CN106919173B - Brake integrated control method based on heavy vehicle formation - Google Patents
Brake integrated control method based on heavy vehicle formation Download PDFInfo
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Abstract
The invention discloses a brake integrated control method based on heavy vehicle formation, which comprises a signal perception layer, a decision control layer and a command execution layer; designing sensor types and braking forms according to the positions of vehicles in formation, measuring accurate vehicle loads by front vehicle and tail vehicle sensors under the condition of nonlinear change of air resistance, and estimating the middle vehicle load in real time to obtain a more accurate result; the alarm system is divided into a vehicle fault alarm system and a formation vehicle-plugging alarm system; according to the multi-mode identification result of formation operation, the angle of the vehicle-mounted camera is adjusted to realize different identification functions; changing a brake integrated control strategy according to the odd-even change of the total quantity of the formation vehicles; lifting the floating bridge to brake and change the toe-in angle to obtain corresponding brake force and perform tire burst prevention control; the electric eddy current retarder is provided with a fan blade design in braking; and adopting corresponding fault-tolerant control and mode selection according to the driving mode and the fault type.
Description
Technical Field
The invention belongs to the field of vehicle formation braking, and particularly relates to a heavy transport vehicle formation braking integrated control system.
Background
Increasingly serious problems such as traffic accidents, traffic jams, greenhouse gas emissions, environmental pollution, and energy consumption have become common problems for human beings. With the increasing severity of the problems of energy consumption, environmental pollution and traffic jam, the control of vehicle formation is receiving increasing attention and attention. China has dense population, traffic jam and traffic accidents are frequent, and economy is particularly serious in developed cities. Therefore, the traffic capacity of the traffic system is improved, and the intelligent degree and the safety of the traffic system are improved, so that the method has important strategic significance. The global trade since the 20 th century has mostly relied on freight transportation and communication systems, which are vital to social development, with transportation needs closely linked to economic development. Among all road surface cargo transportation, road transportation takes over 60% of the transportation tasks. Although road freight is vital in economic development, it also faces many challenges such as up-regulation of fuel prices, increased greenhouse gas emission regulations, etc.; on the other hand, the rapid development of information and communication integrated control technology and intelligent transportation greatly improves the safety and economy of the transportation system, the fuel consumption can be obviously reduced in formation transportation, powerful power is provided for a cooperative transportation system, and the possibility is provided for the generation of the formation transportation system. As the world population continues to grow and the economic size continues to expand, the demand for freight transportation will increase significantly.
China is in the process of urbanization high-speed development, the development of a highway system is very obvious in the process of urbanization, and urban traffic and inter-city traffic are rapidly developed, so that the method is greatly beneficial to national economic development. In order to reduce the cargo transportation cost and improve the mobility between markets, the vehicle formation control can well coordinate the overall passing behavior of the motorcade; the formation control can keep higher flexibility and ensure the driving efficiency, which has important significance for improving the road traffic rate and the road capacity. Although the current situation of congestion of urban traffic in China is very severe, the motorcade is not a core problem causing traffic congestion, and the effective improvement of the motorcade density and the motorcade transportation efficiency is beneficial to solving the traffic congestion. In the increasingly serious traffic problem, the electronic information technology is introduced into a traffic transportation system in a large quantity, so that traffic jam can be solved, and great influence is generated on the aspects of traffic safety, accident handling and rescue, freight management, road toll and the like; with the continuous expansion of research, development and test range, formation transportation systems are in the process of transportation. The formation driving of the vehicles is an important direction of the intelligent vehicle-road system, and is an important link for improving the road capacity of the intelligent vehicle-road system. Vehicle formation refers to a linear fleet of vehicles consisting of several vehicles traveling the same path at a small separation. By vehicle formation control, the road vehicle density can be improved, the road capacity is increased, control objects are reduced, the traffic control complexity is simplified, the fatigue degree of a driver is reduced, the traffic controllability is increased, traffic jam is effectively relieved, and the driving safety is enhanced. Through aerodynamic analysis and simulation of the formation vehicles, it is found that the air resistance borne by the vehicles can be reduced when the vehicles are formed to run, the oil consumption is reduced, the energy is saved, and the running economy is improved. The vehicle formation control is an important motorcade driving behavior derived from the driving of the vehicle in the intelligent vehicle-road coordination environment, and is combined with the driving behaviors of the vehicle in the motorcade, the motorcade lane change and the like to improve the flexibility and the flexibility of the vehicle formation and greatly improve the driving efficiency of the vehicle formation. With the rapid development of wireless communication technology, the vehicle-to-vehicle communication problem is improved, and the vehicle environmental adaptability is effectively enhanced by realizing multi-vehicle cooperative control through vehicle-to-vehicle communication, which becomes an important direction for vehicle formation problem research.
At present, a small amount of research is dedicated to a brake integrated control method and a vehicle formation driving control method of a commercial vehicle, a brake integrated algorithm based on brake temperature and wear control provides a control algorithm integrating a pneumatic electric control brake system, an engine and an eddy current retarder, for the braking force distribution between the electric control friction brake system and the eddy current retarder, the principle of adopting the eddy current retarder as much as possible is adopted, and the principle of balancing the wear degrees of friction linings of the front and rear axle friction brakes as much as possible is adopted for the braking force distribution between the electric control friction brake system and the eddy current retarder, but the research does not fully consider the difference of different driving working conditions on the braking force distribution requirements. The patent 'method for optimizing the brake force distribution of the integrated brake system of the commercial vehicle under different working conditions' proposes a method for optimizing the brake force distribution of the integrated brake system of the commercial vehicle under different working conditions, and provides a method for optimizing the brake force distribution of a front axle friction brake, a rear axle friction brake and an eddy current retarder aiming at the commercial vehicle with an air pressure electric control brake system and the eddy current retarder.
Disclosure of Invention
The invention aims to provide a brake integrated control method based on heavy vehicle formation, which is used for braking under the driving condition of the heavy vehicle formation, improving the density of road vehicles, increasing the road capacity, reducing control objects, simplifying the traffic control complexity, reducing the fatigue degree of drivers, increasing the traffic controllability, effectively relieving traffic jam and enhancing the driving safety, and meanwhile, the formation driving can reduce air resistance and improve the fuel economy.
In order to achieve the purpose, the invention adopts the following technical scheme: dividing a brake integrated control method based on heavy vehicle formation into a signal perception layer, a decision control layer and a command execution layer; the signal perception layer is divided into vehicle state perception and external environment perception, the vehicle state perception is divided into wheel speed measurement, braking deceleration measurement and load estimation, and the external environment perception is divided into wind speed measurement, road adhesion coefficient estimation, vehicle spacing estimation and road gradient estimation; the decision control layer is divided into a single vehicle control layer, a formation control layer and a fault-tolerant control layer, the single vehicle control layer comprises a parameter identification strategy and a brake logic control strategy, and the formation control layer comprises a formation vehicle interval control strategy and a formation sequence control strategy; the execution layer comprises a sensor and a brake, and the braking forms comprise an engine braking form, an eddy current retarder braking form, a hub motor braking form, a lifting floating bridge braking form and an electromechanical braking form.
The method is suitable for the formation braking integrated control of heavy vehicles with the same type and the number of the single vehicles more than or equal to three; the signal sensing layer is divided into vehicle state sensing and external environment sensing, and the vehicle state sensing device comprises a wheel speed sensor, a braking torque sensor, a braking deceleration sensor and a load sensor; the external environment sensing device is provided with a wind speed sensor, a radar and a camera; the wind speed sensor, the load sensor and the wheel speed sensor are only arranged on a head car and a tail car of the formation vehicle, and the braking torque sensor, the braking deceleration sensor, the radar and the camera sensing device are arranged on each formation vehicle; the head car and the tail car in the formation have sensors with the most functions, the braking forms and the braking capacities are the same, the positions of the head car and the tail car can be interchanged when the head car breaks down or a driver is tired in driving, the driving fatigue degree of the head car driver is reduced, and the fault-tolerant control capacity of the formation system is improved.
Since the air resistance is not considered in the current load estimation method, a large amount of simplification is made in the driving force running resistance balance equation, so the load estimation result is not accurate enough. The formation vehicles are of the same type, so that the inherent parameters of the vehicles are the same, and the vehicle load can be accurately estimated by comparing the braking force of the vehicles under different air resistance conditions. The method comprises the following steps that wheel speed sensors arranged on a head car and a tail car obtain the current running speed of a formation vehicle, and the formation vehicle and an intermediate formation vehicle are communicated to control the formation vehicle to run at the same speed; the method comprises the steps that wind speed sensors arranged on a head car and a tail car measure wind speeds to obtain air resistance borne by the head car and the tail car in a formation vehicle, nonlinear function relations of the air resistance in the formation vehicle are fitted according to different air resistance borne by the vehicles at different positions in the formation vehicle, so that the air resistance borne by an intermediate vehicle is obtained, and a braking torque sensor and a braking deceleration sensor measure wheel braking torque and braking deceleration of the intermediate vehicle during braking; the vehicle loads of the front vehicle and the tail vehicle are accurately obtained through the sensors, and a more accurate estimation result can be obtained by estimating the intermediate vehicle load in real time under the condition of considering the nonlinear air resistance change and the intermediate vehicle braking torque.
The external environment perception comprises traffic signal identification, road gradient estimation and road adhesion coefficient estimation; the formation vehicle is provided with a camera and a radar which can swing up and down at a certain angle on the upper part of a vehicle head, and the radar is arranged at the bottom of the vehicle head; the radar mounted on the upper part of the vehicle head is used for identifying the distance between vehicles, the camera is used for identifying the road adhesion condition and the traffic signal, and the radar mounted at the bottom of the vehicle head is used for detecting whether queue-inserting vehicles are used for queue-inserting and identifying the road adhesion coefficient and the road gradient; when the head car camera detects a traffic signal lamp in front, a braking signal sent by the head car is synchronously sent to the formation vehicle ECU to control the formation vehicle to brake in advance; when the radar at the bottom of the vehicle head identifies the appearance of the vehicles in the queue, the ECU sends out an alarm signal; the camera can swing up and down to identify road traffic conditions and road surface adhesion coefficient.
The alarm system is divided into a vehicle fault alarm system and a formation vehicle-plugging alarm system; the vehicle fault alarm system is a part of functions in formation fault-tolerant control; when the vehicle fault alarm system detects that the formation vehicle has a fault, the fault position and the fault type are sent to a vehicle-mounted display screen, the alarm is controlled to give an alarm, the alarms are mounted on a head vehicle and a tail vehicle, and drivers in the head vehicle and the tail vehicle take measures to process according to alarm information; in the formation driving process, if a radar located at the bottom of a vehicle head detects that non-formation vehicles are inserted into the formation, in order to reduce the parallel overtaking time and the parallel distance of the inserted vehicles and improve the driving safety, the radar identifies the vehicle insertion positions in the formation, an ECU controls the vehicles behind the formation insertion positions to brake, so that the inserted vehicles are quickly inserted, the upper limit value of the vehicle insertion time of the inserted vehicles in the formation is set, when the inserted vehicles in the formation exceed a certain time, a formation vehicle insertion alarm system sends out a voice alarm to warn that the inserted vehicles rapidly leave the formation, and the vehicles behind the insertion positions are whistle to prompt that the inserted vehicles leave the formation. When a new formation vehicle is inserted in the formation running process, the system identifies the braking capacity of the inserted vehicle, determines the position where the vehicle is to be inserted according to the braking capacity of the vehicle, accelerates the formation vehicle in front of an insertion point, brakes the vehicle behind the insertion point, and reduces the parallel insertion time and the parallel distance of the newly inserted vehicle; when the braking capacity of the vehicle is changed due to the increase and decrease of cargoes in the vehicle transportation process, the vehicle identifies the load and carries out the reordering of the formation vehicles according to the vehicle load and the possessed braking capacity, the vehicle with large load and smaller braking capacity is arranged in front of the formation, the vehicle with small load and larger braking capacity is arranged behind the formation, and the vehicle with the load matched with the braking capacity is arranged in the middle of the formation.
Performing multi-mode identification according to the adhesion coefficients of different road surfaces, road conditions and weather conditions, wherein the multi-mode of formation driving comprises an urban highway driving mode, an expressway driving mode, a mountain area driving mode, a clear day driving mode, a fog day driving mode and a rainy and snowy weather driving mode which are divided according to the road conditions, and a dry road surface driving mode and a wet road surface driving mode which are divided according to the adhesion coefficients of the road surfaces; the camera above the vehicle head detects road conditions in front of the vehicle at different distances according to different driving modes and different angle adjustments; under the urban highway driving mode, the speed is small, the braking is frequent, the angle formed by the camera and the driving road surface is the largest in all driving modes, and the detection distance is 50 meters ahead; the formation speed is high in the expressway running mode, the adjustment angle of the camera is the minimum with the running road surface, and the camera can detect the road condition 300 meters ahead; the road gradient change is large in the mountainous area driving mode, the adjustment angle of the head camera is centered with the angle of the driving road surface, and the camera detects the road condition of 150 meters in front of the vehicle; under the driving modes divided according to weather conditions, the angle between the camera and the ground is the smallest in three modes in a sunny driving mode, the detection distance is 300 meters ahead, the angle between the camera and the ground is the largest in three modes in a foggy driving mode, the detection distance is 50 meters ahead, the angle between the camera and the ground is centered in a rainy and snowy driving mode, and the road condition in front of the vehicle is detected; in the mode divided according to the road adhesion coefficient, the camera detects the road condition of 150 meters in front of the vehicle in the dry road running mode, and the camera detects the road condition of 150 meters in front of the vehicle in the wet road running mode.
The braking logic control depends on the braking form of an engine, the braking form of an eddy current retarder, the braking form of a hub motor, the braking form of a lifting floating bridge and the braking form of an electronic mechanical type, vehicle braking systems at different positions are the combination of a plurality of or a plurality of braking forms, and the more braking forms the vehicles have, the greater the braking capacity is; the head cars and the tail cars in the formation have all braking forms, but the braking forms of the head cars only play a part of braking forms according to the actual braking condition, all the braking forms of the tail cars play a whole role in the actual braking, and the head cars and the tail cars have the maximum braking capacity and can be subjected to position interchange; the braking capacity of the middle vehicles in the formation is increased from front to back according to the sequence of the vehicles in the formation, when the formation vehicles are even numbered single vehicles, the braking form of the middle vehicles is the same as that of two adjacent single vehicles from front to back, and the braking form and the braking capacity of the middle vehicles are increased from front to back; when the formation vehicles are odd numbered single vehicles, the air resistance borne by the vehicles at the middle most in the formation is the smallest, the braking form and the braking capacity of the vehicles at the middle most are the same as those of the head vehicle and the tail vehicle, and the braking form and the braking capacity of the rest of the vehicles at the middle most are the same as those of the vehicles at the even numbered single vehicles in the formation.
The lifting floating bridge is symmetrically arranged on two sides of a frame in the middle of a chassis in a braking mode and consists of wheels provided with hub motors and two linear motors which generate vertical motion; when the ECU detects a braking signal, the linear motor is controlled to enable the floating bridge to descend in the driving process, after the wheel of the floating bridge is contacted with the ground, the wheel of the floating bridge generates braking force by using the hub motor, the wheel rotates to enable the hub motor to generate electricity, and the generated electric energy is stored to supply power for a vehicle power system; the lifting floating bridge type linear motor has quick response compared with the existing lifting floating bridge control system, the wheel hub motor enables the wheel to rotate inwards by a certain angle to form toe-in when the linear motor controls the wheel of the floating bridge to descend, and the toe-in angle of the wheel is adjusted according to the difference of braking deceleration identified by the system; the linear motor controls the floating bridge to lift, and after braking is finished, the linear motor drives the floating bridge to lift so that the tire is separated from the ground; when the tire burst condition occurs, the vehicle ECU automatically judges the position of the wheel with the tire burst, the linear motor which generates longitudinal motion controls the floating bridge to move to the tire burst position, and the wheels of the lifting floating bridge replace the wheels with the tire burst, so that the running stability of the vehicle under the emergency working condition is ensured.
In order to brake the eddy current retarder at the safe working temperature in the braking mode of the retarder, a fan blade controlled by a motor is installed below a vehicle chassis, the plane of the fan blade is parallel to a real-time road surface when the vehicle is not braked, the fan blade is opened to be perpendicular to the ground when a braking signal is received, the fan blade rotates under the action of air resistance, on one hand, the rotating fan blade utilizes wind energy to cool the retarder, on the other hand, the rotation of the fan blade also provides a part of resistance for braking and decelerating the vehicle, the angle between the fan blade and the ground is automatically adjusted according to the specific gravity of two functions, when the temperature of the retarder reaches the upper limit of the safe working temperature, the motor adjusts the angle between the fan blade and the ground to be the angle capable of providing the maximum wind speed, and when the retarder does.
The fault-tolerant control layer comprises a single-vehicle fault-tolerant control strategy and a formation fault-tolerant control strategy; only the head vehicle and the tail vehicle in the formation vehicle are provided with drivers, and the middle vehicle is unmanned; the vehicle driving parameters and road parameters measured by the head vehicle through the sensor are simultaneously transmitted to other vehicles in the formation through a wireless communication technology; when the head vehicle breaks down, a fault signal is transmitted to the tail vehicle, the tail vehicle can exchange positions with the head vehicle according to the actual driving condition, and the formation driving is continuously kept under the condition that the normal driving is not influenced; when the brake system of the vehicles in the middle of the formation fails, the ECU sends an alarm to a driver, the failed vehicles evaluate the normal working brake form and the brake capacity of the failed vehicles, the formation vehicles are sequenced according to the new brake capacity, the front vehicles of the reordered failed vehicles accelerate under the condition of allowing accelerated driving, the rear vehicles of the failed vehicles brake, the front and rear vehicle distances of the failed vehicles are increased, and the brake effectiveness of the failed vehicles is guaranteed; when the tail vehicle breaks down, the driver identifies whether the fault type affects normal formation driving, if the fault type does not affect the normal driving, the automatic driving mode is switched to the manual operation mode, if the fault type affects the formation driving, the driver controls the fault vehicle to stop at the side, and other vehicles in the formation continue to form driving under the lead of the head vehicle.
The formation vehicle distance control adopts a multi-mode threshold value control method, and the formation driving mode is divided into an urban highway driving mode, an expressway driving mode and a mountain area driving mode according to the road traffic condition identified by vehicles; the formation vehicle distance in the three modes is increased along with the increase of the vehicle speed; in the urban highway driving mode, the minimum safe vehicle distance set by the low vehicle speed is minimum, and the insertion of non-formation vehicles in formation in the mode is not allowed; the minimum safe vehicle distance set by the formation vehicle speed is maximum in the expressway driving mode; the formation vehicles run at equal vehicle distance in the former two running modes; in a mountain driving mode, road fluctuation and turning working conditions frequently occur, the formation vehicles are set to be driven at variable intervals, the vehicle distance is set to be a large value when the braking capacity of two adjacent vehicles is large, and the vehicle distance is set to be a small value when the braking capacity of two adjacent vehicles is small; in the braking process, if the difference value between the front distance and the rear distance of the target vehicle is detected to exceed a certain limit value, the system adjusts the braking force of the vehicle to make the front distance and the rear distance of the vehicle uniform; under the driving modes divided according to weather conditions, judging whether the vehicle is in a mountainous area driving mode, if so, driving a formation according to a variable vehicle distance, if not, driving according to an equal vehicle distance, adjusting the vehicle distance according to the weather conditions, wherein the vehicle distance on a clear day is the smallest, the vehicle distance on a rainy day and an ice-snow day is the largest, and the vehicle distance on a foggy day is centered; among the patterns divided according to the road adhesion coefficient, the dry road running pattern pitch is larger than the wet road running pitch.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
fig. 1 is a control flow chart of a brake integrated control method based on formation of heavy vehicles.
FIG. 2 is a diagram of a formation vehicle braking profile and braking capability profile.
Fig. 3 is a camera angle adjustment diagram based on the driving multi-mode.
FIG. 4 is a flow chart of alarm system control.
FIG. 5 is a flow chart of a fleet vehicle cut-in determination.
Fig. 6 is a diagram of a lifting type floating bridge braking system.
Detailed Description
The method is suitable for the formation braking integrated control of heavy vehicles with the same type and the number of the single vehicles more than or equal to three; the signal sensing layer is divided into vehicle state sensing and external environment sensing, and the vehicle state sensing device comprises a wheel speed sensor, a braking torque sensor, a braking deceleration sensor and a load sensor; the external environment sensing device is provided with a wind speed sensor, a radar and a camera; the wind speed sensor, the load sensor and the wheel speed sensor are only arranged on a head car and a tail car of the formation vehicle, and the braking torque sensor, the braking deceleration sensor, the radar and the camera sensing device are arranged on each formation vehicle; the head car and the tail car in the formation have sensors with the most functions, the braking forms and the braking capacities are the same, the positions of the head car and the tail car can be interchanged when the head car breaks down or a driver is tired in driving, the driving fatigue degree of the head car driver is reduced, and the fault-tolerant control capacity of the formation system is improved.
The formation vehicles are of the same type, so that the inherent parameters of the vehicles are the same, and the vehicle load can be accurately estimated by comparing the braking force of the vehicles under different air resistance conditions. The method comprises the following steps that wheel speed sensors arranged on a head car and a tail car obtain the current running speed of a formation vehicle, and the formation vehicle and an intermediate formation vehicle are communicated to control the formation vehicle to run at the same speed; the method comprises the steps that wind speed sensors arranged on a head car and a tail car measure wind speeds to obtain air resistance borne by the head car and the tail car in a formation vehicle, nonlinear function relations of the air resistance in the formation vehicle are fitted according to different air resistance borne by the vehicles at different positions in the formation vehicle, so that the air resistance borne by an intermediate vehicle is obtained, and a braking torque sensor and a braking deceleration sensor measure wheel braking torque and braking deceleration of the intermediate vehicle during braking; the vehicle loads of the front vehicle and the tail vehicle are accurately obtained through the sensors, and a more accurate estimation result can be obtained by estimating the intermediate vehicle load in real time under the condition of considering the nonlinear air resistance change and the intermediate vehicle braking torque.
The external environment perception comprises traffic signal identification, road gradient estimation and road adhesion coefficient estimation; the formation vehicle is provided with a camera and a radar which can swing up and down at a certain angle on the upper part of a vehicle head, and the radar is arranged at the bottom of the vehicle head; the radar mounted on the upper part of the vehicle head is used for identifying the distance between vehicles, the camera is used for identifying the road adhesion condition and the traffic signal, and the radar mounted at the bottom of the vehicle head is used for detecting whether queue-inserting vehicles are used for queue-inserting and identifying the road adhesion coefficient and the road gradient; when the head car camera detects a traffic signal lamp in front, a braking signal sent by the head car is synchronously sent to the formation vehicle ECU to control the formation vehicle to brake in advance; when the radar at the bottom of the vehicle head identifies the appearance of the vehicles in the queue, the ECU sends out an alarm signal; the camera can swing up and down to identify road traffic conditions and road surface adhesion coefficient.
The alarm system is divided into a vehicle fault alarm system and a formation vehicle-plugging alarm system; the vehicle fault alarm system is a part of functions in formation fault-tolerant control; when the vehicle fault alarm system detects that the formation vehicle has a fault, the fault position and the fault type are sent to a vehicle-mounted display screen, the alarm is controlled to give an alarm, the alarms are mounted on a head vehicle and a tail vehicle, and drivers in the head vehicle and the tail vehicle take measures to process according to alarm information; in the formation driving process, if a radar located at the bottom of a vehicle head detects that non-formation vehicles are inserted into the formation, in order to reduce the parallel overtaking time and the parallel distance of the inserted vehicles and improve the driving safety, the radar identifies the vehicle insertion positions in the formation, an ECU controls the vehicles behind the formation insertion positions to brake, so that the inserted vehicles are quickly inserted, the upper limit value of the vehicle insertion time of the inserted vehicles in the formation is set, when the inserted vehicles in the formation exceed a certain time, a formation vehicle insertion alarm system sends out a voice alarm to warn that the inserted vehicles rapidly leave the formation, and the vehicles behind the insertion positions are whistle to prompt that the inserted vehicles leave the formation. When a new formation vehicle is inserted in the formation running process, the system identifies the braking capacity of the inserted vehicle, and determines the position of the vehicle to be inserted according to the braking capacity of the vehicle, the formation vehicle in front of an insertion point runs in an accelerated manner, and the vehicle behind the insertion point brakes, so that the parallel insertion time of the newly inserted vehicle and the running distance in the insertion process are reduced; when the braking capacity of the vehicle is changed due to the increase and decrease of cargoes in the vehicle transportation process, the vehicle identifies the load and carries out the reordering of the formation vehicles according to the vehicle load and the possessed braking capacity, the vehicle with large load and smaller braking capacity is arranged in front of the formation, the vehicle with small load and larger braking capacity is arranged behind the formation, and the vehicle with the load matched with the braking capacity is arranged in the middle of the formation.
Performing multi-mode identification according to the adhesion coefficients of different road surfaces, road conditions and weather conditions, wherein the multi-mode of formation driving comprises an urban highway driving mode, an expressway driving mode, a mountain area driving mode, a clear day driving mode, a fog day driving mode and a rainy and snowy weather driving mode which are divided according to the road conditions, and a dry road surface driving mode and a wet road surface driving mode which are divided according to the adhesion coefficients of the road surfaces; the camera above the vehicle head detects road conditions in front of the vehicle at different distances according to different driving modes and different angle adjustments; under the urban highway driving mode, the speed is small, the braking is frequent, the angle formed by the camera and the driving road surface is the largest in all driving modes, and the detection distance is 50 meters ahead; the formation speed is high in the expressway running mode, the adjustment angle of the camera is the minimum with the running road surface, and the camera can detect the road condition 300 meters ahead; the road gradient change is large in the mountainous area driving mode, the adjustment angle of the head camera is centered with the angle of the driving road surface, and the camera detects the road condition of 150 meters in front of the vehicle; under the driving modes divided according to weather conditions, the angle between the camera and the ground is the smallest in three modes in a sunny driving mode, the detection distance is 300 meters ahead, the angle between the camera and the ground is the largest in three modes in a foggy driving mode, the detection distance is 50 meters ahead, the angle between the camera and the ground is centered in a rainy and snowy driving mode, and the road condition in front of the vehicle is detected; in the mode divided according to the road adhesion coefficient, the camera detects the road condition of 150 meters in front of the vehicle in the dry road running mode, and the camera detects the road condition of 150 meters in front of the vehicle in the wet road running mode.
The braking logic control depends on the braking form of an engine, the braking form of an eddy current retarder, the braking form of a hub motor, the braking form of a lifting floating bridge and the braking form of an electronic mechanical type, vehicle braking systems at different positions are the combination of a plurality of or a plurality of braking forms, and the more braking forms the vehicles have, the greater the braking capacity is; the head cars and the tail cars in the formation have all braking forms, but the braking forms of the head cars only play a part of braking forms according to the actual braking condition, all the braking forms of the tail cars play a whole role in the actual braking, and the head cars and the tail cars have the maximum braking capacity and can be subjected to position interchange; the braking capacity of the middle vehicles in the formation is increased from front to back according to the sequence of the vehicles in the formation, when the formation vehicles are even numbered single vehicles, the braking form of the middle vehicles is the same as that of two adjacent single vehicles from front to back, and the braking form and the braking capacity of the middle vehicles are increased from front to back; when the formation vehicles are odd numbered single vehicles, the air resistance borne by the vehicles at the middle most in the formation is the smallest, the braking form and the braking capacity of the vehicles at the middle most are the same as those of the head vehicle and the tail vehicle, and the braking form and the braking capacity of the rest of the vehicles at the middle most are the same as those of the vehicles at the even numbered single vehicles in the formation.
The lifting floating bridge is symmetrically arranged on two sides of a frame in the middle of a chassis in a braking mode and consists of wheels provided with hub motors and two linear motors which generate vertical motion; when the ECU detects a braking signal, the linear motor is controlled to enable the floating bridge to descend in the driving process, after the wheel of the floating bridge is contacted with the ground, the wheel of the floating bridge generates braking force by using the hub motor, the wheel rotates to enable the hub motor to generate electricity, and the generated electric energy is stored to supply power for a vehicle power system; the lifting floating bridge type linear motor has quick response compared with the existing lifting floating bridge control system, the wheel hub motor enables the wheel to rotate inwards by a certain angle to form toe-in when the linear motor controls the wheel of the floating bridge to descend, and the toe-in angle of the wheel is adjusted according to the difference of braking deceleration identified by the system; the linear motor controls the floating bridge to lift, and after braking is finished, the linear motor drives the floating bridge to lift so that the tire is separated from the ground; when the tire burst condition occurs, the vehicle ECU automatically judges the position of the wheel with the tire burst, the linear motor which generates longitudinal motion controls the floating bridge to move to the tire burst position, and the wheels of the lifting floating bridge replace the wheels with the tire burst, so that the running stability of the vehicle under the emergency working condition is ensured.
In order to brake the eddy current retarder at the safe working temperature in the braking mode of the retarder, a fan blade controlled by a motor is installed below a vehicle chassis, the plane of the fan blade is parallel to a real-time road surface when the vehicle is not braked, the fan blade is opened to be perpendicular to the ground when a braking signal is received, the fan blade rotates under the action of air resistance, on one hand, the rotating fan blade utilizes wind energy to cool the retarder, on the other hand, the rotation of the fan blade also provides a part of resistance for braking and decelerating the vehicle, the angle between the fan blade and the ground is automatically adjusted according to the specific gravity of two functions, when the temperature of the retarder reaches the upper limit of the safe working temperature, the motor adjusts the angle between the fan blade and the ground to be the angle capable of providing the maximum wind speed, and when the retarder does.
The fault-tolerant control layer comprises a single-vehicle fault-tolerant control strategy and a formation fault-tolerant control strategy; only the head vehicle and the tail vehicle in the formation vehicle are provided with drivers, and the middle vehicle is unmanned; the vehicle driving parameters and road parameters measured by the head vehicle through the sensor are simultaneously transmitted to other vehicles in the formation through a wireless communication technology; when the head vehicle breaks down, a fault signal is transmitted to the tail vehicle, the tail vehicle can exchange positions with the head vehicle according to the actual driving condition, and the formation driving is continuously kept under the condition that the normal driving is not influenced; when the brake system of the vehicles in the middle of the formation fails, the ECU sends an alarm to a driver, the failed vehicles evaluate the normal working brake form and the brake capacity of the failed vehicles, the formation vehicles are sequenced according to the new brake capacity, the front vehicles of the reordered failed vehicles accelerate under the condition of allowing accelerated driving, the rear vehicles of the failed vehicles brake, the front and rear vehicle distances of the failed vehicles are increased, and the brake effectiveness of the failed vehicles is guaranteed; when the tail vehicle breaks down, the driver identifies whether the fault type affects normal formation driving, if the fault type does not affect the normal driving, the automatic driving mode is switched to the manual operation mode, if the fault type affects the formation driving, the driver controls the fault vehicle to stop at the side, and other vehicles in the formation continue to form driving under the lead of the head vehicle.
The formation vehicle distance control adopts a multi-mode threshold value control method, and the formation driving mode is divided into an urban highway driving mode, an expressway driving mode and a mountain area driving mode according to the road traffic condition identified by vehicles; the formation vehicle distance in the three modes is increased along with the increase of the vehicle speed; in the urban highway driving mode, the minimum safe vehicle distance set by the low vehicle speed is minimum, and the insertion of non-formation vehicles in formation in the mode is not allowed; the minimum safe vehicle distance set by the formation vehicle speed is maximum in the expressway driving mode; the formation vehicles run at equal vehicle distance in the former two running modes; in a mountain driving mode, road fluctuation and turning working conditions frequently occur, the formation vehicles are set to be driven at variable intervals, the vehicle distance is set to be a large value when the braking capacity of two adjacent vehicles is large, and the vehicle distance is set to be a small value when the braking capacity of two adjacent vehicles is small; in the braking process, if the difference value between the front distance and the rear distance of the target vehicle is detected to exceed a certain limit value, the system adjusts the braking force of the vehicle to make the front distance and the rear distance of the vehicle uniform; under the driving modes divided according to weather conditions, judging whether the vehicle is in a mountainous area driving mode, if so, driving a formation according to a variable vehicle distance, if not, driving according to an equal vehicle distance, adjusting the vehicle distance according to the weather conditions, wherein the vehicle distance on a clear day is the smallest, the vehicle distance on a rainy day and an ice-snow day is the largest, and the vehicle distance on a foggy day is centered; among the patterns divided according to the road adhesion coefficient, the dry road running pattern pitch is larger than the wet road running pitch.
Claims (7)
1. A brake integrated control method based on heavy vehicle formation is characterized in that: the brake integrated control method based on the formation of the heavy vehicles is divided into a signal sensing layer, a decision control layer and a command execution layer; the signal perception layer is divided into vehicle state perception and external environment perception; the decision control layer is divided into a single vehicle control layer, a formation control layer and a fault tolerance control layer; the execution layer comprises a sensor and a brake, wherein the braking forms comprise an engine braking form, an eddy current retarder braking form, a hub motor braking form, a lifting floating bridge braking form and an electromechanical braking form;
the brake integrated control method based on the formation of the heavy vehicles is suitable for the formation brake integrated control of the heavy vehicles with the same type and the number of the single vehicles more than or equal to three; the vehicle state sensing device in the signal sensing layer is provided with a wheel speed sensor, a braking torque sensor, a braking deceleration sensor and a load sensor; the external environment sensing device is provided with a wind speed sensor, a radar and a camera; the wind speed sensor, the load sensor and the wheel speed sensor are only arranged on a formation head vehicle and a formation tail vehicle, and the braking torque sensor, the braking deceleration sensor, the radar and the camera sensing device are all arranged on each formation vehicle; the head car and the tail car in the formation have the sensors with the most functions and have the same braking form and braking capability, and the head car and the tail car can exchange positions when the head car fails or a driver is tired in driving, so that the driving fatigue degree of the head car driver is reduced, and the fault-tolerant control capability of the formation system is improved; the current running speed of the formation vehicle is obtained by wheel speed sensors on the head vehicle and the tail vehicle, and the formation vehicle and the formation intermediate vehicle are communicated to control the formation to run at the same speed; the method comprises the steps that wind speed sensors arranged on a head car and a tail car measure wind speeds to obtain air resistance borne by the head car and the tail car, nonlinear function relations of the air resistance in formation cars are fitted according to different air resistance borne by different positions of the cars in formation to obtain air resistance borne by an intermediate car, and a braking torque sensor and a braking deceleration sensor measure wheel braking torque and braking deceleration of the intermediate car during braking; the vehicle loads of the front vehicle and the tail vehicle are accurately obtained by the sensor, and a more accurate estimation result can be obtained by estimating the intermediate vehicle load in real time under the condition of considering the nonlinear air resistance change and the intermediate vehicle braking torque; the control method is characterized in that an alarm system in the control method is divided into a vehicle fault alarm system and a formation vehicle plugging alarm system, and corresponding alarm forms are adopted aiming at faults and emergency situations in formation operation;
in the brake integrated control method based on the formation of heavy vehicles, external environment perception comprises traffic signal identification, road gradient estimation and road adhesion coefficient estimation; the formation vehicle is provided with a camera and a radar which can swing up and down at a certain angle on the upper part of a vehicle head, and the radar is arranged at the bottom of the vehicle head; the radar mounted on the upper part of the vehicle head is used for identifying the distance between vehicles, the camera is used for identifying the road adhesion condition and traffic signals, and the radar mounted at the bottom of the vehicle head is used for detecting whether queue-inserting vehicles are used for queue-inserting and identifying the road adhesion coefficient and the road gradient; when a camera of a head vehicle detects a traffic signal lamp in front, a braking signal sent by the head vehicle is synchronously sent to the ECU of other formation vehicles, the rear formation vehicles detect the braking signal at the same time, a tail vehicle starts braking at first, and the braking starts from back to front in the formation in sequence, so that the response speed of the formation braking is improved, and the vehicles can be fully braked at the formation vehicle distance; when the radar at the bottom of the vehicle head identifies the appearance of the vehicles in the queue, the ECU sends out an alarm signal; the camera can swing up and down to identify the road traffic condition and the pavement adhesion coefficient; correspondingly changing the brake integrated control strategy according to the odd-even change of the total amount of the single vehicles in the formation; the lifting floating bridge braking mode changes the toe-in angle according to the actual braking condition to obtain different braking forces and design a tire burst prevention control target; the fan blades controlled by the motor are added in the braking mode of the eddy current retarder, so that the temperature of the retarder is reduced while the braking capacity is improved;
the fault-tolerant control layer of the brake integrated control method based on the formation of the heavy vehicles comprises a single-vehicle fault-tolerant control strategy and a formation fault-tolerant control strategy; only the head vehicle and the tail vehicle in the formation vehicle are provided with drivers, and the middle vehicle is unmanned; the vehicle driving parameters and road parameters measured by the head vehicle through the sensor are simultaneously transmitted to other vehicles in the formation through a wireless communication technology; when the head vehicle breaks down, a fault signal is transmitted to the tail vehicle, the tail vehicle can exchange positions with the head vehicle according to the actual driving condition, and the formation driving is continuously kept under the condition that the normal driving is not influenced; when the brake system of the vehicles in the middle of the formation fails, the ECU sends an alarm to a driver, the failed vehicles evaluate the normal working brake form and the brake capacity of the failed vehicles, the formation vehicles are sequenced according to the new brake capacity, the front vehicles of the reordered failed vehicles accelerate under the condition of allowing accelerated driving, the rear vehicles of the failed vehicles brake, the front and rear vehicle distances of the failed vehicles are increased, and the brake effectiveness of the failed vehicles is guaranteed; when the tail vehicle breaks down, the driver identifies whether the fault type affects normal formation driving, if the fault type does not affect the normal driving, the automatic driving mode is switched to the manual operation mode, if the fault type affects the formation driving, the driver controls the fault vehicle to stop at the side, and other vehicles in the formation continue to form driving under the lead of the head vehicle.
2. The integrated control method for braking based on the formation of the heavy vehicles according to claim 1, wherein the alarm system of the integrated control method for braking based on the formation of the heavy vehicles is divided into a vehicle failure alarm system and a formation vehicle plugging alarm system; the vehicle fault alarm system is a partial function in formation fault-tolerant control; when the vehicle fault alarm system detects that the formation vehicle has a fault, the fault position and the fault type are sent to a vehicle-mounted display screen, the alarm is controlled to give an alarm, the alarms are mounted on the head vehicle and the tail vehicle, and drivers positioned on the head vehicle and the tail vehicle take measures to process according to the alarm information; in the formation driving process, if a radar located at the bottom of a vehicle head detects that a non-formation vehicle is inserted into a formation, in order to reduce the parallel overtaking time and the parallel distance of the inserted vehicle and improve the driving safety, the radar identifies the vehicle insertion position in the formation, an ECU controls the vehicle behind the formation insertion position to brake, so that the inserted vehicle is quickly inserted, the upper limit value of the vehicle insertion time of the inserted vehicle in the formation is set, when the inserted vehicle exceeds a certain time in the formation, a formation vehicle insertion alarm system sends out a voice alarm to warn that the inserted vehicle rapidly leaves the formation, and the vehicle behind the insertion position whistles to prompt the inserted vehicle to leave the formation; when a new formation vehicle needs to be inserted into the formation during formation driving, the system identifies the braking capacity of the inserted vehicle, the position where the vehicle needs to be inserted is determined according to the braking capacity of the vehicle, the formation vehicle in front of an insertion point accelerates driving, and the vehicle behind the insertion point brakes, so that the parallel insertion time and the parallel distance of the new inserted vehicle are reduced; when the braking capacity of the vehicle is changed due to the increase and decrease of cargoes in the vehicle transportation process, the vehicles recognize the load and carry out the formation and the reordering according to the vehicle load and the braking capacity, the vehicles with large load and smaller braking capacity are arranged in front of the formation, the vehicles with small load and larger braking capacity are arranged behind the formation, and the vehicles with the load matched with the braking capacity are arranged in the middle of the formation.
3. The brake integrated control method based on the formation of the heavy vehicles according to claim 1, wherein the brake integrated control method based on the formation of the heavy vehicles performs multi-mode recognition according to adhesion coefficients of different road surfaces, road conditions and weather conditions, and the multi-modes of formation driving include urban highway driving mode, expressway driving mode, mountain area driving mode and clear day driving mode, fog day driving mode and rainy day and ice and snow weather driving mode divided according to the road conditions, and dry road driving mode and wet road driving mode divided according to the road adhesion coefficients; the camera above the vehicle head detects road conditions in front of the vehicle at different distances according to different driving modes and different angle adjustments; under the urban highway driving mode, the speed is small, the braking is frequent, the angle formed by the camera and the driving road surface is the largest in all driving modes, and the detection distance is 50 meters ahead; the formation speed is high in the expressway running mode, the adjustment angle of the camera is the minimum with the running road surface, and the camera can detect the road condition 300 meters ahead; the road gradient change is large in the mountainous area driving mode, the adjustment angle of the head camera is centered with the angle of the driving road surface, and the camera detects the road condition of 150 meters in front of the vehicle; under the driving modes divided according to weather conditions, the angle between the camera and the ground is the smallest in three modes in a sunny driving mode, the detection distance is 300 meters ahead, the angle between the camera and the ground is the largest in three modes in a foggy driving mode, the detection distance is 50 meters ahead, the angle between the camera and the ground is centered in a rainy and snowy driving mode, and the road condition in front of the vehicle is detected; in the mode divided according to the road adhesion coefficient, the camera detects the road condition of 150 meters in front of the vehicle in the dry road running mode, and the camera detects the road condition of 150 meters in front of the vehicle in the wet road running mode.
4. The integrated control method for braking based on the formation of the heavy vehicles according to claim 1, wherein the braking logic control of the integrated control method for braking based on the formation of the heavy vehicles depends on the braking modes of an engine, an eddy current retarder, a hub motor, a lifting pontoon bridge and an electromechanical braking mode, the braking systems of the vehicles at different positions are the combination of several or more of the braking modes, and the more the braking modes of the vehicles are, the greater the braking capability is; the head car and the tail car of the formation have all braking forms, but the braking form of the head car only exerts part of the braking forms according to the actual braking condition, all the braking forms of the tail car are exerted in the actual braking, and the head car and the tail car have the maximum braking capability and can be exchanged in position; the braking capacity of the middle vehicles in the formation is increased from front to back according to the sequence of the vehicles in the formation, when the formation vehicles are even numbered single vehicles, the braking form of the middle vehicles is the same as that of two adjacent single vehicles from front to back, and the braking form and the braking capacity of the middle vehicles are increased from front to back; when the formation vehicles are odd numbered single vehicles, the air resistance borne by the vehicles at the middle most in the formation is the smallest, the braking form and the braking capacity of the vehicles at the middle most are the same as those of the head vehicle and the tail vehicle, and the braking form and the braking capacity of the rest of the vehicles at the middle most are the same as those of the vehicles at the even numbered single vehicles in the formation.
5. The integrated control method for braking based on the formation of the heavy vehicles according to claim 1, wherein the integrated control method for braking based on the formation of the heavy vehicles is characterized in that the braking modes of the lifting floating bridges are symmetrically arranged at two sides of a frame in the middle of a chassis and comprise wheels provided with hub motors and two linear motors capable of generating vertical motion; when the ECU detects a braking signal, the linear motor is controlled to enable the floating bridge to descend in the driving process, after the wheel of the floating bridge is contacted with the ground, the wheel of the floating bridge generates braking force by using the hub motor, the wheel rotates to enable the hub motor to generate electricity, and the generated electricity is stored to provide electricity for a vehicle electricity system; the lifting floating bridge type linear motor has quick response compared with the existing lifting floating bridge control system, in the process of controlling the wheels of the floating bridge to descend, the wheel hub motor enables the wheels to rotate inwards for a certain angle to form toe-in, and the toe-in angle of the wheels is adjusted according to the difference of braking deceleration identified by the system; the linear motor controls the floating bridge to lift, and after braking is finished, the linear motor drives the floating bridge to lift so that the tire is separated from the ground; when the tire burst condition occurs, the vehicle ECU automatically judges the position of the wheel with the tire burst, and the linear motor which generates longitudinal motion controls the wheel on the floating bridge to move to the tire burst position, so that the wheel with the lifting floating bridge replaces the wheel with the tire burst, and the running stability of the vehicle under the emergency working condition is ensured.
6. The integrated control method of claim 1, wherein the integrated control method of braking based on the formation of heavy vehicles is to brake the eddy current retarder at the safe operating temperature in the form of retarder braking, a motor-controlled fan blade is installed under the vehicle chassis, the plane of the fan blade is parallel to the real-time road surface when the vehicle is not braked, the fan blade is opened to be perpendicular to the ground when receiving the braking signal, the fan blade is rotated due to the air resistance, the rotating fan blade utilizes the wind energy to cool the retarder on one hand, and provides a part of resistance for the braking deceleration of the vehicle on the other hand, the angle between the fan blade and the ground is automatically adjusted according to the specific gravity of the two functions, when the temperature of the retarder reaches the upper limit of the safe operating temperature, the motor adjusts the angle between the fan blade and the ground to the angle capable of providing the maximum wind speed, when the retarder does not reach the upper limit of the safe working temperature, the angle of the fan blade is adjusted to the angle capable of generating the maximum braking force by the motor.
7. The integrated control method for braking based on the formation of the heavy vehicles according to claim 1, wherein in the integrated control method for braking based on the formation of the heavy vehicles, a multi-mode threshold value control method is adopted for controlling the formation vehicle distance, and the formation driving modes are divided into an urban highway driving mode, an expressway driving mode and a mountain area driving mode according to the road traffic condition identified by the vehicles; the formation vehicle distance in the three modes is increased along with the increase of the vehicle speed; in the urban highway driving mode, the minimum safe vehicle distance set by the low vehicle speed is minimum, and the insertion of non-formation vehicles in formation in the mode is not allowed; the minimum safe vehicle distance set by the formation vehicle speed is maximum in the expressway driving mode; the formation vehicles run at equal vehicle distance in the former two running modes; in a mountain driving mode, road fluctuation and turning working conditions frequently occur, the formation vehicles are set to be driven at variable intervals, the vehicle distance is set to be a large value when the braking capacity of two adjacent vehicles is large, and the vehicle distance is set to be a small value when the braking capacity of two adjacent vehicles is small; in the braking process, if the difference value between the front distance and the rear distance of the target vehicle is detected to exceed a certain limit value, the system adjusts the braking force of the vehicle to make the front distance and the rear distance of the vehicle uniform; under the driving modes divided according to weather conditions, judging whether the vehicle is in a mountainous area driving mode, if so, driving a formation according to a variable vehicle distance, if not, driving according to an equal vehicle distance, adjusting the vehicle distance according to the weather conditions, wherein the vehicle distance on a clear day is the smallest, the vehicle distance on a rainy day and an ice-snow day is the largest, and the vehicle distance on a foggy day is centered; among the patterns divided according to the road adhesion coefficient, the dry road running pattern pitch is larger than the wet road running pitch.
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| CN106919173A (en) | 2017-07-04 |
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