CN114701518A - Heavy truck brake-by-wire braking device and braking method - Google Patents

Heavy truck brake-by-wire braking device and braking method Download PDF

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

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

Abstract

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

Description

Heavy truck brake-by-wire braking device and braking method
Technical Field
The invention belongs to the technical field of automatic driving control, and particularly relates to a heavy truck brake-by-wire braking device and a heavy truck brake-by-wire braking method.
Background
Along with the development and popularization of intelligent driving technology, intelligent driving is gradually popularized and applied in the field of heavy trucks. The drive-by-wire chassis is used as an actuator of an intelligent driving system, and the performance and reliability of the system play an important role in the popularization of intelligent driving technology. In order to improve the safety and reliability of the system, a redundant device needs to be added for the brake-by-wire.
In the prior heavy truck technology, the line control action mainly realizes the braking force adjustment by means of air pressure braking, and excessive air pressure braking calling can cause overheating of a friction disc and influence the safety of a system; on the other hand, the comfort is poor due to the large air pressure fluctuation. The redundant braking mainly realizes the parking of the vehicle through an electronic hand brake, the linear regulation of the braking deceleration of the vehicle cannot be realized, and meanwhile, the redundant braking is open-loop control, so that the phenomena of vehicle instability and the like are possibly caused, and the safety of the vehicle is influenced. This is a disadvantage of the prior art.
In view of the above, the present invention provides a braking device and a braking method for a heavy truck brake-by-wire, which are necessary to solve the defects in the prior art.
Disclosure of Invention
The present invention aims to provide a braking device and a braking method for heavy truck brake-by-wire, which are designed to solve the above technical problems.
In order to achieve the purpose, the invention provides the following technical scheme:
a brake-by-wire apparatus for heavy truck braking, comprising:
the intelligent driving system comprises an intelligent driving controller, a vehicle braking system controller, a braking execution unit, a human-computer interaction unit and an information transmission unit;
the intelligent driving controller is in data communication with the vehicle braking system controller and the human-computer interaction unit through the information transmission unit, and prompt information of the intelligent driving controller to the human-computer interaction unit is transmitted through the information transmission unit;
the intelligent driving controller transmits the braking acceleration request information of the vehicle braking system controller through the information transmission unit;
the vehicle braking system controller collects vehicle and road data information and transmits the data information to the intelligent driving controller through the information unit;
the vehicle brake system controller is connected with the brake execution unit through an information transmission unit, and the vehicle brake system controller transmits the control information of the brake execution unit through the information transmission unit; the brake execution unit transmits the response information of the vehicle brake system through the information transmission unit.
Preferably, the data information of the vehicle and the road collected by the vehicle brake system controller includes: the system comprises speed data information, acceleration data information, load data information, road adhesion coefficient data information, engine state data information, retarder state data information, air brake system state data information and electronic parking brake system state data information of the vehicle.
Preferably, the intelligent driving controller makes a corresponding driving strategy according to the acquired vehicle acceleration data information and the vehicle state data information, and transmits the vehicle state data information to the human-computer interaction unit.
Preferably, the vehicle brake system controller distributes the brake request through vehicle state data information and road data information, and solves the control quantity of each actuating mechanism through a vehicle dynamic model; meanwhile, when the vehicle air braking system fails, the vehicle braking system controller estimates the road surface adhesion coefficient through a Kalman algorithm, and the formula is as follows:
μ＝k(s-δx)
wherein: mu is the ratio of the longitudinal force to the vertical force of the vehicle,
Figure BDA0003590361060000021
k is the slope of the slip ratio of the vehicle under a good road surface and the road surface irradiation coefficient;
s is the slip ratio of the vehicle;
δxcorrecting data information of vehicles and roads, which are acquired by a controller, for correction factors under different road conditions;
fx is the vehicle longitudinal force and Fz is the vehicle vertical force.
Preferably, the brake execution unit comprises an engine, a retarder, a pneumatic brake system and an electronic parking brake system, executes corresponding operation according to a control command of the vehicle brake system controller, and feeds back an execution result to the vehicle brake system controller.
Preferably, the human-computer interaction unit comprises an instrument, a buzzer and a brake lamp, wherein the instrument displays the state information of an engine, a retarder, a pneumatic braking system and an electronic parking braking system and whether a driver needs to take over the information; the buzzer prompts a driver to take over the vehicle; the brake lamp needs to be lightened when the vehicle brakes; the man-machine interaction unit realizes information transmission between a driver and a vehicle and improves the safety of the vehicle.
Preferably, the information transmission unit is responsible for information transmission among all modules of the vehicle, the intelligent driving controller sends information of the required deceleration of the vehicle to the vehicle braking system controller through the information transmission unit, the vehicle braking system controller distributes vehicle braking force through a vehicle dynamic model and sends a control command to the braking execution unit through the information transmission unit, the braking execution unit sends the vehicle information and the state information of the execution mechanism to the vehicle braking system controller through the information transmission unit, and the controller sends the vehicle information and the state information of the execution mechanism to the intelligent driving controller through the information transmission unit.
As shown in fig. 2, the present invention further provides a heavy truck brake-by-wire braking method, which comprises the following steps:
step S1: the intelligent driving controller makes a decision on the target deceleration of the vehicle according to the vehicle information, the road information and the state information of the actuating mechanism, and when the brake-by-wire system is abnormal, the target deceleration of the current vehicle is calculated; when the brake-by-wire system is abnormal, the intelligent driving controller starts a safety mode, corrects and adjusts the braking deceleration of the vehicle in advance according to the road adhesion coefficient, and sends the requested deceleration to the vehicle braking system controller through the information transmission unit;
step S2: when the brake-by-wire system is normal, the vehicle brake system controller distributes the brake force according to the target brake deceleration, when the brake request is smaller than a preset threshold value, the system brakes the vehicle through the engine drag torque according to a vehicle dynamic model, when the brake force is smaller than the preset threshold value, the system brakes by calling the engine exhaust brake, if the engine drag torque and the engine exhaust brake can not meet the brake request, the vehicle is braked by calling the retarder, and if the engine drag torque, the engine exhaust brake and the retarder torque can not meet the brake request, the brake force is adjusted through the traditional air pressure brake; when the braking force is larger than a preset threshold value, the vehicle braking system controller simultaneously calls an engine anti-drag torque, an engine exhaust brake, a retarder and an air pressure braking system to brake the vehicle according to the vehicle dynamic model; when the brake-by-wire system is abnormal, the vehicle brake system controller calls an electronic parking brake system according to a target brake deceleration, adjusts the opening of a pressure valve of the electronic parking brake system in real time through a PID (proportion integration differentiation) controller according to the vehicle deceleration fed back by an actual vehicle, so as to realize real-time adjustment of the brake force, and meanwhile, the vehicle brake system controller calculates the road adhesion coefficient of the current road through a Kalman filtering algorithm according to the current vehicle information and feeds back the state information of a brake execution unit and the estimated road adhesion coefficient to an intelligent driving controller through an information transmission unit;
step S3: the vehicle braking system controller sends a control instruction to the braking execution unit through the information transmission unit according to a calculation result, the braking execution unit adjusts the engine anti-drag torque, the opening degree of an engine exhaust braking electromagnetic valve, the retarder torque, the opening degree of an electromagnetic valve of the air pressure braking system and the opening degree of an electromagnetic valve of the electronic parking braking system according to the control instruction, and feeds back actual execution conditions and state information to the vehicle braking system controller;
step S4: the vehicle braking system controller feeds back state information and road surface adhesion coefficient of the braking execution unit to the intelligent driving controller, when an engine exhaust brake or/and a retarder or/and a pneumatic brake system or/and an electronic parking brake system work, the intelligent driving controller transmits related information to the man-machine interaction unit through the information transmission unit, the man-machine interaction unit respectively lights corresponding working lamps on the instrument to prompt a driver, if the intelligent driving controller judges that the driver needs to take over currently, the intelligent driving controller transmits the related information to the man-machine interaction unit, the man-machine interaction unit prompts the driver to take over the vehicle at the instrument, and meanwhile, the buzzer gives an alarm.
The invention has the beneficial effects that aiming at the technical defects in the prior art, the braking device and the braking method for the brake-by-wire of the heavy truck are provided, the technical defects in the prior art are overcome, the intelligent driving in the field of the heavy truck is further promoted, and the braking device and the braking method in the technical scheme of the application do not have the technical defects in the prior art.
In addition, the invention has reliable design principle, simple structure and very wide application prospect.
Therefore, compared with the prior art, the invention has prominent substantive features and remarkable progress, and the beneficial effects of the implementation are also obvious.
Drawings
Fig. 1 is a control schematic diagram of a brake device for brake-by-wire of a heavy truck according to the present invention.
Fig. 2 is a flowchart of a braking method of heavy truck brake-by-wire provided by the invention.
The system comprises an intelligent driving controller, a vehicle braking system controller, a 3-braking execution unit, a 4-human-computer interaction unit and a 5-information transmission unit, wherein the intelligent driving controller is connected with the intelligent driving controller, the vehicle braking system controller is connected with the intelligent driving controller, the 3-braking execution unit is connected with the 4-human-computer interaction unit, and the 5-information transmission unit is connected with the intelligent driving controller.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings by way of specific examples, which are illustrative of the present invention and are not limited to the following embodiments.
Example 1:
as shown in fig. 1, the present embodiment provides a brake apparatus for brake-by-wire of a heavy truck, including:
the intelligent driving control system comprises an intelligent driving controller 1, a vehicle braking system controller 2, a braking execution unit 3, a man-machine interaction unit 4 and an information transmission unit 5;
the intelligent driving controller 1 is in data communication with the vehicle braking system controller 2 and the human-computer interaction unit 4 through the information transmission unit 5, and the prompt information of the intelligent driving controller 1 to the human-computer interaction unit 4 is transmitted through the information transmission unit 5;
the intelligent driving controller 1 transmits the braking acceleration request information of the vehicle braking system controller 2 through the information transmission unit 5;
the vehicle braking system controller 2 acquires vehicle and road data information and transmits the data information to the intelligent driving controller through the information unit;
the vehicle brake system controller 2 is connected with the brake execution unit 3 through an information transmission unit, and the vehicle brake system controller transmits the control information of the brake execution unit through the information transmission unit; the brake execution unit transmits the response information of the vehicle brake system through the information transmission unit.
The data information of the vehicle and the road collected by the vehicle brake system controller 2 includes: the system comprises speed data information, acceleration data information, load data information, road adhesion coefficient data information, engine state data information, retarder state data information, air brake system state data information and electronic parking brake system state data information of the vehicle.
The intelligent driving controller 1 makes a corresponding driving strategy according to the acquired vehicle acceleration data information and the vehicle state data information, and transmits the vehicle state data information to the man-machine interaction unit.
The vehicle brake system controller 2 distributes the brake request through the vehicle state data information and the road data information, and solves the control quantity of each actuating mechanism through a vehicle dynamic model; meanwhile, when the vehicle air braking system fails, the vehicle braking system controller estimates the road surface adhesion coefficient through a Kalman algorithm, and the formula is as follows:
μ＝k(s-δx)
wherein: mu is the ratio of the longitudinal force to the vertical force of the vehicle,
Figure BDA0003590361060000061
k is the slope of the slip ratio of the vehicle under a good road surface and the road surface irradiation coefficient;
s is the slip ratio of the vehicle;
δxcorrecting data information of vehicles and roads, which are acquired by a controller, for correction factors under different road conditions;
fx is the vehicle longitudinal force and Fz is the vehicle vertical force.
The brake execution unit 3 comprises an engine, a retarder, a pneumatic brake system and an electronic parking brake system, executes corresponding operation according to a control instruction of the vehicle brake system controller, and feeds an execution result back to the vehicle brake system controller.
The human-computer interaction unit 4 comprises an instrument, a buzzer and a brake lamp, wherein the instrument displays the state information of an engine, a retarder, a pneumatic braking system and an electronic parking braking system and whether a driver needs to take over the information; the buzzer prompts a driver to take over the vehicle; the brake lamp needs to be lightened when the vehicle brakes; the man-machine interaction unit realizes information transmission between a driver and a vehicle and improves the safety of the vehicle.
The intelligent driving controller transmits information of required deceleration of the vehicle to the vehicle braking system controller through the information transmission unit, the vehicle braking system controller distributes vehicle braking force through a vehicle dynamic model and transmits a control command to the braking execution unit through the information transmission unit, the braking execution unit transmits vehicle information and state information of the execution mechanism to the vehicle braking system controller through the information transmission unit, and the controller transmits the vehicle information and the state information of the execution mechanism to the intelligent driving controller through the information transmission unit.
Example 2:
the embodiment provides a heavy truck brake-by-wire braking method, which comprises the following steps:
step S1: the intelligent driving controller makes a decision on the target deceleration of the vehicle according to the vehicle information, the road information and the state information of the actuating mechanism, and when the brake-by-wire system is abnormal, the target deceleration of the current vehicle is calculated; when the brake-by-wire system is abnormal, the intelligent driving controller starts a safety mode, corrects and adjusts the braking deceleration of the vehicle in advance according to the road adhesion coefficient, and sends the requested deceleration to the vehicle braking system controller through the information transmission unit;
step S2: when the brake-by-wire system is normal, the vehicle brake system controller distributes the brake force according to the target brake deceleration, when the brake request is smaller than a preset threshold value, the system brakes the vehicle through the engine drag torque according to a vehicle dynamic model, when the brake force is smaller than the preset threshold value, the system brakes by calling the engine exhaust brake, if the engine drag torque and the engine exhaust brake can not meet the brake request, the vehicle is braked by calling the retarder, and if the engine drag torque, the engine exhaust brake and the retarder torque can not meet the brake request, the brake force is adjusted through the traditional air pressure brake; when the braking force is larger than a preset threshold value, the vehicle braking system controller simultaneously calls an engine anti-drag torque, an engine exhaust brake, a retarder and an air pressure braking system to brake the vehicle according to the vehicle dynamic model; when the brake-by-wire system is abnormal, the vehicle brake system controller calls the electronic parking brake system according to the target brake deceleration, and adjusts the opening of a pressure valve of the electronic parking brake system in real time through the PID controller according to the vehicle deceleration fed back by an actual vehicle, so as to realize the real-time adjustment of the brake force;
step S3: the vehicle braking system controller sends a control instruction to the braking execution unit through the information transmission unit according to a calculation result, the braking execution unit adjusts the engine anti-drag torque, the opening degree of an engine exhaust braking electromagnetic valve, the retarder torque, the opening degree of an electromagnetic valve of the air pressure braking system and the opening degree of an electromagnetic valve of the electronic parking braking system according to the control instruction, and feeds back actual execution conditions and state information to the vehicle braking system controller;
step S4: the vehicle braking system controller feeds back state information and road surface adhesion coefficient of the braking execution unit to the intelligent driving controller, when an engine exhaust brake or/and a retarder or/and a pneumatic brake system or/and an electronic parking brake system work, the intelligent driving controller transmits related information to the man-machine interaction unit through the information transmission unit, the man-machine interaction unit respectively lights corresponding working lamps on the instrument to prompt a driver, if the intelligent driving controller judges that the driver needs to take over currently, the intelligent driving controller transmits the related information to the man-machine interaction unit, the man-machine interaction unit prompts the driver to take over the vehicle at the instrument, and meanwhile, the buzzer gives an alarm.
The above disclosure is only for the preferred embodiments of the present invention, but the present invention is not limited thereto, and any non-inventive changes that can be made by those skilled in the art and several modifications and amendments made without departing from the principle of the present invention shall fall within the protection scope of the present invention.

Claims (8)

1. A brake device for a heavy truck brake-by-wire, comprising:
the intelligent driving system comprises an intelligent driving controller, a vehicle braking system controller, a braking execution unit, a human-computer interaction unit and an information transmission unit;
the intelligent driving controller is in data communication with the vehicle braking system controller and the human-computer interaction unit through the information transmission unit, and prompt information of the intelligent driving controller to the human-computer interaction unit is transmitted through the information transmission unit;
the intelligent driving controller transmits the braking acceleration request information of the vehicle braking system controller through the information transmission unit;
the vehicle braking system controller collects vehicle and road data information and transmits the data information to the intelligent driving controller through the information unit;
the vehicle brake system controller is connected with the brake execution unit through an information transmission unit, and the vehicle brake system controller transmits control information of the brake execution unit through the information transmission unit; the brake execution unit transmits the response information of the vehicle brake system through the information transmission unit.
2. The brake-by-wire for heavy trucks according to claim 1, wherein the data information of vehicles and roads collected by the vehicle brake system controller comprises: the system comprises speed data information, acceleration data information, load data information, road adhesion coefficient data information, engine state data information, retarder state data information, air brake system state data information and electronic parking brake system state data information of the vehicle.
3. The braking device with brake-by-wire according to claim 2, wherein the intelligent driving controller makes a corresponding driving strategy according to the acquired vehicle acceleration data information and the vehicle state data information, and transmits the vehicle state data information to the human-computer interaction unit.
4. The brake device for the brake-by-wire of the heavy truck as claimed in claim 3, wherein the vehicle brake system controller distributes the brake request according to the vehicle state data information and the road data information, and the control quantity required by each actuator is solved through a vehicle dynamics model; meanwhile, when the vehicle air braking system fails, the vehicle braking system controller estimates the road surface adhesion coefficient through a Kalman algorithm, and the formula is as follows:
μ-k(s-δx)
wherein: mu is the ratio of the longitudinal force to the vertical force of the vehicle,
Figure FDA0003590361050000021
k is the slope of the slip ratio of the vehicle under a good road surface and the road surface irradiation coefficient;
s is the slip ratio of the vehicle;
δxcorrecting data information of vehicles and roads, which are acquired by a controller, for correction factors under different road conditions;
fx is the vehicle longitudinal force and Fz is the vehicle vertical force.
5. The brake-by-wire for heavy trucks of claim 4, wherein the brake execution unit comprises an engine, a retarder, a pneumatic brake system and an electronic parking brake system, and executes corresponding operations according to the control command of the vehicle brake system controller, and feeds back the execution result to the vehicle brake system controller.
6. The heavy truck brake-by-wire braking device according to claim 5, wherein the human-computer interaction unit comprises an instrument, a buzzer and a brake lamp, the instrument displays the state information of the engine, the retarder, the air pressure braking system and the electronic parking braking system and whether a driver needs to take over the information; the buzzer prompts a driver to take over the vehicle; the brake lamp needs to be lightened when the vehicle brakes; the man-machine interaction unit realizes information transmission between a driver and a vehicle and improves the safety of the vehicle.
7. The heavy-duty truck brake-by-wire braking device according to claim 6, wherein the information transmission unit is responsible for information transmission among modules of a vehicle, the intelligent driving controller transmits information of deceleration required by the vehicle to the vehicle braking system controller through the information transmission unit, the vehicle braking system controller distributes braking force of the vehicle through a vehicle dynamic model and transmits a control command to the brake execution unit through the information transmission unit, the brake execution unit transmits vehicle information and state information of the execution mechanism to the vehicle braking system controller through the information transmission unit, and the controller transmits the vehicle information and the state information of the execution mechanism to the intelligent driving controller through the information transmission unit.
8. A braking method of heavy truck brake-by-wire is characterized by comprising the following steps:
step S1: the intelligent driving controller makes a decision on the target deceleration of the vehicle according to the vehicle information, the road information and the state information of the actuating mechanism, and when the brake-by-wire system is abnormal, the target deceleration of the current vehicle is calculated; when the brake-by-wire system is abnormal, the intelligent driving controller starts a safety mode, corrects and adjusts the braking deceleration of the vehicle in advance according to the road adhesion coefficient, and sends the requested deceleration to the vehicle braking system controller through the information transmission unit;
step S2: when the brake-by-wire system is normal, the vehicle brake system controller distributes the brake force according to the target brake deceleration, when the brake request is smaller than a preset threshold value, the system brakes the vehicle through the engine drag torque according to a vehicle dynamic model, when the brake force is smaller than the preset threshold value, the system brakes by calling the engine exhaust brake, if the engine drag torque and the engine exhaust brake can not meet the brake request, the vehicle is braked by calling the retarder, and if the engine drag torque, the engine exhaust brake and the retarder torque can not meet the brake request, the brake force is adjusted through the traditional air pressure brake; when the braking force is larger than a preset threshold value, the vehicle braking system controller simultaneously calls an engine anti-drag torque, an engine exhaust brake, a retarder and an air pressure braking system to brake the vehicle according to the vehicle dynamic model; when the brake-by-wire system is abnormal, the vehicle brake system controller calls an electronic parking brake system according to a target brake deceleration, adjusts the opening of a pressure valve of the electronic parking brake system in real time through a PID (proportion integration differentiation) controller according to the vehicle deceleration fed back by an actual vehicle, so as to realize real-time adjustment of the brake force, and meanwhile, the vehicle brake system controller calculates the road adhesion coefficient of the current road through a Kalman filtering algorithm according to the current vehicle information and feeds back the state information of a brake execution unit and the estimated road adhesion coefficient to an intelligent driving controller through an information transmission unit;
step S3: the vehicle braking system controller sends a control instruction to the braking execution unit through the information transmission unit according to a calculation result, the braking execution unit adjusts the engine anti-drag torque, the opening degree of an engine exhaust braking electromagnetic valve, the retarder torque, the opening degree of an electromagnetic valve of the air pressure braking system and the opening degree of an electromagnetic valve of the electronic parking braking system according to the control instruction, and feeds back actual execution conditions and state information to the vehicle braking system controller;
step S4: the vehicle braking system controller feeds back state information and road surface adhesion coefficient of the braking execution unit to the intelligent driving controller, when an engine exhaust brake or/and a retarder or/and a pneumatic brake system or/and an electronic parking brake system work, the intelligent driving controller transmits related information to the man-machine interaction unit through the information transmission unit, the man-machine interaction unit respectively lights corresponding working lamps on the instrument to prompt a driver, if the intelligent driving controller judges that the driver needs to take over currently, the intelligent driving controller transmits the related information to the man-machine interaction unit, the man-machine interaction unit prompts the driver to take over the vehicle at the instrument, and meanwhile, the buzzer gives an alarm.
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