, dry pavement driving mode
Gap ratio wet-skid road surface traveling spacing is big.
Brief description of the drawings
The invention will be further described below in conjunction with the accompanying drawings：
Fig. 1 is the control flow chart of the braking integrated control method formed into columns based on heavy vehicle.
Fig. 2 is formation vehicle braking model and stopping power distribution map.
Fig. 3 is the camera angle adjustment figure based on traveling multi-mode.
Fig. 4 is warning system control flow chart.
Fig. 5 is that formation vehicle plugs in car decision flow chart.
Fig. 6 is Liftable type pontoon bridge brakes figure.
Specific embodiment
The method is applied to bicycle quantity more than or equal to three and vehicle identical heavy vehicle is formed into columns and brakes integrated control；
Wherein signal sensing layer is divided into vehicle-state and perceives and external environment condition perception, and vehicle-state sensing device has wheel speed sensors, system
Kinetic moment sensor, braking deceleration sensor and load transducer；External environment condition sensing device have air velocity transducer, radar and
Camera；Wherein air velocity transducer, load transducer and wheel speed sensors are only installed on the head car and trailer of formation vehicle, and
Braking moment sensor, braking deceleration sensor, radar and camera sensing device are installed as each formation vehicle to be had
It is standby；The braking model that head car has the most sensor of function and has with trailer in formation is identical with stopping power,
Head car breaks down or head car and trailer can reduce head car driver with transposition during driver's driving fatigue during traveling
Driving fatigue degree and improve fleet system faults-tolerant control ability.
Formation vehicle is same model, so the intrinsic parameter of vehicle is identical, is got off by contrasting different air drag conditions
Brake force can accurately estimate car load.The wheel speed sensors being installed on a car and trailer obtain formation vehicle and work as
Preceding speed of operation, is travelled with formation intermediate car Control on Communication formation vehicle with identical speed；It is installed on a car and trailer
Air velocity transducer measurement wind speed obtains head car and air drag suffered by trailer in formation vehicle, according to diverse location in formation vehicle
The different fitting air drag nonlinear functions in formation vehicle of air drag suffered by vehicle, so as to obtain intermediate car institute
By air drag, braking moment sensor and braking deceleration sensor measure wheel braking moment and system when intermediate car is braked
Dynamic deceleration；The car load of front truck and trailer is accurately obtained by sensor, the change of Nonlinear Space atmidometer and centre is being considered
Real-time estimation intermediate car load can obtain more accurate estimated result under vehicle braking force moment condition.
External environment condition is perceived includes that traffic signals identification, road grade are estimated and coefficient of road adhesion is estimated；Formation vehicle
One camera that can swing up and down certain angle and a radar are installed on headstock top, headstock bottom position is provided with one
Individual radar；Being installed on the radar on headstock top is used for the identification of vehicle spacing, and camera is used to recognize road adhesion condition and friendship
Messenger identification, is installed on the radar of headstock bottom position for detecting whether vehicle of jumping the queue is jumped the queue and is used for into walking along the street
The identification of face attachment coefficient and road grade；When car camera detects upcoming traffic signal lamp right overhead, the system sent by head car
Dynamic signal synchronized transmission in formation vehicle ECU, braked in advance by control formation vehicle；When headstock bottom radar has been recognized
When vehicle of jumping the queue occurs, ECU sends alarm signal；Camera can be swung up and down, and identification road traffic condition is gone forward side by side walking along the street
Face attachment coefficient identification.
Warning system is divided into vehicle trouble warning system and forms into columns plugs in car warning system；Vehicle trouble warning system is to form into columns
Part of functions in faults-tolerant control；Vehicle trouble warning system can be by abort situation and failure when detecting formation vehicle trouble
Type is sent on vehicle-carrying display screen, and controls alarm to send alarm, and alarm is respectively mounted in head car and trailer, positioned at head car
Can be taken measures to be processed according to warning information with the driver of trailer；During traveling of forming into columns, positioned at headstock bottom
If radar has detected non-formation vehicle insertion formation, to reduce the insertion parallel passing time of vehicle and and row distance raising
Driving safety, vehicle insertion position in radar identification formation, the vehicle behind ECU control formation insertion position is braked,
Make insertion vehicle quick insertion, plug in car time upper limit value of the insertion vehicle in formation is set, when plug in car vehicle surpasses in formation
After crossing certain hour, forming into columns to plug in car warning system and will send voice alarm warning insertion vehicle speeds away formation, insertion position
Vehicle below is blown a whistle and points out insertion vehicle to leave formation.When thering is new formation bicycle to insert in traveling of forming into columns, system identification
The stopping power of bicycle is inserted, and the stopping power being had according to bicycle determines the position to be inserted of bicycle, insertion point front is compiled
Team's vehicle is given it the gun, and the vehicle at insertion point rear is braked, and is reduced the parallel insertion time of new insertion vehicle and was inserted
Operating range in journey；When making vehicle stopping power change because of increase and decrease goods in vehicle transport, vehicle identification load is simultaneously
Formation vehicle rearrangement, the load less vehicle of stopping power greatly are carried out according to car load and the stopping power having
Come before formation, load is small and vehicle that stopping power is big comes formation rear, the vehicle that load matches with stopping power
Come formation centre position.
Attachment coefficient, road conditions and weather condition according to different road surfaces carry out multimode recognition, and form into columns many of traveling
Pattern includes the municipal highway driving mode, highway driving mode, mountain area driving mode and the root that are divided according to road conditions
Adhere to according to the fine day driving mode of weather condition division, greasy weather driving mode and rainy day ice and snow weather driving mode and according to road surface
Dry pavement driving mode and wet-skid road surface driving mode that coefficient is divided；Headstock top camera is according to different driving mode roots
According to the difference of angle adjustment so as to detect the road conditions under vehicle front different distance；Under municipal highway driving mode, speed is small
And braking is frequent, camera is maximum in all driving modes with track angulation, and detection range is 50 meters of front；It is high
Formation speed is fast under fast its road-driving mode, and camera adjustment angle is minimum with track, and camera can detect front
300 meters of road conditions；Change in road slope is big under the driving mode of mountain area, and headstock camera adjustment angle is occupied with the angle of track
In, 150 meters of road conditions of vehicle front are detected by camera；Under driving mode according to weather condition division, fine day driving mode
Lower camera and ground-angle are minimum in Three models, and detection range is 300 meters of front, under greasy weather driving mode camera with
Ground-angle is maximum in Three models, and detection range is 50 meters of front, camera and ground under rainy day ice and snow weather driving mode
Face angle degree is placed in the middle, detects 150 meters of road conditions of vehicle front；According in the pattern that coefficient of road adhesion is divided, dry pavement travels mould
Camera detection 150 meters of road conditions of vehicle front under formula, 150 meters of roads of camera detection vehicle front under wet-skid road surface driving mode
Condition.
Brake logic control relies on engine braking form, eddy current retarder form, wheel hub motor braking shape
Formula, liftable pontoon bridge braking model and electronic mechanical braking model, the motor vehicle braking system of diverse location brake shape for more than
Several or diversified forms combinations in formula, the braking model that vehicle has more at most stopping power is bigger；In wherein forming into columns
Head car and trailer have all braking models, but head car braking model only plays partial brake form according to actual brake condition,
The all braking models of trailer are all played in actually braking, and head car and trailer have maximum stopping power, can carry out position mutual
Change；Order of the stopping power of formation intermediate car according to vehicle in formation is in from front to back increase tendency, when formation vehicle
During for even number bicycle, the braking model of intermediate car is the braking model and stopping power phase of adjacent two bicycles from front to back
Together, and intermediate car braking model and stopping power in the past successively in improve and increased trend；When formation vehicle is strange
During several bicycles, air drag suffered by most middle vehicle of forming into columns is minimum, the braking model and stopping power of most intermediate car with
Head car is identical with trailer, the braking model when braking model and stopping power of remaining intermediate car are even number bicycle with formation
It is identical with ability.
Liftable pontoon bridge braking model is symmetrically arranged on the vehicle frame both sides in the middle of chassis, by the wheel for being provided with wheel hub motor
The linear electric motors of vertical movement are produced to constitute with two；When ECU detects brake signal, linear electric motors are controlled in the process of moving
Decline pontoon bridge, pontoon bridge wheel produces brake force using wheel hub motor and vehicle wheel rotation sends out wheel hub motor behind contact ground
Electricity, for vehicle electricity system is powered after the power storage of generation；Liftable floating-bridge type linear electric motors and existing lifting pontoon bridge control
System processed is rapid compared to response, and during control pontoon bridge wheel declines, wheel hub motor makes wheel inwardly rotation one to linear electric motors
Determine angle and form toe-in, the braking deceleration according to system identification difference and adjust toeing-in angle；Linear electric motors are controlled
Pontoon bridge is lifted, and linear electric motors drive pontoon bridge to rise after end of braking makes tire depart from ground；Appearance blow out situation when, vehicle ECU
Automatic decision is blown out wheel position, produces the linear electric motors control pontoon bridge of lengthwise movement to be moved to position of blowing out, and makes to rise
The wheel for dropping pontoon bridge substitutes wheel of blowing out, so that riding stability when ensureing vehicle emergency work condition.
For current vortex retarder is braked under safe working temperature in making retarder braking model, under vehicle chassis
The flabellum of motor control is installed by side, and flabellum plane is fanned parallel to real-time road surface when brake signal is received when vehicle is not braked
Leaf opens perpendicular to the ground, and because the effect of air drag rotates flabellum, on the one hand the flabellum of rotation is slow using wind energy
Device lower the temperature, the rotation of another aspect flabellum also for vehicle braking deceleration provides a part of resistance, according to two proportions of function oneself
Dynamic regulation flabellum and the angle on ground, when retarder temperature reaches the safe working temperature upper limit, motor adjustment flabellum and ground
Angle is the angle that can provide maximum wind velocity, when retarder is not up to the safe working temperature upper limit, motor adjustment fan blade angles
For the angle of maximum braking force can be produced.
Faults-tolerant control layer includes bicycle faults-tolerant control strategy and formation faults-tolerant control strategy；In formation vehicle only have head car and
It is furnished with driver on trailer, is unmanned on intermediate car；Vehicle driving parameters and road that head car is measured by sensor
Parameter passes to other vehicles in forming into columns by wireless communication technology simultaneously；When car breaks down right overhead, fault-signal transmission
To in trailer, trailer can carry out location swap according to actual travel situation and head car, under conditions of normally travel is not influenceed after
Formation traveling is held in continuation of insurance；When formation intermediate car brakes breaks down, ECU sends alarm, fault car to driver
The stopping power that braking model and failure rear vehicle to normal work have is estimated, and enters according to new stopping power
Row formation vehicle is sorted, and the front truck of fault car is accelerated in the case where allowing to give it the gun after rearrangement, disabled vehicle
Rear car braked, increase fault car front-and-rear vehicle distance, so as to ensure the new pattern braking efficiency of fault car；When trailer occurs
During failure, whether driver's identification fault type influences normal traveling of forming into columns, from automatic Pilot if normally travel is not influenceed
Pattern switching is to manual operation mode, if fault impact is formed into columns travelled, driver's control fault car pulling over observing is formed into columns
Other vehicles are led lower continuation to form into columns and are travelled in head car.
The control of formation spacing uses multi-mode Threshold Control Method method, and the road traffic condition of vehicle identification is gone forming into columns
The pattern of sailing is divided into municipal highway driving mode, highway driving mode and mountain area driving mode；Formed into columns under Three models spacing
All increase with the raising of speed；Under municipal highway driving mode, because speed is minimum compared with the minimum safe spacing of low setting,
And do not allow non-formation vehicle to insert in forming into columns in such a mode；Formation vehicle speed is set soon under highway driving mode
Minimum safe spacing it is maximum；Formation vehicle such as is at the spacing traveling under first two driving mode；Under the driving mode of mountain area,
Road is risen and fallen and turning condition is frequently occurred, and sets formation vehicle to become spacing traveling, car when adjacent two cars stopping power is larger
Away from higher value is set, spacing is set to smaller value when adjacent two cars stopping power is smaller；If detecting target in braking procedure
The front truck of vehicle away from rear car away from difference exceed a certain limit value when, system call interception vehicle braking force makes vehicle front-and-rear vehicle distance uniform；
According under the driving mode that weather condition is divided, vehicle judges whether under the driving mode of mountain area, if it is form into columns according to
Become spacing traveling, if not then according to waiting spacing to travel, spacing is adjusted according to weather condition, and fine day spacing is minimum, rain
Its ice and snow weather spacing is maximum, and greasy weather spacing is placed in the middle；In pattern according to coefficient of road adhesion division, dry pavement driving mode
Gap ratio wet-skid road surface traveling spacing is big.
Claims (10)
1. it is a kind of based on heavy vehicle form into columns braking integrated control method, it is characterised in that：This is based on what heavy vehicle was formed into columns
Braking integrated control method is divided into signal sensing layer, Decision Control layer and the part of order execution level three；Signal sensing layer is divided into car
State aware and external environment condition are perceived；Decision Control layer is divided into bicycle key-course, formation control layer and faults-tolerant control layer；Perform
Layer includes sensor and brake, and wherein braking model includes engine braking form, eddy current retarder form, wheel hub
Motor braking form, liftable pontoon bridge braking model and electronic mechanical braking model；Different positions according to vehicle in formation
Meter onboard sensor type and braking model are installed, accurate vehicle load is measured by front truck and trailer sensor, considering non-thread
Property air drag change and intermediate car braking moment under the conditions of real-time estimation intermediate car load is available more accurate estimates
As a result；Warning system is divided into vehicle trouble warning system and plug in car warning system of forming into columns in control method, in operation of forming into columns
Failure and emergency case take corresponding alarm form；According to the operation multimode recognition result, vehicle-mounted camera adjusting angle of forming into columns
Degree realizes different identification functions；Braking Integrating controls strategies are accordingly changed for bicycle total amount odd even change in formation；
Liftable pontoon bridge braking model changes toe-angle and obtains different braking power and design runflat control according to actual brake condition
Target；Increase the flabellum of motor control in eddy current retarder form, for retarder is lowered the temperature while improving stopping power；
Corresponding faults-tolerant control and mode control method are taken according to driving mode and fault type.
2. a kind of braking integrated control method formed into columns based on heavy vehicle as claimed in claim 1, it is characterised in that the base
The braking integrated control method formed into columns in heavy vehicle is applied to bicycle quantity and is more than or equal to three and vehicle identical heavy goods vehicles
Form into columns the integrated control of braking；Vehicle-state sensing device has wheel speed sensors, braking moment sensor, system in signal sensing layer
Dynamic deceleration sensor and load transducer；External environment condition sensing device has air velocity transducer, radar and camera；Wherein wind speed
Sensor, load transducer and wheel speed sensors are only installed on formation head car and trailer, and braking moment sensor, braking subtract
Velocity sensor, radar and camera sensing device are possessed by each formation vehicle；Head car and trailer have function in formation
Most sensor and there are identical braking model and stopping power, head car breaks down or head during driver's driving fatigue in traveling
Car and trailer interchanging positions, reduce the driving fatigue degree of head car driver and improve fleet system faults-tolerant control ability；Head
Wheel speed sensors obtain formation vehicle current driving speed on car and trailer, are formed into columns with identical with formation intermediate car Control on Communication
Speed is travelled；The air velocity transducer measurement wind speed for being installed on a car and trailer obtains air drag suffered by car to the end and trailer, according to
The different fitting air drag nonlinear functions in formation vehicle of air drag suffered by diverse location of the vehicle in formation,
Air drag suffered by intermediate car is obtained, braking moment sensor and braking deceleration sensor measure car when intermediate car is braked
Wheel braking moment and braking deceleration；The car load of front truck and trailer is accurately obtained by sensor, non-linear air is being considered
Resistance changes can obtain more accurate estimation knot with real-time estimation intermediate car load under the conditions of intermediate car braking moment
Really.
3. a kind of braking integrated control method formed into columns based on heavy vehicle as claimed in claim 1, it is characterised in that the base
In heavy vehicle form into columns braking integrated control method external environment perceive include traffic signals identification, road grade estimation and
Coefficient of road adhesion is estimated；Formation vehicle is provided with a camera that can swing up and down certain angle and one on headstock top
Radar, headstock bottom position is provided with a radar；Being installed on the radar on headstock top is used for the identification of vehicle spacing, camera
For recognizing road adhesion condition and traffic signals identification, the radar of headstock bottom position is installed on for detecting whether jumping the queue
Vehicle is jumped the queue and for carrying out coefficient of road adhesion and identification of road grade；Car camera detects upcoming traffic letter right overhead
During signal lamp, in the brake signal synchronized transmission sent by head car to other formation vehicles ECU, rear formation vehicle is detected simultaneously by
Brake signal, trailer is first begin to braking, starts braking successively from back to front in formation, improves formation braking response speed simultaneously
Ensure that vehicle can be braked fully under formation spacing；When headstock bottom radar has recognized vehicle of jumping the queue to be occurred, ECU sends
Alarm signal；Camera can swing up and down, and recognize road traffic condition and carry out coefficient of road adhesion identification.
4. a kind of braking integrated control method formed into columns based on heavy vehicle as claimed in claim 1, it is characterised in that the base
The warning system of the braking integrated control method formed into columns in heavy vehicle is divided into vehicle trouble warning system and forms into columns plugs in car alarm
System；Vehicle trouble warning system is the partial function in formation faults-tolerant control；Vehicle trouble warning system detects formation car
Abort situation and fault type are sent to vehicle-carrying display screen during failure, and control alarm to send alarm, in head car and tail
Car is respectively mounted alarm, is taken measures to be processed according to warning information positioned at the driver of head car and trailer；Travelled forming into columns
During, if the radar positioned at headstock bottom has detected non-formation vehicle insertion and formed into columns, overtaken other vehicles parallel to reduce insertion vehicle
Time and and row distance raising driving safety, vehicle insertion position in radar identification formation, behind ECU control formation insertion position
Square vehicle is braked, and makes insertion vehicle quick insertion, plug in car time upper limit value of the insertion vehicle in formation is set, when plug in car
Vehicle exceedes certain hour in formation, and forming into columns to plug in car warning system and will send voice alarm warning insertion vehicle speeds away volume
Team, and insertion position front vehicle blow a whistle prompting insertion vehicle leave formation；To be inserted when there is new formation bicycle in traveling of forming into columns
Enter to form into columns, the stopping power of bicycle is inserted in system identification, the stopping power being had according to bicycle determines the position to be inserted of bicycle,
Insertion point front formation vehicle is given it the gun, and insertion point front vehicle is braked, and is reduced new insertion vehicle and is inserted the time parallel
With simultaneously row distance；When making vehicle stopping power change because of increase and decrease goods in vehicle transport, vehicle identification load and basis
Car load and the stopping power having carry out formation rearrangement, and load is big and the less vehicle of stopping power comes formation
Above, load is small and vehicle that stopping power is big comes formation rear, and load comes formation with the vehicle that stopping power matches
Centre position.
5. a kind of braking integrated control method formed into columns based on heavy vehicle as claimed in claim 3, it is characterised in that the base
The braking integrated control method formed into columns in heavy vehicle is carried out according to the attachment coefficient on different road surfaces, road conditions and weather condition
Multimode recognition, the multi-mode of traveling of forming into columns includes the municipal highway driving mode, the highway row that are divided according to road conditions
Sail pattern, mountain area driving mode and fine day driving mode, greasy weather driving mode and the rainy day ice and snow day that are divided according to weather condition
Gas driving mode and the dry pavement driving mode and wet-skid road surface driving mode that are divided according to coefficient of road adhesion；Headstock top
Camera is according to different driving modes according to the different so as to detect the road conditions under vehicle front different distance of angle adjustment；In city
Under city's its road-driving mode, speed is small and braking is frequent, camera and track angulation in all driving modes most
Greatly, detection range is 50 meters of front；Formation speed is fast under highway driving mode, and camera adjustment angle is with track most
Small, camera can detect the road conditions in 300 meters of front；Change in road slope is big under the driving mode of mountain area, and headstock camera is adjusted
Whole angle is placed in the middle with the angle of track, and 150 meters of road conditions of vehicle front are detected by camera；Divided according to weather condition
Under driving mode, camera is minimum in Three models with ground-angle under fine day driving mode, and detection range is front 300
Rice, camera is maximum in Three models with ground-angle under greasy weather driving mode, and detection range is 50 meters of front, rainy day ice and snow
Camera is placed in the middle with ground-angle under weather driving mode, detects 150 meters of road conditions of vehicle front；Divided according to coefficient of road adhesion
Pattern in, under dry pavement driving mode camera detection 150 meters of road conditions of vehicle front, under wet-skid road surface driving mode image
Head detection 150 meters of road conditions of vehicle front.
6. a kind of braking integrated control method formed into columns based on heavy vehicle as claimed in claim 1, it is characterised in that the base
The brake logic control of the braking integrated control method formed into columns in heavy vehicle relies on engine braking, current vortex retarder system
Dynamic form, wheel hub motor braking model, liftable pontoon bridge braking model and electronic mechanical braking model, the vehicle of diverse location
Brakes is several or diversified forms combinations in above braking model, the braking model that vehicle has more at most Brake Energy
Power is bigger；Wherein formation head car and trailer have all braking models, but head car braking model is only sent out according to actual brake condition
Partial brake form is waved, all braking models of trailer are all played in actually braking, head car and trailer have maximum Brake Energy
Power, can carry out location swap；Order of the stopping power of formation intermediate car according to vehicle in formation is from front to back in increase
Trend, when formation vehicle is even number bicycle, the braking model of intermediate car is the braking of adjacent two bicycles from front to back
Form is identical with stopping power, and intermediate car braking model and stopping power in the past successively in improve and it is increased become
Gesture；When formation vehicle is odd number bicycle, air drag suffered by most middle vehicle of forming into columns is minimum, the braking of most intermediate car
Form and stopping power are identical with head car and trailer, and braking model and stopping power and the formation of remaining intermediate car are even number
Braking model during bicycle is identical with ability.
7. a kind of braking integrated control method formed into columns based on heavy vehicle as claimed in claim 1, it is characterised in that the base
Liftable pontoon bridge braking model is symmetrically arranged on the vehicle frame in the middle of chassis in the braking integrated control method that heavy vehicle is formed into columns
Both sides, the linear electric motors that can produce vertical movement by the wheel and two that are provided with wheel hub motor are constituted；ECU detects braking letter
Number when, in the process of moving control linear electric motors decline pontoon bridge, contact ground after pontoon bridge wheel using wheel hub motor produce system
Power and vehicle wheel rotation makes wheel hub motor generate electricity, for vehicle electricity system provides electric energy after the power storage of generation；Liftable
The response compared with existing lifting pontoon bridge control system of floating-bridge type linear electric motors is rapid, in the process that control pontoon bridge wheel declines
In, wheel hub motor makes wheel inwardly rotate to an angle to form toe-in, the braking deceleration according to system identification difference and adjust
Section toeing-in angle；Linear electric motors control pontoon bridge lifting, linear electric motors drive pontoon bridge to rise after end of braking departs from tire
Ground；Appearance blow out situation when, vehicle ECU automatic decisions are blown out the position of wheel, the linear electric motors of generation lengthwise movement
Wheel on control pontoon bridge is moved to position of blowing out, and the wheel of liftable pontoon bridge is substituted the wheel blown out, it is ensured that vehicle is urgent
Riding stability during operating mode.
8. a kind of braking integrated control method formed into columns based on heavy vehicle as claimed in claim 1, it is characterised in that the base
The braking integrated control method formed into columns in heavy vehicle in making retarder braking model current vortex retarder in trouble free service temperature
Braked under degree, the flabellum of motor control is installed below vehicle chassis, flabellum plane is parallel to real-time when vehicle is not braked
Road surface, when brake signal is received, flabellum opens perpendicular to the ground, because the effect of air drag rotates flabellum, rotation
On the one hand using wind energy for retarder is lowered the temperature, the rotation of another aspect flabellum is also for vehicle braking deceleration provides part resistance to flabellum
Power, the proportion according to two functions automatically adjusts the angle of flabellum and ground, when retarder temperature is reached in safe working temperature
In limited time, motor adjustment flabellum and ground-angle are the angle that can provide maximum wind velocity, when retarder is not up to safe working temperature
During the upper limit, motor adjustment fan blade angles are the angle that can produce maximum braking force.
9. a kind of braking integrated control method formed into columns based on heavy vehicle as claimed in claim 4, it is characterised in that the base
The faults-tolerant control layer of the braking integrated control method formed into columns in heavy vehicle includes bicycle faults-tolerant control strategy and fault-tolerant control of forming into columns
System strategy；Only have in formation vehicle and be furnished with driver on head car and trailer, be unmanned on intermediate car；Head car is by sensing
The vehicle driving parameters and road parameters that device is measured pass through wireless communication technology while passing to other vehicles in forming into columns；Right overhead
When car breaks down, fault-signal is delivered in trailer, and trailer can carry out location swap according to actual travel situation and head car,
Do not influence to continue to keep traveling of forming into columns under conditions of normally travel；When formation intermediate car brakes breaks down, ECU to
Driver sends alarm, and fault car is commented the stopping power that the braking model and failure rear vehicle of normal work have
Estimate, and formation vehicle sequence is carried out according to new stopping power, the front truck of fault car is allowing to give it the gun after rearrangement
In the case of accelerated, the rear car of fault car is braked, increase fault car front-and-rear vehicle distance, so as to ensure fault car
New pattern braking efficiency；When trailer breaks down, whether driver's identification fault type influences normal traveling of forming into columns, if not shadow
Ring normally travel and be then switched to manual operation mode from automatic driving mode, the traveling if fault impact is formed into columns, driver's control
Fault car pulling over observing processed, other vehicles of forming into columns are led lower continuation to form into columns and are travelled in head car.
10. a kind of braking integrated control method formed into columns based on heavy vehicle as claimed in claim 5, it is characterised in that the base
In the braking integrated control method that heavy vehicle is formed into columns, the control of formation spacing uses multi-mode Threshold Control Method method, vehicle
The road traffic condition of identification, municipal highway driving mode, highway driving mode and mountain area are divided into by formation driving mode
Driving mode；Formation spacing all increases with the raising of speed under Three models；Under municipal highway driving mode, due to speed
Minimum safe spacing compared with low setting is minimum, and does not allow non-formation vehicle insertion in formation in such a mode；In highway
The minimum safe spacing that formation vehicle speed is set soon under driving mode is maximum；Formation vehicle is under first two driving mode
Deng spacing traveling；Under the driving mode of mountain area, road is risen and fallen and turning condition is frequently occurred, and sets formation vehicle to become spacing row
Sail, spacing sets higher value when adjacent two cars stopping power is larger, spacing is set to smaller when adjacent two cars stopping power is smaller
Value；In braking procedure if detect the front truck of target vehicle away from rear car away from difference exceed a certain limit value when, system call interception car
Brake force, makes vehicle front-and-rear vehicle distance uniform；According under the driving mode that weather condition is divided, vehicle judges whether in mountain area
Under driving mode, if it is form into columns according to spacing traveling is become, if not then according to waiting spacing to travel, spacing is according to weather feelings
Condition is adjusted, and fine day spacing is minimum, and rainy day ice and snow weather spacing is maximum, and greasy weather spacing is placed in the middle；Drawn according to coefficient of road adhesion
In the pattern divided, dry pavement driving mode gap ratio wet-skid road surface traveling spacing is big.
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