CN113799775A - Vehicle deceleration control method and control device - Google Patents
Vehicle deceleration control method and control device Download PDFInfo
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- CN113799775A CN113799775A CN202111123933.6A CN202111123933A CN113799775A CN 113799775 A CN113799775 A CN 113799775A CN 202111123933 A CN202111123933 A CN 202111123933A CN 113799775 A CN113799775 A CN 113799775A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention belongs to the technical field of vehicles, and particularly relates to a vehicle deceleration control method and a vehicle deceleration control device. The vehicle deceleration control method comprises the steps of obtaining a first opening value of a brake pedal according to the fact that a vehicle is in a normal running state, judging that the vehicle is in a service braking state and calculating the opening change rate of the brake pedal according to the fact that the first opening value is larger than zero, judging that the vehicle is in an emergency braking state according to the fact that the opening change rate is larger than a first emergency braking value and the first opening value is larger than a second emergency braking value, and controlling a hydraulic system and an engine buffer to work. By using the vehicle deceleration control method in the technical scheme, the emergency braking state of the vehicle is judged according to the first opening value and the opening change rate of the brake pedal, and the vehicle is jointly braked by adopting the brake, the hydraulic system and the engine buffer, so that the optimal braking effect is realized, and the reliability of the vehicle is improved.
Description
Technical Field
The invention belongs to the technical field of vehicles, and particularly relates to a vehicle deceleration control method and a vehicle deceleration control device.
Background
The gearbox is a very important part of the vehicle and has the functions of changing the transmission ratio and expanding the torque and the rotating speed of a driving wheel. The conventional hydraulic mechanical stepless speed changing box consists of a hydraulic torque converter, a planetary gear, a hydraulic pitch changing system and a hydraulic control system, the hydraulic mechanical stepless speed changing box can realize continuous change of a transmission ratio under a complex driving environment, and the driving performance and the driving experience of a vehicle are greatly influenced by the change speed of the transmission ratio. When the existing mechanical hydraulic stepless speed changing box decelerates, the braking torque is mainly determined by the torque of the brake, and the cooperative control of the reverse braking of the hydraulic system and the engine retarder is not fully considered, so that the cooperative control of the three is poor, and the braking effect of the vehicle is poor.
Disclosure of Invention
The invention aims to at least solve the problem of poor cooperativity among a brake, a hydraulic system and a retarder of the existing mechanical hydraulic stepless speed changing box. The purpose is realized by the following technical scheme:
a first aspect of the invention provides a vehicle deceleration control method including:
acquiring a first opening value of a brake pedal according to the condition that a vehicle is in a normal running state;
judging that the vehicle is in a service braking state and calculating the opening change rate of a brake pedal according to the condition that the first opening value is larger than zero;
and judging that the vehicle is in an emergency braking state and controlling a hydraulic system and an engine buffer to work according to the condition that the opening change rate is greater than a first emergency braking value and the first opening value is greater than a second emergency braking value.
By using the vehicle deceleration control method in the technical scheme, the emergency braking state of the vehicle is judged according to the opening value and the opening change rate of the brake pedal, the vehicle is jointly braked by adopting the brake, the hydraulic system and the engine buffer, the engine of the vehicle can enter a high-efficiency braking rotating speed interval, the deceleration performance is adaptively adjusted, the rapid and stable reduction of the vehicle speed is realized, the hydraulic system and the engine retarder in the emergency braking state can continuously consume the kinetic energy of the whole vehicle, the optimal braking effect is realized, and the reliability of the vehicle is improved.
In addition, according to the vehicle deceleration control method of the present invention, there may be additional technical features as follows:
in some embodiments of the present invention, the determining that the vehicle is in an emergency braking state and controlling the hydraulic system and the engine buffer to work further comprises:
acquiring a second opening value and acquiring a first vehicle speed value according to the condition that the second opening value is the same as the first opening value;
according to the fact that the first vehicle speed value is smaller than the first vehicle speed preset value and smaller than the second vehicle speed preset value, an engine buffer and a hydraulic system are closed, and a brake is adopted to brake the vehicle;
and acquiring a third opening value of the brake pedal, controlling the brake to be closed and recovering the normal running state of the vehicle according to the fact that the third opening value is equal to zero.
In some embodiments of the present invention, the obtaining the second opening value and obtaining the first vehicle speed value according to the second opening value being the same as the first opening value further include:
and controlling the vehicle to keep the current state and controlling the hydraulic system and the engine buffer to continue to work according to the condition that the first vehicle speed value is greater than or equal to the first vehicle speed preset value or greater than or equal to the second vehicle speed preset value.
In some embodiments of the present invention, after the obtaining of the third openness value of the brake pedal and the controlling of the brake to close and to resume the normal driving state of the vehicle according to the third openness value being equal to zero further comprises:
and acquiring a third openness value of the brake pedal, judging that the vehicle is in a service braking state according to the fact that the third openness value is larger than zero, and comparing the third openness value with the second emergency braking value again.
In some embodiments of the present invention, before acquiring the first opening value of the brake pedal according to the normal driving state of the vehicle, the method further includes:
a threshold range of the deceleration knob is obtained.
In some embodiments of the invention, the determining that the vehicle is in a service braking state and calculating the opening change rate of the brake pedal according to the first opening value being greater than zero further comprises;
judging that the vehicle is in a non-emergency braking state according to the fact that the opening change rate is smaller than or equal to a first emergency braking value or the first opening value is smaller than or equal to a second emergency braking value;
acquiring a second vehicle speed value and a deceleration value according to the condition that the first opening value is larger than the composite braking value;
and judging that the vehicle is in a composite braking state and controlling the hydraulic system or the engine buffer to work according to the fact that the second vehicle speed value is larger than the third vehicle speed preset value and the deceleration value is located outside the threshold range of the deceleration knob.
In some embodiments of the invention, the determining that the vehicle is in the compound braking state and controlling the operation of the hydraulic system or the engine buffer further comprises:
acquiring a fourth opening value, and acquiring a third vehicle speed value of the vehicle according to the condition that the first opening value and the fourth opening value are the same;
according to the fact that the third vehicle speed value is smaller than the first vehicle speed preset value, an engine buffer is closed, and a brake is adopted to brake the vehicle;
and acquiring a fifth opening value of the brake pedal, and controlling the brake to be closed and recovering the normal running state of the vehicle according to the fact that the fifth opening value is equal to zero.
In some embodiments of the invention, the obtaining the fourth value and obtaining the third vehicle speed value of the vehicle according to the first opening value and the fourth value being the same further comprises;
according to the fact that the third vehicle speed value is smaller than the second vehicle speed preset value, the hydraulic system is closed, and a brake is adopted to brake the vehicle;
and acquiring a sixth opening value of the brake pedal, controlling the brake to be closed and recovering the normal running state of the vehicle according to the fact that the sixth opening value is equal to zero.
In some embodiments of the present invention, after determining that the vehicle is in the non-emergency braking state according to whether the opening change rate is less than or equal to the first emergency braking value or the first opening value is less than or equal to the second emergency braking value, the method further includes:
judging that the vehicle is in a sliding state and braking the vehicle by adopting a brake according to the condition that the first opening value is smaller than the composite braking value;
and acquiring a seventh opening value of the brake pedal, and controlling the brake to be closed and recovering the normal running state of the vehicle according to the fact that the seventh opening value is equal to zero.
A second aspect of the invention proposes a control device for executing the above-described vehicle deceleration control method, the control device including: the device comprises an acquisition unit, a calculation unit, a comparison unit and a control unit, wherein:
an acquisition unit for acquiring a first opening value of a brake pedal;
a calculation unit for calculating a rate of change in the opening of the brake pedal;
the comparison unit is used for comparing a first opening value and a zero value of the brake pedal and comparing the opening change rate of the brake pedal with a first emergency braking value and a second emergency braking value respectively;
a control unit for controlling the operating state of the hydraulic system and the engine buffer of the vehicle.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:
FIG. 1 schematically illustrates a logic flow diagram of a vehicle deceleration control method in an emergency braking state according to an embodiment of the present invention;
FIG. 2 schematically illustrates a logic flow diagram for a compound braking state of a vehicle deceleration control method according to an embodiment of the present invention;
fig. 3 schematically shows a logic flow diagram in a coasting state of the vehicle deceleration control method according to the embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Fig. 1 schematically shows a logic flow diagram in an emergency braking state of a vehicle deceleration control method according to an embodiment of the present invention. As shown in fig. 1, the present invention provides a vehicle deceleration control method and control device. The vehicle deceleration control method of the invention includes:
s1, acquiring a first opening value of a brake pedal according to the normal running state of the vehicle;
s2, judging that the vehicle is in a service braking state and calculating the opening change rate of the brake pedal according to the fact that the first opening value is larger than zero;
and S3, judging that the vehicle is in an emergency braking state and controlling the hydraulic system and the engine buffer to work according to the fact that the opening change rate is larger than the first emergency braking value and the first opening value is larger than the second emergency braking value.
By using the vehicle deceleration control method in the technical scheme, the emergency braking state of the vehicle is judged according to the opening value and the opening change rate of the brake pedal, the vehicle is jointly braked by adopting the brake, the hydraulic system and the engine buffer, the engine of the vehicle can enter a high-efficiency braking rotating speed interval, the deceleration performance is adaptively adjusted, the rapid and stable reduction of the vehicle speed is realized, the hydraulic system and the engine retarder in the emergency braking state can continuously consume the kinetic energy of the whole vehicle, the optimal braking effect is realized, and the reliability of the vehicle is improved.
Specifically, in the present embodiment, if the first opening value is equal to zero (i.e., it indicates that the brake pedal is not open) in step S2, the vehicle is continuously kept in the normal running state.
Specifically, in the present embodiment, the corresponding rate of change in the opening degree of the brake pedal can be acquired from the first opening degree value and the time value that are greater than zero.
Specifically, when the second opening degree value is obtained and compared with the first opening degree value, if the first opening degree value is different from the second opening degree value, the process returns to step S1 to determine the opening degree value of the brake pedal again.
Specifically, the first vehicle speed preset value in this embodiment corresponds to the engine retarder, that is, the first vehicle speed value is smaller than the first vehicle speed preset value, and the engine retarder stops working. The second vehicle speed preset value corresponds to the hydraulic system, namely the first vehicle speed value is smaller than the second vehicle speed preset value, and the hydraulic system stops working.
In some embodiments of the present invention, as shown in fig. 1, after determining that the vehicle is in an emergency braking state and controlling the hydraulic system and the engine buffer to work, the method further includes:
acquiring a second opening value and acquiring a first vehicle speed value according to the condition that the second opening value is the same as the first opening value;
according to the fact that the first vehicle speed value is smaller than the first vehicle speed preset value and smaller than the second vehicle speed preset value, an engine buffer and a hydraulic system are closed, and a brake is adopted to brake the vehicle;
and acquiring a third opening value of the brake pedal, controlling the brake to be closed and recovering the normal running state of the vehicle according to the fact that the third opening value is equal to zero.
In some embodiments of the present invention, obtaining the second opening value and obtaining the first vehicle speed value according to the second opening value being the same as the first opening value further comprises:
and controlling the vehicle to keep the current state and controlling the hydraulic system and the engine buffer to continue to work according to the condition that the first vehicle speed value is greater than or equal to the first vehicle speed preset value or greater than or equal to the second vehicle speed preset value.
Specifically, in the present embodiment, according to whether the first vehicle speed value is greater than or equal to the first vehicle speed preset value or greater than or equal to the second vehicle speed preset value, the current braking mode (i.e., the emergency braking mode) is continuously maintained, the vehicle is continuously decelerated until the first vehicle speed value is respectively smaller than the first vehicle speed preset value and the second vehicle speed preset value, and then the operation of closing the engine buffer and the hydraulic system and braking the vehicle by using the brake is performed.
In some embodiments of the present invention, after obtaining the third opening value of the brake pedal and controlling the brake to close and resume the normal driving state of the vehicle according to the third opening value being equal to zero, the method further includes:
and acquiring a third openness value of the brake pedal, judging that the vehicle is in a service braking state according to the fact that the third openness value is larger than zero, and comparing the third openness value with the second emergency braking value again.
Specifically, in this case, since the brake pedal still has a certain opening degree, which indicates that the vehicle still needs to be braked, the vehicle needs to enter the service braking mode again to compare the third opening degree value with the second emergency braking value again, so as to achieve the purpose of decelerating again.
Further, the above is the control method in the emergency braking mode in the present embodiment. When the first opening value of the brake pedal is detected to be larger than the second emergency braking value and the opening change rate of the brake pedal is detected to be higher than the first emergency braking value, the brake pedal is considered to be in an emergency braking state at present: at the moment, the speed ratio of the hydraulic system is quickly adjusted, the transmission ratio of the gearbox is increased, and the participation degree of the hydraulic system is increased, so that the roles of a hydraulic pump and a motor of the hydraulic system are reversed, the motor drives the hydraulic pump to rotate, and the kinetic energy of the whole vehicle is continuously consumed. Meanwhile, the transmission controller sends a negative torque control request to the engine controller to activate the engine retarder, and the kinetic energy of the whole vehicle is further consumed by the engine to do negative work, so that the braking effect is maximized.
Specifically, in the embodiment, the hydraulic system and the engine retarder both operate in the emergency braking mode, so that the vehicle is braked to the maximum extent, and the purpose of rapid deceleration is achieved.
In some embodiments of the present invention, as shown in fig. 2, before acquiring the first opening value of the brake pedal according to the normal driving state of the vehicle, the method further includes:
a threshold range of the deceleration knob is obtained. The threshold range of the speed reduction knob is preset by an operator, and the speed reduction knob can be obtained and read simply.
In some embodiments of the invention, determining that the vehicle is in a service braking state and calculating the opening change rate of the brake pedal according to the first opening value being greater than zero further comprises;
judging that the vehicle is in a non-emergency braking state according to the fact that the opening change rate is smaller than or equal to a first emergency braking value or the first opening value is smaller than or equal to a second emergency braking value;
acquiring a second vehicle speed value and a deceleration value according to the condition that the first opening value is larger than the composite braking value;
and judging that the vehicle is in a composite braking state and controlling the hydraulic system or the engine buffer to work according to the fact that the second vehicle speed value is larger than the third vehicle speed preset value and the deceleration value is located outside the threshold range of the deceleration knob.
In some embodiments of the present invention, determining that the vehicle is in the compound braking state and controlling the operation of the hydraulic system or the engine buffer further comprises:
acquiring a fourth opening value, and acquiring a third vehicle speed value of the vehicle according to the condition that the first opening value and the fourth opening value are the same;
according to the fact that the third vehicle speed value is smaller than the first vehicle speed preset value, an engine buffer is closed, and a brake is adopted to brake the vehicle;
and acquiring a fifth opening value of the brake pedal, and controlling the brake to be closed and recovering the normal running state of the vehicle according to the fact that the fifth opening value is equal to zero.
In some embodiments of the invention, obtaining the fourth value and obtaining the third vehicle speed value of the vehicle based on the first opening value and the fourth value being the same further comprises;
according to the fact that the third vehicle speed value is smaller than the second vehicle speed preset value, the hydraulic system is closed, and a brake is adopted to brake the vehicle;
and acquiring a sixth opening value of the brake pedal, controlling the brake to be closed and recovering the normal running state of the vehicle according to the fact that the sixth opening value is equal to zero.
Specifically, in the present embodiment, the above two embodiments are in the composite braking state, that is, the retarder operation only and the hydraulic system operation only, respectively. The third vehicle speed value is compared to a first vehicle speed preset value if the engine retarder is operated in the compound braking state, and to a second vehicle speed preset value if the hydraulic system is operated in the compound braking state.
Further, the above is the control method in the composite braking mode in the present embodiment. When the first opening value of the brake pedal is detected to be larger than the composite braking value and the opening change rate of the brake pedal does not reach the first emergency braking value, the brake pedal is considered to be in the composite braking mode at present, and whether the hydraulic system reverse braking or the engine retarder is activated is judged according to the current actual second vehicle speed value and the current actual deceleration value: if the actual second vehicle speed value is higher and the deceleration value is outside the threshold range of the deceleration knob, the engine retarder is activated or the hydraulic speed ratio is properly adjusted to ensure that the engine enters a high-efficiency braking rotating speed interval, and meanwhile, the deceleration process is more linear.
Specifically, because the composite braking state does not have the large braking force required by emergency braking, the hydraulic system and the engine retarder in the composite braking mode in the embodiment adopt an alternative mode to perform single operation, so that the vehicle is effectively braked, and the aim of reducing the speed is fulfilled.
In some embodiments of the present invention, as shown in fig. 3, after determining that the vehicle is in the non-emergency braking state according to whether the opening change rate is equal to or less than the first emergency braking value or the first opening value is equal to or less than the second emergency braking value, the method further includes:
judging that the vehicle is in a sliding state and braking the vehicle by adopting a brake according to the condition that the first opening value is smaller than the composite braking value;
and acquiring a seventh opening value of the brake pedal, and controlling the brake to be closed and recovering the normal running state of the vehicle according to the fact that the seventh opening value is equal to zero.
Further, the above is the control method in the sliding mode in the present embodiment. When the situation that the accelerator pedal is released by a driver, the brake pedal has the opening degree and is smaller than the composite brake value (namely the first opening degree value is smaller than the composite brake value) is detected, the braking requirement of the driver is not high at the moment, the engine retarder and the hydraulic system are not activated for reverse braking at the moment, and braking is carried out only by using the braking torque determined by the threshold range of the speed reducing knob and the brake pedal.
Specifically, in the present embodiment, the change in the opening degree value of the brake pedal is monitored in real time throughout the process, and if the opening degree value and the opening degree change rate of the brake pedal change, the braking state is adjusted in real time in accordance with the change in the brake pedal and the vehicle speed, and when it is detected that the driver has completely released the brake pedal, the braking is released.
In summary, the control method of the invention judges the braking demand according to the opening degree of the brake pedal and the change rate of the opening degree of the brake pedal, decides the demand braking state according to the current driving state and the braking demand, and the transmission intelligently judges whether to activate the reverse braking of the hydraulic system or the engine retarder according to the demand braking state, and finally realizes the function of intelligent self-adaptive deceleration control of the mechanical hydraulic stepless gearbox power assembly through the efficient cooperative control of the braking system, the hydraulic system and the engine retarder.
The present invention also proposes a control device for executing the above vehicle deceleration control method, the control device including: the device comprises an acquisition unit, a calculation unit, a comparison unit and a control unit, wherein:
the acquisition unit is used for acquiring a first opening value of the brake pedal;
a calculation unit for calculating a rate of change in the opening of the brake pedal;
the comparison unit is used for comparing a first opening value and a zero value of the brake pedal and comparing the opening change rate of the brake pedal with a first emergency braking value and a second emergency braking value respectively;
and the control unit is used for controlling the working states of a hydraulic system and an engine buffer of the vehicle.
By using the control device in the technical scheme, a combined structure of the acquisition unit, the calculation unit, the comparison unit and the control unit is adopted, the threshold range and the deceleration value of the deceleration knob can be respectively acquired, the opening value of the brake pedal and the vehicle speed value of the vehicle are calculated, the opening change rate is calculated, the first opening value and the second opening value are compared, the first opening value and the fourth opening value are compared, the first vehicle speed value, the second vehicle speed value and the third vehicle speed value are respectively compared with respective preset values, the opening values are respectively compared with a composite brake value and a zero value, and finally, the three brake modes of the control method in the embodiment are realized in the working state of controlling the hydraulic system and the engine buffer of the vehicle, so that the maximization of the brake effect can be realized, and the reliability of the vehicle is improved.
The invention also provides a vehicle which comprises a storage device and the control device, wherein the storage device stores instructions, and the control device can realize the vehicle deceleration control method when executing the instructions.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A vehicle deceleration control method characterized by comprising:
acquiring a first opening value of a brake pedal according to the condition that a vehicle is in a normal running state;
judging that the vehicle is in a service braking state and calculating the opening change rate of a brake pedal according to the condition that the first opening value is larger than zero;
and judging that the vehicle is in an emergency braking state and controlling a hydraulic system and an engine buffer to work according to the condition that the opening change rate is greater than a first emergency braking value and the first opening value is greater than a second emergency braking value.
2. The vehicle deceleration control method according to claim 1, wherein the determining that the vehicle is in an emergency braking state and controlling the hydraulic system and the engine buffer to operate further comprises:
acquiring a second opening value and acquiring a first vehicle speed value according to the condition that the second opening value is the same as the first opening value;
according to the fact that the first vehicle speed value is smaller than the first vehicle speed preset value and smaller than the second vehicle speed preset value, an engine buffer and a hydraulic system are closed, and a brake is adopted to brake the vehicle;
and acquiring a third opening value of the brake pedal, controlling the brake to be closed and recovering the normal running state of the vehicle according to the fact that the third opening value is equal to zero.
3. The vehicle deceleration control method according to claim 2, characterized in that the acquiring of the second opening value and the acquiring of the first vehicle speed value based on the second opening value being the same as the first opening value further comprises:
and controlling the vehicle to keep the current state and controlling the hydraulic system and the engine buffer to continue to work according to the condition that the first vehicle speed value is greater than or equal to the first vehicle speed preset value or greater than or equal to the second vehicle speed preset value.
4. The vehicle deceleration control method according to claim 3, characterized by, after acquiring the third opening value of the brake pedal and controlling the brake to be off and restoring the normal running state of the vehicle in accordance with the third opening value being equal to zero, further comprising:
and acquiring a third openness value of the brake pedal, judging that the vehicle is in a service braking state according to the fact that the third openness value is larger than zero, and comparing the third openness value with the second emergency braking value again.
5. The vehicle deceleration control method according to claim 1, characterized by further comprising, before acquiring the first opening value of the brake pedal according to the vehicle being in the normal running state:
a threshold range of the deceleration knob is obtained.
6. The vehicle deceleration control method according to claim 5, further comprising, after determining that the vehicle is in a service braking state and calculating a rate of change in the opening of the brake pedal, based on the first opening value being greater than zero;
judging that the vehicle is in a non-emergency braking state according to the fact that the opening change rate is smaller than or equal to a first emergency braking value or the first opening value is smaller than or equal to a second emergency braking value;
acquiring a second vehicle speed value and a deceleration value according to the condition that the first opening value is larger than the composite braking value;
and judging that the vehicle is in a composite braking state and controlling the hydraulic system or the engine buffer to work according to the fact that the second vehicle speed value is larger than the third vehicle speed preset value and the deceleration value is located outside the threshold range of the deceleration knob.
7. The vehicle deceleration control method according to claim 6, characterized in that, after determining that the vehicle is in the composite braking state and controlling the operation of the hydraulic system or the engine buffer, further comprising:
acquiring a fourth opening value, and acquiring a third vehicle speed value of the vehicle according to the condition that the first opening value and the fourth opening value are the same;
according to the fact that the third vehicle speed value is smaller than the first vehicle speed preset value, an engine buffer is closed, and a brake is adopted to brake the vehicle;
and acquiring a fifth opening value of the brake pedal, and controlling the brake to be closed and recovering the normal running state of the vehicle according to the fact that the fifth opening value is equal to zero.
8. The vehicle deceleration control method according to claim 6, characterized by comprising, after acquiring the third vehicle speed value of the vehicle, acquiring the fourth value and according to the first opening value and the fourth value being the same;
according to the fact that the third vehicle speed value is smaller than the second vehicle speed preset value, the hydraulic system is closed, and a brake is adopted to brake the vehicle;
and acquiring a sixth opening value of the brake pedal, controlling the brake to be closed and recovering the normal running state of the vehicle according to the fact that the sixth opening value is equal to zero.
9. The vehicle deceleration control method according to claim 6, characterized in that said determining that the vehicle is in the non-emergency braking state according to whether the opening change rate is equal to or less than the first emergency braking value or the first opening value is equal to or less than the second emergency braking value further comprises:
judging that the vehicle is in a sliding state and braking the vehicle by adopting a brake according to the condition that the first opening value is smaller than the composite braking value;
and acquiring a seventh opening value of the brake pedal, and controlling the brake to be closed and recovering the normal running state of the vehicle according to the fact that the seventh opening value is equal to zero.
10. A control device for executing the vehicle deceleration control method according to any one of claims 1 to 9, characterized by comprising: the device comprises an acquisition unit, a calculation unit, a comparison unit and a control unit, wherein:
an acquisition unit for acquiring a first opening value of a brake pedal;
a calculation unit for calculating a rate of change in the opening of the brake pedal;
the comparison unit is used for comparing a first opening value and a zero value of the brake pedal and comparing the opening change rate of the brake pedal with a first emergency braking value and a second emergency braking value respectively;
a control unit for controlling the operating state of the hydraulic system and the engine buffer of the vehicle.
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| CN115871468A (en) * | 2023-02-02 | 2023-03-31 | 临工重机股份有限公司 | Engineering vehicle control method and device, vehicle and storage medium |
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