CN114954389B - Semi-trailer braking method and device, electronic equipment and storage medium - Google Patents
Semi-trailer braking method and device, electronic equipment and storage medium Download PDFInfo
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- CN114954389B CN114954389B CN202210573516.XA CN202210573516A CN114954389B CN 114954389 B CN114954389 B CN 114954389B CN 202210573516 A CN202210573516 A CN 202210573516A CN 114954389 B CN114954389 B CN 114954389B
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- 238000000034 method Methods 0.000 title claims abstract description 73
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- 230000017525 heat dissipation Effects 0.000 abstract description 14
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/665—Electrical control in fluid-pressure brake systems the systems being specially adapted for transferring two or more command signals, e.g. railway systems
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Abstract
The application discloses a semi-trailer braking method, a semi-trailer braking device, electronic equipment and a storage medium, wherein the method is used for preventing the semi-trailer from heat fading, the semi-trailer comprises an axle, a brake air chamber on the axle and a brake connected with wheels, and the method comprises the following steps: when the pressure of a target brake air chamber in the semi-trailer vehicle meets a preset condition, at least one controlled axle is selected to perform braking operation on a brake, wherein the controlled axle is divided according to a preset rule; and respectively providing braking force for wheels on an axle of the semi-trailer according to the braking operation. Through the application, the ventilation condition of the brake can be improved in the braking process of the trailer, the heat dissipation performance of the brake is improved, and the brake is prevented from heat fading.
Description
Technical Field
The present disclosure relates to the field of automatic driving and braking control technologies, and in particular, to a method and an apparatus for braking a semi-trailer vehicle, an electronic device, and a storage medium.
Background
When a semi-trailer is driven on a long downhill road in a mountainous area, the semi-trailer is subjected to high-intensity braking for a long time, the temperature of a brake rises rapidly, and the heat fading phenomenon is easy to occur, so that the braking capacity of the semi-trailer is reduced, and further safety accidents are caused.
In the related art, in order to improve the driving safety, a retarder is arranged on a main vehicle of a semi-trailer vehicle, so that a driver is assisted to stabilize the vehicle speed, the use frequency of a brake is reduced, and the heat fading probability of the brake is reduced. In addition, when the braking force provided by the retarder is not enough to stabilize the vehicle speed, the vehicle speed is controlled in a 'inching' mode when a driver drives manually or in an automatic driving mode of a control algorithm in a controller.
However, when the brake system of the semi-trailer is used for braking, the brakes on all wheels need to participate in braking, and all brake pads are pressed against corresponding brake discs, so that the heat dissipation conditions of all the brakes are poor, and heat fading is easy to occur.
Disclosure of Invention
The embodiment of the application provides a semi-trailer braking method and device, electronic equipment and a storage medium, so as to improve the heat dissipation performance of a brake and avoid heat fading.
The embodiment of the application adopts the following technical scheme:
in a first aspect, embodiments of the present application provide a method for braking a semi-trailer vehicle, wherein the method is used for preventing the semi-trailer vehicle from heat fading, the semi-trailer vehicle comprises an axle, a brake air chamber on the axle, and a brake connected with a wheel, the method comprises: when the pressure of a target brake air chamber in the semitrailer meets a preset condition, at least one controlled axle is selected to brake the brake, wherein the controlled axle is divided according to a preset rule; and respectively providing braking force for wheels on an axle of the semi-trailer according to the braking operation.
In a second aspect, the present invention further provides a braking device for a semi-trailer vehicle, wherein the braking device is used for preventing the thermal degradation of the semi-trailer vehicle, the semi-trailer vehicle comprises an axle, a brake chamber on the axle, and a brake connected with a wheel, the braking device for a semi-trailer vehicle comprises: the controlled axle selection module is used for selecting at least one controlled axle to perform braking operation on a brake under the condition that the pressure of a target brake air chamber in the semi-trailer vehicle meets a preset condition, wherein the controlled axle is divided according to a preset rule; and the braking module is used for respectively providing braking force for wheels on an axle of the semi-trailer according to the braking operation.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the above method.
In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device that includes a plurality of application programs, cause the electronic device to perform the above-described method.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
the semi-trailer comprises axles, brake air chambers on the axles and brakes connected with wheels, when the pressure of a target brake air chamber in the semi-trailer meets a preset condition, at least one controlled axle is selected to perform braking operation on the brakes, and then braking force is provided for the wheels on the axles of the semi-trailer respectively according to the braking operation. The brake process is respectively braked, namely the controller can control the brakes on the axles to independently participate in braking, so that the ventilation condition of the brakes can be improved in the brake process, the heat dissipation performance of the brakes is improved, and the heat fading of the brakes is avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic illustration of a semi-trailer braking principle of the related art;
FIG. 2 is a schematic flow chart of a method for braking a semi-trailer vehicle according to an embodiment of the present application;
FIG. 3 is a schematic structural view of a brake apparatus for a semi-trailer vehicle according to an embodiment of the present application;
FIG. 4 is a schematic illustration of a braking system in a method of braking a semi-trailer vehicle according to a preferred embodiment of the present application;
FIG. 5 is a schematic illustration of a braking system in a method of braking a semi-trailer vehicle according to another preferred embodiment of the present application;
FIG. 6 is a schematic illustration of a braking system in a method of braking a semi-trailer vehicle according to an alternative embodiment of the present application;
FIG. 7 is a schematic structural diagram of an electronic device in an embodiment of the present application;
FIG. 8 is the maximum longitudinal slope standard for highways at various levels in the national standard
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical terms referred to in this application are as follows:
CAN: (Controller Area Network), controller Area Network.
A power domain controller: the system is used for controlling a vehicle power system and a transmission system, and integrates the functions of power-on and power-off control, vehicle energy management, vehicle fault management, vehicle torque control, power battery management (if any), charging control (if any), driving motor control (if any), range extender control (if any), transmission control (if any) and the like.
A chassis domain controller: the system is used for controlling a vehicle chassis system and integrates functions of service brake control, parking brake control, electronic stability control, electric power steering control, active suspension control (if any) and the like.
TEBS: (Trailer Electronic Braking System), trailer Electronic Braking System.
And (3) EMB: (Electromechanical Braking System), electromechanical Braking System.
ECAS: (Electronic Control Air Suspension), electronically controlled Air Suspension.
Gradient: the degree of steepness of the surface unit is usually called the slope angle, which is the ratio of the vertical height of the slope to the horizontal distance.
Heat fading: when a vehicle is braked with high intensity for a long time (such as when the vehicle runs on a long downhill road in a mountain area), the temperature of the brake is rapidly increased, and the braking force of the vehicle is remarkably reduced.
ADAS: (Advanced Driving assistance System), advanced Driving assistance System.
ACC: (Adaptive Cruise Control), adaptive Cruise.
NOA: (Navigate On Autopilot), pilot assistance. On the basis of functions of self-adaptive cruise, lane keeping and the like, positioning, driving route planning and driving route optimization are carried out through a high-precision map, so that the functions of automatic lane changing, automatic overtaking, driving in/out of ramps, vehicle speed control according to road information and the like of vehicles on roads such as expressways, elevated highways, urban expressways and the like can be realized.
DAC: (Down Assist Control), downhill assistance. When the vehicle slides on a downhill road, the function can calculate and control the braking torque of the retarder through a vehicle speed closed loop, assist a driver to stabilize the vehicle speed, reduce the use frequency of the brake, and reduce the probability of heat fading of the brake, so as to improve the safety of the vehicle on the downhill road.
In order to improve the driving safety and reduce the possibility of heat fading, each automobile manufacturer configures a retarder on a main car of a semi-trailer according to the regulations of GB12676-2014 commercial vehicle and trailer brake system technical requirements and test methods, so as to assist a driver to stabilize the speed, reduce the use frequency of a brake and reduce the probability of heat fading of the brake.
Meanwhile, when the braking force provided by the retarder is not enough to stabilize the vehicle speed, a driver (during manual driving) or a control algorithm in a controller (during automatic driving) controls the vehicle speed in a 'inching brake' mode. In the interval of two times of 'snubbing', as the brake pad is separated from the brake disc, the ventilation condition of the brake is good, and the heat dissipation performance is improved compared with that during braking.
As shown in fig. 1, a trailer brake system of a related art semi-trailer is controlled by a TEBS, wherein, for example, in a three-axle semi-trailer, high-pressure air in an air reservoir is distributed to a left air passage and a right air passage by a combination valve and is respectively transmitted to a left brake air chamber and a right brake air chamber, so that braking force is provided to left wheels and right wheels by a brake.
The inventor finds that when the trailer brake system brakes, the brakes on all wheels need to participate in braking, and all brake pads are pressed against corresponding brake discs, so that the heat dissipation conditions of all the brakes are deteriorated, and heat fading is easy to occur.
In addition, based on the reasons, when the driver drives manually, the driver is forced to control the vehicle speed in a 'snub' mode, the training cost of the driver is high, and the operation task is heavy when the driver drives. When the vehicle is driven automatically (such as when functions of adaptive cruise, pilot assistance, downhill assistance and the like are activated), a control algorithm written by a developer is forced to control the vehicle speed in an inching brake mode, so that the vehicle speed repeatedly vibrates near a target value, the control effect is poor, and even the driver and other passengers are sick.
The embodiment of the application provides a semi-trailer braking method, which can improve the ventilation condition of a brake, improve the heat dissipation performance of the brake and avoid the heat fading of the brake in the braking process of a trailer; when the driver drives manually, the driver is not required to adopt the inching mode to control the vehicle speed, the training cost of the driver is reduced, and the operation task during driving is reduced. When the automobile is driven automatically, the automobile speed is controlled in a snubbing mode in a control algorithm written by developers, the automobile speed control effect is improved, and the driver and other passengers are prevented from being sick.
The automatic method of the present application can be used for chassis domain controller or TEBS control, which is described in detail below by taking a chassis domain controller as an example.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
The embodiment of the present application provides a method for braking a semi-trailer vehicle, and as shown in fig. 2, provides a schematic flow chart of the method for braking a semi-trailer vehicle in the embodiment of the present application, and the method at least includes the following steps S210 to S220:
and step S210, when the pressure of a target brake air chamber in the semitrailer meets a preset condition, selecting at least one controlled axle to brake the brake, wherein the controlled axle is divided according to a preset rule.
The semi-trailer vehicle mainly comprises a three-axle semi-trailer vehicle with a front axle, a middle axle and a rear axle, and is compatible with a two-axle trailer with only the front axle and the rear axle. Meanwhile, the semitrailer at least comprises an axle, a brake air chamber on the axle and a brake connected with wheels. The braking process is furthermore usually controlled by a chassis area controller or TEBS.
In order to prevent the ABS of the axles involved in braking from being triggered, at least one controlled axle may be selected to perform a braking operation on the brakes when the pressure of a target brake chamber in the semitrailer vehicle satisfies a predetermined condition. And certainly, the controlled axle required to be used is determined according to the pressure threshold range of the actual control air chamber, and braking is respectively carried out.
It should be noted that the controlled axle is divided according to a preset rule, for example, according to a preset mileage of the semitrailer, a front axle (if any), a middle axle and a rear axle are divided.
By selecting at least one controlled axle to brake the brake, the brakes can respectively participate in braking, which is different from the way that the brakes on all wheels in the related art need to participate in braking.
For better illustration, description of adding hardware modules is further shown in fig. 4, which is a schematic structural diagram of a braking system in the embodiment of the present application, and is controlled by a chassis area controller or TEBS, and high-pressure gas in an air storage cylinder is distributed to a front axle gas circuit, a middle axle gas circuit, and a rear axle gas circuit by a combination valve, and is respectively transmitted to a brake chamber on a front axle, a brake chamber on a middle axle, and a brake chamber on a rear axle, so as to respectively provide braking force for wheels on the front axle, wheels on the middle axle, and wheels on the rear axle through brakes. Wherein, a temperature sensor (used for detecting the temperature of each brake) is arranged on each of the 6 brakes.
Step S220 provides braking forces to wheels on axles of the semi-trailer vehicle, respectively, according to the braking operation.
Because the controlled axle can be selected to perform independent braking operation on the brake, braking force can be respectively provided for wheels on the axle of the semi-trailer according to the braking operation, and therefore the semi-trailer is prevented from heat fading.
In an embodiment of the application, when the pressure of a target brake chamber in the semitrailer meets a preset condition, selecting at least one controlled axle to perform braking operation on the brake, where the controlled axle is divided according to a preset rule, including: when the pressure of a target brake air chamber in the semi-trailer is not larger than a first threshold value, any one of a first axle, a second axle or a third axle is selected as a controlled axle to brake the brake; when the pressure of a target brake air chamber in the semitrailer is larger than a first threshold value and not larger than a second threshold value, any two of a first axle, a second axle or a third axle are selected as controlled axles to brake the brake; when the pressure of a target brake air chamber in the semi-trailer is larger than a second threshold value, selecting a first axle, a second axle and a third axle as controlled axles to brake the brakes, wherein the first axle, the second axle and the third axle are divided according to the preset driving mileage of the semi-trailer, and in a default state, when a plurality of controlled axles are selected, a brake pad in the brake on at least one axle is ensured to be in a separation state from a brake disc.
In specific implementation, the chassis domain controller controls the brakes on the axles to participate in braking independently, and the control method can be specifically divided into several different situations to consider.
It should be noted that, in order to ensure that the service life of each brake is approximately the same, i.e. the wear of each brake pad during the use of the vehicle is approximately the same, the controlled axle may be divided in the manner of table 1:
TABLE 1
Wherein x is the first term 0, and the preferred tolerance value is an arithmetic progression of 3000.
It should be understood that the above division is only an alternative embodiment, and is not intended to limit the scope of the present application.
When the pressure of a target brake air chamber in the semitrailer is not larger than a first threshold value, any one of the first axle, the second axle or the third axle is selected as a controlled axle to brake the brake. That is, by determining whether the pressure of the target brake chamber is greater than the first threshold, an axle can be selected to participate in the braking operation of the brake when the pressure of the target brake chamber is not greater than the first threshold.
In some embodiments, any one of the first axle, the second axle or the third axle is selected as a controlled axle to perform braking operation on the brake.
When the pressure of a target brake air chamber in the semitrailer is larger than a first threshold value and not larger than a second threshold value, any two of the first axle, the second axle or the third axle are selected as controlled axles to brake the brake. That is, by judging whether the pressure of the target brake air chamber is within the interval of the first threshold and the second threshold, two axles can be selected to participate in the braking operation of the brake under the condition that the pressure of the target brake air chamber is greater than the first threshold and not greater than the second threshold.
In some embodiments, any two of the first axle, the second axle or the third axle are selected as controlled axles to perform braking operation on the brakes.
And when the pressure of a target brake air chamber in the semi-trailer vehicle is larger than a second threshold value, selecting the first axle, the second axle and the third axle as controlled axles to brake the brake. That is, by judging whether the pressure of the target brake air chamber is within the second threshold range, all axles are selected to participate in the braking operation of the brake under the condition that the pressure of the target brake air chamber is greater than the second threshold.
Namely, if the target brake air chamber pressure is less than or equal to the pressure p, only one axle is needed to participate in braking; when the p is more than p and less than or equal to 2p, two axles are needed to participate in braking; and above 2p, the three axles participate in braking.
It should be noted that the first axle, the second axle and the third axle are divided according to the preset driving range of the semitrailer, and when a plurality of controlled axles are selected, a brake pad of a brake on at least one axle is ensured to be in a separated state from a brake disc.
In an embodiment of the present application, the selecting any two of the first axle, the second axle, or the third axle as the controlled axle to perform the braking operation on the brake when the pressure of the target brake chamber in the semi-trailer vehicle is greater than the first threshold and not greater than the second threshold comprises: controlling a combination valve to distribute all gas to a first axle, and meanwhile, separating brake pads of a brake of the second axle and a brake of the third axle from a brake disc; when any one brake in the two brake temperatures of the first axle is not lower than a preset temperature value, controlling a combination valve to distribute all the gas to a second axle, and simultaneously, enabling a brake pad in a brake of the first axle and a brake pad in a brake of a third axle to be in a separation state from a brake disc; when the temperature of any one brake in the two brakes of the second axle is not lower than a preset temperature value, controlling a combination valve to distribute all the gas to a third axle, and meanwhile, enabling brake pads in the brakes of the second axle and the brakes of the first axle to be in a separated state from a brake disc; and when any brake in the two brake temperatures of the third axle is not lower than a preset temperature value, controlling the combination valve to distribute the gas to the first axle or controlling the combination valve to distribute the gas to the first axle and the second axle respectively or controlling the combination valve to distribute the gas to the second axle and the third axle respectively.
Control method for selecting at least one axle to participate in braking during specific implementation
When the target brake chamber pressure calculated by the chassis domain controller satisfies equation (1), an axle is required to participate in braking in consideration of preventing the ABS on the axle participating in braking from being triggered:
wherein, the first and the second end of the pipe are connected with each other,
p is the target brake chamber pressure in bar;
k is a safety factor, and the preferred value is 0.8;
mu is an attachment coefficient which is sent by an attachment estimation module, and the attachment coefficient and the attachment estimation module are well known by persons skilled in the art and are not described in detail;
f is the total vertical load of the trailer axle, the unit is N, and the load is sent by the electronic control air suspension;
r is the rolling radius of the wheel and has the unit of m;
n is the number of axles, in the embodiment, a three-axle semi-trailer is taken as an example 3, and considering that the distances between the three axles of the trailer are very close, the total vertical load of the axles of the semi-trailer is generally considered to be averagely borne by the three axles;
s is the equivalent area of the brake, and the unit is m 2 ；
r is the brake equivalent radius in m.
It should be noted that the chassis domain controller controls the combination valve, and that immediately before the vehicle starts to run and the first brake, all brake discs are at a relatively low temperature, and the high pressure air is distributed to the first axle in its entirety. Meanwhile, a brake pad and a brake disc in the second axle brake and the third axle brake are in a separated state, the ventilation condition of the brakes is good, the heat dissipation performance is improved compared with that in the braking process, and the heat fading of the brakes is avoided.
And controlling the combination valve to distribute the gas to the first axle in a whole manner, and meanwhile, separating brake pads of the brake of the second axle and the brake of the third axle from a brake disc.
Specifically, the chassis domain controller controls the combination valve to distribute the high pressure gas to the second axle when either of the two brake temperatures of the first axle is not less than 500 ℃. Meanwhile, the brake pads in the first axle brake and the third axle brake are separated from the brake disc, the ventilation condition of the brakes is good, the heat dissipation performance is improved compared with that in the braking process, and the heat fading of the brakes is avoided. The preferred value is 500 ℃ and can be adjusted by the person skilled in the art according to the actual circumstances.
When any one brake in the two brake temperatures of the first axle is not lower than a preset temperature value, controlling a combination valve to distribute all the gas to a second axle, and simultaneously, enabling a brake pad in a brake of the first axle and a brake pad in a brake of a third axle to be in a separation state from a brake disc;
specifically, when either of the two brake temperatures of the second axle is not lower than 500 ℃, the chassis domain controller controls the combination valve to distribute all of the high-pressure gas to the third axle. Meanwhile, a brake pad and a brake disc in the first axle brake and the second axle brake are in a separated state, the ventilation condition of the brakes is good, the heat dissipation performance is improved compared with that in the braking process, and the heat fading of the brakes is avoided. The preferred value is 500 ℃ and can be adjusted by the person skilled in the art according to the actual circumstances.
When any brake in the two brake temperatures of the second axle is not lower than a preset temperature value, the combination valve is controlled to distribute all the gas to the third axle, and meanwhile, brake pads in the brake of the second axle and the brake of the first axle are separated from a brake disc.
Specifically, when the temperature of any one of the two brakes of the third axle is not lower than 500 ℃, the chassis area controller controls the combination valve to distribute the high-pressure gas to the first axle in a complete mode, and the operation is repeated in a cyclic mode. The preferred value is 500 ℃ and can be adjusted by the person skilled in the art according to the actual circumstances.
It should be noted that if the problem of three of the first, second and third axles is higher than 500 °, the first axle may also be forced to participate in braking. Or controlling a combination valve to distribute the gas to a second axle and a third axle respectively, and meanwhile, separating a brake plate in a brake of the first axle from a brake disc.
In one embodiment of the present application, in the case that the pressure of the target brake chamber in the semitrailer vehicle is greater than the first threshold value and not greater than the second threshold value, selecting any two of the first axle, the second axle, or the third axle as the controlled axle to perform the braking operation on the brake includes: controlling a combination valve to distribute gas to a first axle and a second axle respectively, and meanwhile, enabling a brake plate in a brake of the third axle to be in a separated state from a brake disc; when the temperature of any one brake of the first axle is not lower than a preset temperature value, controlling a combination valve to distribute the gas to a second axle and a third axle respectively, and meanwhile, enabling a brake pad in a brake of the first axle to be separated from a brake disc; when any brake in the two brake temperatures of the second axle is not lower than a preset temperature value, controlling a combination valve to distribute the gas to a third axle and the first axle respectively, and simultaneously enabling a brake pad in the brake of the second axle to be in a separation state from a brake disc; when any one of the two brake temperatures of the third axle is not lower than a preset temperature value, controlling a combination valve to distribute the gas to the second axle and the third axle respectively, wherein the distribution respectively comprises the following steps: one of the axles is assigned a pressure equal to the first threshold value and the other axle is assigned a pressure after the total pressure value in the target brake chamber minus the first threshold value.
It is noted that assigning each includes assigning a pressure equal to the first threshold value to one of the axles, and assigning a pressure after the first threshold value is subtracted from the total pressure value in the target brake chamber to the other axle.
In specific implementation, when the target brake chamber pressure calculated by the chassis domain controller satisfies the formula (2), two axles are required to participate in braking:
and controlling the combination valve to distribute gas to the first axle and the second axle respectively, and meanwhile, separating a brake plate in a brake of the third axle from a brake disc.
In specific implementation, the chassis domain controller controls the combination valve to distribute high-pressure air to the first axle and the second axle, the pressure of the brake air chamber distributed to the first axle is calculated according to a formula (3), and the pressure of the brake air chamber distributed to the second axle is calculated according to a formula (4):
P2＝P-P1 (4)
wherein the content of the first and second substances,
p1 is the pressure of a target brake air chamber of the first axle, and the unit is bar;
p2 is the second axle target brake chamber pressure in bar.
Meanwhile, a brake pad and a brake disc in the third axle brake are in a separated state, the ventilation condition of the brake is good, the heat dissipation performance is improved compared with that of the brake, and the brake is prevented from heat fading.
When any one brake in the two brake temperatures of the first axle is not lower than a preset temperature value, the combination valve is controlled to distribute the gas to the second axle and the third axle respectively, and meanwhile, a brake pad in the brake of the first axle is separated from a brake disc.
In specific implementation, considering that the first axle braking force is larger than the second axle braking force under the normal condition, so that the first axle is heated up more quickly, when the temperature of any one of the two brakes of the first axle is not lower than 500 ℃, the chassis domain controller controls the combination valve to distribute all high-pressure air to the third axle of the second axle, the pressure of a brake air chamber distributed to the second axle is calculated according to a formula (5), and the pressure of the brake air chamber distributed to the third axle is calculated according to a formula (6):
P3＝P-P2 (6)
wherein the content of the first and second substances,
and P3 is the target brake chamber pressure of the third axle in bar.
Meanwhile, a brake pad and a brake disc in the first axle brake are in a separated state, the ventilation condition of the brake is good, the heat dissipation performance is improved compared with that of the brake, and the brake is prevented from heat fading.
When any brake in the two brake temperatures of the second axle is not lower than a preset temperature value, controlling a combination valve to distribute the gas to a third axle and the first axle respectively, and simultaneously enabling a brake pad in the brake of the second axle to be in a separation state from a brake disc; and when the temperature of any one of the two brakes of the third axle is not lower than a preset temperature value, controlling the combination valve to distribute the gas to the second axle and the third axle respectively.
In specific implementation, considering that the second axle braking force is larger than the third axle braking force under the normal condition, so that the second axle is heated up more quickly, when the temperature of any one of the two brakes of the second axle is not lower than 500 ℃ (preferred value), the chassis domain controller controls the combination valve to distribute all high-pressure gas to the first axle of the third axle, the pressure of a brake air chamber distributed to the third axle is calculated according to a formula (7), and the pressure of the brake air chamber distributed to the first axle is calculated according to a formula (8):
P1＝P-P3 (8)
meanwhile, a brake pad and a brake disc in the second axle brake are in a separated state, the ventilation condition of the brake is good, the heat dissipation performance is improved compared with that of the brake, and the brake is prevented from heat fading.
When any one of the two brake temperatures of the third axle is not lower than 500 ℃ (preferred value), the chassis domain controller controls the combination valve to distribute the high-pressure gas to the third axle of the second axle, the pressure of a brake chamber distributed to the second axle is calculated according to the formula (5), the pressure of the brake chamber distributed to the third axle is calculated according to the formula (6), and the operation is repeated in a cycle.
It should be noted that if the problem of three axles among the first, second and third axles is higher than 500 °, the first and second axles may also be forced to participate in braking.
In one embodiment of the present application, selecting the third axle as the controlled axle to perform the braking operation on the brake when the pressure of the target brake chamber in the semi-trailer vehicle is greater than the second threshold value comprises: and selecting three axles to participate in braking, and controlling a combination valve to equally distribute the gas to the first axle, the second axle and the third axle when the pressure of a target brake air chamber in the semitrailer is greater than a second threshold value, wherein the average distribution comprises the pressure in the target brake air chambers on different axles, and the pressure in the target brake air chambers all change according to a preset rate.
In specific implementation, three axles are selected to participate in braking, and when the target brake air chamber pressure calculated by the chassis domain controller meets the formula (9), two axles are required to participate in braking:
three axles are selected to participate in braking, and the combination valve is controlled to evenly distribute the gas to the first axle, the second axle and the third axle when the pressure of a target brake air chamber in the semitrailer is greater than a second threshold value.
In specific implementation, the chassis domain controller controls the combination valve to equally distribute high-pressure gas to the first axle, the second axle and the third axle.
It should be noted that when the chassis domain controller controls the combination valve to adjust the target brake chamber pressure of each axle, the target brake chamber pressure of each axle changes at a rate of P/s, so as to ensure that the brake chamber pressure on each axle is switched smoothly, and the impact is reduced, s units per second, where P is the target brake chamber pressure.
In one embodiment of the present application, the method further comprises: under the scene of manual driving, braking force is respectively provided for wheels on an axle of the semi-trailer vehicle; and/or providing braking force to wheels on an axle of the semi-trailer vehicle respectively in an adaptive cruise, downhill assist or pilot assist scenario of autonomous driving, wherein the brakes are ventilated and heat dissipated during a braked passing.
During specific implementation, through the method in the embodiment of the application, braking force is respectively provided for the wheels on the axle of the semi-trailer vehicle in a manual driving scene, so that a driver does not need to control the vehicle speed in a 'snub' mode, the training cost of the driver is reduced, and the operation task during driving is reduced.
Under the scene of adaptive cruise, downhill auxiliary or pilot auxiliary of automatic driving, braking force is respectively provided for wheels on an axle of the semi-trailer, so that the speed of the semi-trailer is not controlled by adopting a spot brake mode in a control algorithm written by developers, the speed control effect is improved, and the driver and other passengers are prevented from being sick.
In addition, in the braking process of the trailer, the ventilation condition of the brake can be improved, the heat dissipation performance of the brake is improved, and the brake is prevented from heat fading.
In one embodiment of the present application, for chassis domain controller or TEBS control, the semi-trailer vehicle comprises at least one of the following types: a three-axle semi-trailer with a front axle, a middle axle and a rear axle, a two-axle semi-trailer with a front axle and a rear axle, and a semi-trailer with an EMB.
In specific implementation, as shown in fig. 5 and 6, the braking method in the present application is applicable to a three-axle semi-trailer vehicle having a front axle, a middle axle and a rear axle, a two-axle semi-trailer vehicle having a front axle and a rear axle, a semi-trailer vehicle equipped with an EMB, and the like, and is not particularly limited in the present application.
As shown in fig. 8, the maximum longitudinal gradient standard of the national standard is for each level of roads, wherein the maximum longitudinal gradient of the roads in the mountainous heavy hill terrain is 9%, and the acceleration of the vehicle generated by the gradient force is about 1m/s2; and the maximum acceleration that can be provided when an axle on the trailer participates in braking is about 0.8m/s 2-1.4 m/s2 (considering the safety factor k), and considering that the semitrailer has 3 axles, the semitrailer will also participate in braking, therefore, in the control method of the invention, the part that one axle participates in braking, two axles participate in braking is enough to help the driver to stabilize the speed on all roads, and at least guarantee that the brake block and the brake disc in the brake on one axle are in the separation state, the ventilation condition of the brake is good, the heat dispersion is improved than when braking, avoid the brake to take place the heat decline.
The present embodiment further provides a semi-trailer braking device 300, as shown in fig. 3, which provides a schematic structural diagram of the semi-trailer braking device in the present embodiment, where the semi-trailer braking device 300 at least includes: controlled axle selection module 310, brake module 320, wherein:
in an embodiment of the present application, the controlled axle selection module 310 is specifically configured to: the semi-trailer vehicle mainly comprises a three-axle semi-trailer vehicle with a front axle, a middle axle and a rear axle, and is compatible with a two-axle trailer with only the front axle and the rear axle. Meanwhile, the semitrailer at least comprises an axle, a brake air chamber on the axle and a brake connected with wheels. The braking process is furthermore usually controlled by a chassis area controller or TEBS.
In order to prevent the ABS of the axles involved in braking from being triggered, at least one controlled axle may be selected to perform a braking operation on the brakes when the pressure of a target brake chamber in the semitrailer vehicle satisfies a predetermined condition. And certainly, the controlled axle required to be used is determined according to the pressure threshold range of the actual control air chamber, and braking is respectively carried out.
It should be noted that the controlled axle is divided according to a preset rule, for example, according to a preset mileage of the semitrailer, a front axle (if any), a middle axle and a rear axle are divided.
By selecting at least one controlled axle to brake the brake, the brakes can respectively participate in braking, which is different from the way that the brakes on all wheels in the related art need to participate in braking.
To better illustrate, a description of hardware modules is further added, as shown in fig. 4, which is a schematic structural diagram of a braking system in an embodiment of the present application, and is controlled by a chassis domain controller or TEBS, and high-pressure gas in an air storage cylinder is distributed to a front axle gas path, a middle axle gas path and a rear axle gas path by a combination valve, and is respectively transmitted to a brake chamber on a front axle, a brake chamber on a middle axle and a brake chamber on a rear axle, so as to respectively provide braking force for wheels on the front axle, wheels on the middle axle and wheels on the rear axle through brakes. Wherein, a temperature sensor (used for detecting the temperature of each brake) is arranged on each of the 6 brakes.
In an embodiment of the present application, the braking module 320 is specifically configured to: when the controlled axle can be selected to perform independent braking operation on the brake, braking force can be respectively provided for wheels on the axle of the semi-trailer according to the braking operation, so that the thermal decay of the semi-trailer is prevented.
It can be understood that the above-mentioned braking device for a semi-trailer vehicle can realize the steps of the braking method for a semi-trailer vehicle provided in the foregoing embodiments, and the related explanations regarding the braking method for a semi-trailer vehicle are applicable to the braking device for a semi-trailer vehicle, and will not be described herein again.
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 7, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 7, but this does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads a corresponding computer program from the non-volatile memory into the memory and runs the computer program to form the semi-trailer brake actuating device on a logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
when the pressure of a target brake air chamber in the semitrailer meets a preset condition, at least one controlled axle is selected to brake the brake, wherein the controlled axle is divided according to a preset rule;
and respectively providing braking force for wheels on an axle of the semitrailer according to the braking operation.
The method performed by the semi-trailer brake device disclosed in the embodiment of fig. 2 of the present application may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and combines hardware thereof to complete the steps of the method.
The electronic device may also perform the method performed by the semi-trailer vehicle braking device in fig. 2, and implement the functions of the semi-trailer vehicle braking device in the embodiment shown in fig. 2, which are not described herein again in this application embodiment.
Embodiments of the present application further provide a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which when executed by an electronic device including a plurality of application programs, enable the electronic device to perform the method performed by the semi-trailer vehicle braking apparatus in the embodiment shown in fig. 2, and are specifically configured to perform:
when the pressure of a target brake air chamber in the semi-trailer vehicle meets a preset condition, at least one controlled axle is selected to perform braking operation on a brake, wherein the controlled axle is divided according to a preset rule;
and respectively providing braking force for wheels on an axle of the semi-trailer according to the braking operation.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both permanent and non-permanent, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.
Claims (8)
1. A method of braking a semi-trailer vehicle, wherein the method is used to prevent thermal decay of the semi-trailer vehicle, the semi-trailer vehicle including an axle, a brake chamber on the axle, and brakes associated with wheels, the method comprising:
when the pressure of a target brake air chamber in the semi-trailer vehicle meets a preset condition, at least one controlled axle is selected to perform braking operation on a brake, wherein the controlled axle is divided according to a preset rule;
when the pressure of a target brake air chamber in the semi-trailer vehicle meets a preset condition, at least one controlled axle is selected to perform braking operation on a brake, wherein the controlled axle is divided according to a preset rule, and the method comprises the following steps:
when the pressure of a target brake air chamber in the semitrailer is larger than a first threshold value and not larger than a second threshold value, any two of a first axle, a second axle or a third axle are selected as controlled axles to brake the brake;
when the pressure of a target brake air chamber in the semi-trailer is larger than a second threshold value, selecting a first axle, a second axle and a third axle as controlled axles to brake a brake, wherein the first axle, the second axle and the third axle are divided according to the preset driving mileage of the semi-trailer;
when the pressure of a target brake air chamber in the semitrailer is larger than a first threshold value and not larger than a second threshold value, selecting any two of a first axle, a second axle or a third axle as a controlled axle to brake the brake, wherein the method comprises the following steps:
controlling a combination valve to distribute gas to a first axle and a second axle respectively, and meanwhile, enabling a brake plate in a brake of the third axle to be in a separated state from a brake disc;
when any one brake in the two brake temperatures of the first axle is not lower than a preset temperature value, controlling a combination valve to distribute the gas to a second axle and a third axle respectively, and simultaneously, enabling a brake pad in a brake of the first axle to be in a separation state from a brake disc;
when any brake in the two brake temperatures of the second axle is not lower than a preset temperature value, controlling a combination valve to distribute the gas to a third axle and the first axle respectively, and simultaneously enabling a brake pad in the brake of the second axle to be in a separation state from a brake disc;
when any one of the two brake temperatures of the third axle is not lower than a preset temperature value, controlling a combination valve to respectively distribute the gas to the second axle and the third axle, wherein the respectively distributing comprises: assigning one of the axles a pressure equal to the first threshold value and the other axle a pressure after the total pressure value in the target brake chamber minus the first threshold value;
when the pressure of a target brake air chamber in the semitrailer is greater than a second threshold value, selecting a first axle, a second axle and a third axle as controlled axles to brake a brake, wherein the first axle, the second axle and the third axle are divided according to the preset driving mileage of the semitrailer, and the method comprises the following steps:
selecting three axles to participate in braking, and controlling a combination valve to evenly distribute gas to the first axle, the second axle and the third axle when the pressure of a target brake air chamber in the semi-trailer is greater than a second threshold value, wherein the average distribution comprises the pressure in the target brake air chambers on different axles, and the pressure in the target brake air chambers all change according to a preset rate;
and respectively providing braking force for wheels on an axle of the semi-trailer according to the braking operation.
2. The method according to claim 1, wherein the selecting at least one controlled axle to perform braking operation on the brake when the pressure of the target brake chamber in the semitrailer vehicle meets a preset condition, wherein the controlled axle is divided according to a preset rule, comprises:
when the pressure of a target brake air chamber in the semitrailer is not larger than a first threshold value, any one of a first axle, a second axle or a third axle is selected as a controlled axle to brake the brake;
when the pressure of a target brake air chamber in the semitrailer is larger than a first threshold value and not larger than a second threshold value, any two of a first axle, a second axle or a third axle are selected as controlled axles to brake the brake;
and when the pressure of a target brake air chamber in the semi-trailer is larger than a second threshold value, selecting a first axle, a second axle and a third axle as controlled axles to brake the brake, wherein the first axle, the second axle and the third axle are divided according to the preset driving mileage of the semi-trailer.
3. The method of claim 2, wherein selecting any one of the first axle, the second axle, or the third axle as the controlled axle to apply the brakes in the event that the pressure of the target brake chamber in the semi-trailer vehicle is not greater than the first threshold value comprises:
controlling a combination valve to distribute all gas to a first axle, and meanwhile, separating brake pads of a brake of the second axle and a brake of the third axle from a brake disc;
when the temperature of any brake of the first axle is not lower than a preset temperature value, controlling a combination valve to distribute all the gas to a second axle, and simultaneously, enabling a brake pad in a brake of the first axle and a brake pad in a brake of a third axle to be in a separated state from a brake disc;
when any brake in the two brake temperatures of the second axle is not lower than a preset temperature value, controlling a combination valve to distribute all the gas to a third axle, and simultaneously, enabling a brake pad in a brake of the second axle and a brake pad in a brake of the first axle to be in a separated state from a brake disc;
when the temperature of any one of the two brakes of the third axle is not lower than a preset temperature value, the combination valve is controlled to distribute the gas to the first axle or the combination valve is controlled to distribute the gas to the second axle and the third axle respectively, and meanwhile, a brake pad in the brake of the first axle is separated from a brake disc.
4. The method of claim 1, wherein the method further comprises:
under the manual driving scene, braking force is respectively provided for wheels on an axle of the semi-trailer vehicle;
and/or providing braking force to wheels on an axle of the semi-trailer vehicle respectively in an adaptive cruise, downhill assist or pilot assist scenario of autonomous driving, wherein the brakes are ventilated and heat dissipated during a braked passing.
5. The method of claim 1, wherein the semi-trailer vehicle is of a type including at least one of: a three-axle semi-trailer with a front axle, a middle axle and a rear axle, a two-axle semi-trailer with a front axle and a rear axle, and a semi-trailer with an EMB.
6. A semi-trailer vehicle braking apparatus for preventing thermal degradation of a semi-trailer vehicle, the semi-trailer vehicle including an axle, a brake chamber on the axle, and a brake coupled to a wheel, the semi-trailer vehicle braking apparatus comprising:
the controlled axle selection module is used for selecting at least one controlled axle to perform braking operation on a brake under the condition that the pressure of a target brake air chamber in the semitrailer meets a preset condition, wherein the controlled axle is divided according to a preset rule;
when the pressure of a target brake air chamber in the semitrailer meets a preset condition, at least one controlled axle is selected to brake the brake, wherein the controlled axle is divided according to a preset rule, and the method comprises the following steps:
when the pressure of a target brake air chamber in the semitrailer is greater than a first threshold value and not greater than a second threshold value, any two of a first axle, a second axle or a third axle are selected as controlled axles to brake a brake;
when the pressure of a target brake air chamber in the semi-trailer is larger than a second threshold value, selecting a first axle, a second axle and a third axle as controlled axles to brake a brake, wherein the first axle, the second axle and the third axle are divided according to the preset driving mileage of the semi-trailer;
when the pressure of a target brake air chamber in the semitrailer is greater than a first threshold value and not greater than a second threshold value, selecting any two of the first axle, the second axle or the third axle as controlled axles to brake the brake, wherein the method comprises the following steps:
controlling a combination valve to distribute gas to a first axle and a second axle respectively, and meanwhile, separating a brake pad in a brake of the third axle from a brake disc;
when any one brake in the two brake temperatures of the first axle is not lower than a preset temperature value, controlling a combination valve to distribute the gas to a second axle and a third axle respectively, and simultaneously, enabling a brake pad in a brake of the first axle to be in a separation state from a brake disc;
when any brake in the two brake temperatures of the second axle is not lower than a preset temperature value, controlling a combination valve to distribute the gas to a third axle and the first axle respectively, and simultaneously enabling a brake pad in the brake of the second axle to be in a separation state from a brake disc;
when any one of the two brake temperatures of the third axle is not lower than a preset temperature value, controlling a combination valve to respectively distribute the gas to the second axle and the third axle, wherein the respectively distributing comprises: assigning one of the axles a pressure equal to the first threshold value and the other axle a pressure after the total pressure value within the target brake chamber minus the first threshold value;
when the pressure of a target brake air chamber in the semi-trailer is larger than a second threshold value, a first axle, a second axle and a third axle are selected as controlled axles to brake a brake, wherein the first axle, the second axle and the third axle are divided according to the preset driving mileage of the semi-trailer, and the method comprises the following steps:
selecting three axles to participate in braking, and controlling a combination valve to evenly distribute gas to the first axle, the second axle and the third axle when the pressure of a target brake air chamber in the semi-trailer is greater than a second threshold value, wherein the average distribution comprises the pressure in the target brake air chambers on different axles, and the pressure in the target brake air chambers all change according to a preset rate;
and the braking module is used for respectively providing braking force for wheels on an axle of the semitrailer according to the braking operation.
7. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method of any one of claims 1 to 5.
8. A computer readable storage medium storing one or more programs which, when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform the method of any of claims 1-5.
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| CN104044571B (en) * | 2014-07-02 | 2016-08-24 | 江苏大学 | A kind of truck combination associated braking system and method |
| DE102015109630A1 (en) * | 2015-06-16 | 2016-12-22 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Method for the electronic control of the brake force distribution in a pressure-medium-actuated brake system of a vehicle and pressure-medium-actuated brake system of a vehicle with such a control |
| DE102016013054A1 (en) * | 2015-12-09 | 2017-06-14 | Wabco Gmbh | Method for adjusting brake pressures of a vehicle, brake system for carrying out the method and vehicle |
| CN109827783A (en) * | 2019-03-27 | 2019-05-31 | 吉林大学 | A kind of line traffic control air-pressure brake hardware-in―the-loop test platform and test method |
| CN113968143A (en) * | 2021-12-13 | 2022-01-25 | 上海锣响汽车集团有限公司 | Auxiliary braking equipment, method, device and medium for semitrailer |
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