CN112193225B - Vehicle braking method and system and agricultural machine - Google Patents
Vehicle braking method and system and agricultural machine Download PDFInfo
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- CN112193225B CN112193225B CN202010919095.2A CN202010919095A CN112193225B CN 112193225 B CN112193225 B CN 112193225B CN 202010919095 A CN202010919095 A CN 202010919095A CN 112193225 B CN112193225 B CN 112193225B
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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
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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
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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Abstract
The invention provides a vehicle braking method, a vehicle braking system and agricultural machinery, and relates to the technical field of agricultural machinery, wherein the vehicle braking method comprises the following steps: acquiring a brake signal generated by a brake pedal; carrying out nonlinear mapping processing on the brake signal to obtain a first output signal; adjusting the first output signal according to a set driving mode to obtain a second output signal; and controlling a braking device to brake the vehicle according to the second output signal. In the application, the better output characteristic can be obtained through the nonlinear mapping relation. In addition, the vehicle braking method can adjust the running mode, and different running modes can be suitable for various working conditions of the agricultural vehicle and the preference of the driver of the agricultural vehicle.
Description
Technical Field
The application relates to the technical field of agricultural machinery, in particular to a vehicle braking method and system and agricultural machinery.
Background
The agricultural machine mainly comprises a tractor, a harvester, a tillage planter, a low-speed truck and the like, and is mainly used for field operation. The working environment of the agricultural machinery is characterized in that: the shape of the land parcel is a regular or irregular geometric figure; the field may have fluctuating slowly-varying terrains such as ascending and descending slopes, and also may have abrupt terrains such as small ditches, small ridges and stones; there may be non-crashable, inaccessible objects within or at the edges of the field, such as boundary walls, trees, buildings, etc.; other agricultural machines may be in operation or multiple agricultural machines may be in cooperation.
The working process of different types of agricultural machines can be divided into two parts: running and operation, wherein the running refers to the movement of the agricultural machinery in the field according to the requirements; the operation means that the agricultural machine interacts with farmlands, crops and other agricultural machines. The important components of an agricultural machine therefore include a chassis and a working device, which in turn have their drive, state detection, control and auxiliary devices, respectively.
At present, when a driver drives an agricultural machine to run, a braking signal generated by a brake pedal is directly output to a braking device or is output to the braking device through a controller, and the braking signal is output in a linear output or fixed mode, namely, the angle of the brake pedal and the braking characteristic of the braking device are linear or fixed. The disadvantages of this approach are: the linear braking approach lacks flexibility and cannot be optimally adjusted to suit different conditions and driver preferences depending on the driving mode.
Disclosure of Invention
The present application provides a vehicle braking method, a vehicle braking system and an agricultural machine, which are directed to the above-mentioned deficiencies of the prior art.
The vehicle braking method includes:
acquiring a brake signal generated by a brake pedal;
carrying out nonlinear mapping processing on the brake signal to obtain a first output signal;
adjusting the first output signal according to a set driving mode to obtain a second output signal;
and controlling a braking device to brake the vehicle according to the second output signal.
Further, the controlling a braking device to brake the vehicle according to the second output signal includes:
determining a braking capacity parameter of a braking device; the braking capacity parameter is used for representing the braking capacity of the braking device;
correcting the second output signal according to the braking capacity parameter to compensate the change of the braking performance of the braking device;
and outputting the compensated and corrected second output signal to a braking device for braking.
Further, the braking capability parameters are as follows: a braking deceleration within a predetermined deceleration interval, a braking time within a predetermined deceleration interval, or a braking distance within a predetermined deceleration interval.
Further, the adjusting the first output signal according to the set driving mode to obtain a second output signal includes:
when the driving mode is a comfortable mode, acquiring the braking acceleration a of the vehicle in real time;
when the magnitude of the braking acceleration a of the vehicle is smaller than an acceleration threshold value Amax, enabling the second output signal to be equal to the first output signal;
when the magnitude of the braking acceleration a of the vehicle is not less than the acceleration threshold value Amax, the first output signal is reduced to obtain a second output signal so as to reduce the braking acceleration of the vehicle to within the acceleration threshold value Amax.
Further, the adjusting the first output signal according to the set driving mode to obtain a second output signal includes:
when the driving mode is the safe mode, acquiring the inclination angle information of the vehicle in real time;
judging whether the inclination angle of the vehicle is within a safety interval [ Qmin, Qmax ] according to the acquired inclination angle information;
when the inclination angle of the vehicle is within the safety interval [ Qmin, Qmax ], making the second output signal equal to the first output signal;
when the inclination angle of the vehicle is outside the safety interval [ Qmin, Qmax ], the first output signal is reduced to obtain a second output signal, so that the inclination angle of the vehicle returns to be within the safety interval [ Qmin, Qmax ].
Further, the adjusting the first output signal according to the set driving mode to obtain a second output signal includes:
when the driving mode is the quick response mode, acquiring the braking acceleration a of the vehicle in real time;
determining a second output signal So according to the acquired braking acceleration a; wherein So ═ Si + f (ae-a); wherein Si is a brake signal generated by a brake pedal; a is the braking acceleration of the vehicle; ae is the brake acceleration expectation represented by the brake signal Si; f (a-ae) is a function with (a-ae) as an argument.
Further, the nonlinear mapping relationship between the acceleration signal and the first output signal is: a multi-line segment mapping relationship, a curve mapping relationship, or an array mapping relationship.
Further, the vehicle braking method further includes:
acquiring identity information of a driver;
and setting a corresponding driving mode according to the identity information of the driver.
In another aspect, the present application also provides a vehicle brake system, including:
the acquisition module is used for acquiring a brake signal generated by a brake pedal;
the mapping module is used for carrying out nonlinear mapping processing on the brake signal to obtain a first output signal;
the adjusting module is used for adjusting the first output signal according to a set driving mode to obtain a second output signal;
and the control module is used for controlling a braking device to brake the vehicle according to the second output signal.
In another aspect, the present application also provides an agricultural machine having a controller; the controller is used to run a program that is run to perform the vehicle braking method set forth above.
In the application, the better output characteristic can be obtained through the nonlinear mapping relation. In addition, the vehicle braking method can adjust the running mode, and different running modes can be suitable for various working conditions of the agricultural vehicle and the preference of the driver of the agricultural vehicle.
Drawings
Fig. 1 is a flowchart of a vehicle braking method according to an embodiment of the present application.
Fig. 2 is a second flowchart of a vehicle braking method according to an embodiment of the present application.
Fig. 3 is a third flowchart of a vehicle braking method according to an embodiment of the present application.
FIG. 4 is a fourth flowchart of a vehicle braking method according to an embodiment of the present application.
Fig. 5 is a fifth flowchart of a vehicle braking method according to an embodiment of the present application.
Fig. 6 is a schematic block diagram of an agricultural machine in an embodiment of the present application.
Fig. 7 is a schematic diagram of a multi-segment mapping relationship in an embodiment of the present application.
Fig. 8 is a schematic diagram of a curve mapping relationship in an embodiment of the present application.
Fig. 9 is a schematic block diagram of a vehicle brake system in an embodiment of the present application.
Detailed Description
The following are specific embodiments of the present application and are further described with reference to the drawings, but the present application is not limited to these embodiments. In the following description, specific details such as specific configurations and components are provided only to help the embodiments of the present application be fully understood. Accordingly, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
In addition, the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Example one
Referring to fig. 1, the present embodiment proposes a vehicle braking method including steps S101 to S104. The vehicle braking method will be described in detail below with reference to the drawings.
Step S101, a brake signal generated by a brake pedal is acquired.
In the embodiments of the present application, the vehicle mainly refers to agricultural working machines, such as tractors, harvesters, tillage planters. The working process of different types of agricultural machines can be divided into two parts: running and operation, wherein the running refers to the movement of the agricultural machinery in the field according to the requirements; the operation means that the agricultural machine interacts with farmlands, crops and other agricultural machines.
Referring to fig. 6, the agricultural machine includes: brake pedal, controller, arresting gear, vehicle state collection system. In addition, the driving part of the agricultural machine includes other components, such as a steering system and a driving system.
And the controller is used for collecting driving parameters, vehicle state parameters and the like of a driver and outputting instructions to control the vehicle to run and work.
The brake pedal is used for acquiring a driving instruction of a driver and inputting the driving instruction into the controller; when the vehicle is a fuel-powered vehicle, the driver can change the braking force of the braking device by operating the brake pedal, and further change the braking acceleration of the vehicle.
And the vehicle state acquisition device is used for acquiring the state parameters of the vehicle and inputting the state parameters into the controller. The state parameters collected by the vehicle state collecting device are related state parameters in the running process of the vehicle, and the state parameters can comprise: speed, acceleration, accelerator opening, steering angle of a steering wheel, vehicle inclination, and braking force of a brake device.
And the braking device is used for receiving the control signal of the controller and braking the vehicle according to the control signal. When the braking device brakes the vehicle, the vehicle has a braking acceleration to reduce the running speed of the vehicle.
The driver drives the agricultural machinery through a driving device, and the driving device comprises an accelerator pedal, a brake pedal, a steering wheel, a handle, a button and other control switches. The operation information generated by these driving devices is input into the controller so that the controller controls the agricultural machine according to the driving intention of the driver.
It should be understood that the above component configurations of agricultural machines are merely exemplary, and that there are differences in component configurations and divisions of functional devices for different types of agricultural machines.
In step S101, the brake signal is specifically an angle signal of the brake pedal, and when the driver operates the brake pedal, the corresponding measuring device measures and obtains the angle signal of the brake pedal. The controller controls a brake device of the vehicle according to the angle signal of the brake pedal to apply a braking force to the vehicle.
In particular, the brake pedal, as its name implies, is a pedal that limits the power, i.e. the pedal of the foot brake, which is used for deceleration. When the driver depresses the brake pedal, the controller controls the brake device to generate the braking force. When the braking device brakes, friction is generated between the brake pad and the wheel drum or the disc, and kinetic energy of the automobile during running is converted into heat energy in the friction process and is consumed.
Step S102, carrying out nonlinear mapping processing on the brake signal to obtain a first output signal.
When the driver drives the vehicle, the driver decelerates by stepping on the brake pedal. After a brake signal generated by a brake pedal is input into the controller, the controller performs nonlinear mapping processing on the brake signal and outputs a first output signal obtained after the processing to the brake device so as to control the running of the vehicle.
Furthermore, the vehicle state acquisition device is used for acquiring the state parameters of the vehicle, and inputting the vehicle state parameters into the controller as the basis for the controller to perform nonlinear mapping processing on the brake signals. The state parameters collected by the vehicle state collecting device are related state parameters in the running process of the vehicle, and the state parameters can comprise: speed, acceleration, accelerator opening, steering angle of a steering wheel, vehicle inclination, and braking force of a brake device.
In some embodiments, the non-linear mapping relationship between the brake signal and the first output signal is: a multi-line segment mapping relationship, a curve mapping relationship, or an array mapping relationship.
Fig. 7 is a schematic diagram of a mapping relationship of multiple segments in an embodiment of the present application, where the abscissa represents the brake signal and the ordinate represents the first output signal. The multi-line segment mapping relation is a broken line type mapping relation formed by a plurality of line segments, and each broken line segment corresponds to a linear relation. Each broken line segment represents a value range, and in each value range, the brake signal and the first output signal have corresponding linear relation.
Fig. 8 is a diagram of a curve mapping relationship in an embodiment of the present application, in which the abscissa represents the brake signal and the ordinate represents the first output signal. The mapping between the brake signal and the first output signal is a curve.
Further, in some embodiments, the non-linear mapping between the brake signal and the first output signal is an array mapping. The value range of the brake signal is an array S: s0, S1, … …, and Sn, the value range of the output signal is array E: [ E0, E2, … …, En ]; the array S and the array E form a mapping relation, wherein Si corresponds to Ei, and i is 1, 2, … … and n. Thus, the brake signal can find the corresponding output signal in the array E through the above corresponding mapping relation. When the brake signal is Si, the output signal is Ei.
In the prior art, the angle of the brake pedal and the braking characteristic of the braking device are linear or fixed, the flexibility is lacked, and better braking output characteristic can be obtained through a nonlinear mapping relation.
Step S103, adjusting the first output signal according to a set running mode to obtain a second output signal.
Specifically, the running mode includes at least: comfort mode, safe mode, fast response mode. Different driving modes are used to match different requirements, such as driving comfort, driving safety, and quick response to driving. The braking characteristics of the vehicle in each mode are different. For example, in the comfort mode, the brake output characteristics of the vehicle are more likely to maintain driving comfort; in the safe mode, the brake output characteristic of the vehicle is more apt to secure safety; in the quick response mode, the brake output characteristic of the vehicle is more likely to maintain a quick response to the driver.
Referring to fig. 3, in some embodiments, step S103, adjusting the first output signal according to a set driving mode to obtain a second output signal includes:
and S301, when the driving mode is the comfort mode, acquiring the braking acceleration a of the vehicle in real time.
In step S302, when the magnitude of the braking acceleration a of the vehicle is smaller than the acceleration threshold Amax, the second output signal is made equal to the first output signal.
In step S303, when the magnitude of the braking acceleration a of the vehicle is not less than the acceleration threshold Amax, the first output signal is reduced to obtain a second output signal so as to reduce the braking acceleration of the vehicle to within the acceleration threshold Amax.
Specifically, in the comfort mode, the braking acceleration of the vehicle is used as an adjusting factor of the nonlinear mapping, namely, a maximum allowable braking acceleration value Amax is preset, and when the braking acceleration a of the vehicle is smaller than Amax, the maximum allowable braking acceleration value Amax is output according to the original mapping mode; when the braking acceleration a of the vehicle is larger than or equal to Amax, the output value is reduced, so that the actual braking acceleration is reduced until the actual braking acceleration a of the vehicle is smaller than Amax. The driver comfort is here ensured by limiting the maximum braking acceleration of the vehicle by adjusting the value of the first output signal. It should be noted that, the working environment of the current agricultural working machine is usually a non-paved road, the road condition is poor, and the driver needs to endure more jolts during the driving process. The comfort mode can increase the smoothness of the agricultural working machine during driving, so as to improve the comfort of the driver.
Referring to fig. 4, in some embodiments, step S103, adjusting the first output signal according to a set driving mode to obtain a second output signal includes:
and S401, when the driving mode is the safe mode, acquiring the inclination angle information of the vehicle in real time.
And step S402, judging whether the inclination angle of the vehicle is in a safety interval [ Qmin, Qmax ] according to the acquired inclination angle information.
In step S403, when the inclination angle of the vehicle is within the safety range [ Qmin, Qmax ], the second output signal is made equal to the first output signal.
And S404, when the inclination angle of the vehicle is outside the safety interval [ Qmin, Qmax ], reducing the first output signal to obtain a second output signal so as to enable the inclination angle of the vehicle to return to be within the safety interval [ Qmin, Qmax ].
Specifically, the safety mode takes the safety of the driver and the vehicle as a main control target, and when the controller processes the brake signal, the controller takes the vehicle state parameters influencing the safety of the driver and the vehicle as a basis; various safety indexes of the vehicle can be calculated according to the vehicle state parameters. In the embodiment, the anti-rollover index is used as a safety limiting condition of the vehicle, namely, the rollover stability of the vehicle is evaluated according to the inclination angle of the vehicle, a safety interval [ Qmin, Qmax ] of the vehicle inclination angle is preset, and when the actual inclination angle Q of the vehicle is in the safety interval, the controller outputs the actual inclination angle Q according to the original mapping mode; when the actual tilt angle Q of the vehicle is out of the safe zone, the controller decreases its output value so that the actual tilt angle of the vehicle is decreased until the actual tilt angle of the vehicle comes back into the safe zone.
Referring to fig. 5, in some embodiments, step S103, adjusting the first output signal according to a set driving mode to obtain a second output signal includes:
and step S501, when the running mode is the quick response mode, acquiring the braking acceleration a of the vehicle in real time.
Step S502, determining a second output signal So according to the collected braking acceleration a; wherein So ═ Si + f (ae-a); wherein Si is a brake signal generated by a brake pedal; a is the braking acceleration of the vehicle; ae is the brake acceleration expectation represented by the brake signal Si; f (a-ae) is a function with (a-ae) as an argument. The expected braking acceleration ae is calibrated according to the braking signal Si, and the specific numerical correspondence can be specifically calibrated according to a specific vehicle.
Specifically, the quick response mode takes the quick response of the vehicle as a main control target, and the controller takes a vehicle state parameter influencing the quick response of the vehicle as a basis when processing a brake signal. In the present embodiment, the braking acceleration response characteristic is adopted as the control target. The output signal of the brake pedal represents the driver's brake acceleration expectation. The controller performs nonlinear mapping on the output angle of the brake pedal to enable the actual acceleration of the vehicle to reach a preset brake acceleration expectation.
Further, f (a-ae) is a function with (a-ae) as an argument. The expected braking acceleration ae is calibrated according to the braking signal Si, and the specific numerical correspondence can be specifically calibrated according to a specific vehicle. And f (a-ae) is used for compensating the brake signal Si, So that the brake acceleration corresponding to the second output signal So is a preset brake acceleration expected value.
And step S104, controlling a braking device to brake the vehicle according to the second output signal.
Generally, the larger the output signal received by the brake device, the larger the braking force it outputs. Under the same condition, the larger the output signal, the larger the braking acceleration generated by the braking device. Further, the brake device may be a drum brake device, a disc brake device, an air-expanding brake device, or the like.
Referring to fig. 2, in some embodiments, the step S104 of controlling a braking device to brake the vehicle according to the second output signal includes:
step S201, determining a braking capacity parameter of a braking device; the braking capability parameter is used for representing the braking performance of the braking device.
And S202, correcting the second output signal according to the braking capacity parameter so as to compensate the change of the braking performance of the braking device.
And step S203, outputting the compensated and corrected second output signal to a braking device for braking.
In particular, the braking performance of the braking device may deteriorate as the usage time increases. For example, the brake pads in a brake system exhibit a significant reduction in braking performance over time. In addition, temperature is also an important factor that affects the braking performance of the brake.
The second output signal is compensated, and the braking force corresponding to the second output signal is adjusted to eliminate the influence of other factors on the braking performance, so that the braking performance of the braking device is maintained under the condition that the braking signal is not changed. Specifically, the second output signal is compensated, so that the numerical correspondence between the braking signal of the brake pedal and the braking capacity parameter of the braking device is not changed along with the change of the braking performance. Therefore, the operation feeling of the brake pedal by the driver does not change with the change of the braking performance, and the expectation of the brake pedal operation by the driver is ensured.
In some embodiments, the braking capability parameter is: a braking deceleration within a predetermined deceleration interval, a braking time within a predetermined deceleration interval, or a braking distance within a predetermined deceleration interval. The braking capacity parameter can be measured by a corresponding measuring device.
Further, the vehicle braking method further includes:
acquiring identity information of a driver;
and setting a corresponding driving mode according to the identity information of the driver.
Further, the response method of the acceleration signal further includes:
and when the driving mode of the driver is changed, updating and storing the driving mode corresponding to the identity information of the driver.
Specifically, a driver needs to log in a personal account to determine the identity before driving the vehicle, the nonlinear mapping relation of the acceleration signal is bound with the identity of the driver, and when the identity of the driver changes, options and parameters of the nonlinear mapping also change along with the identity information of the driver. In this embodiment, the driver sets the mapping mode to be the broken line type, and selects the option of the quick response mode, and then the personalized options of the driver a are stored in the personal account of the driver. When a driver logs in the vehicle driving system, the system automatically calls the mapping modes and options to initialize vehicle parameters, so that the resetting is not needed every time, and the driving experience of the driver is improved. Further, the identity information may be fingerprint information of the driver.
In some embodiments, the driver may send authentication information to the vehicle for identity binding via the mobile terminal.
It should be noted that the angle of the brake pedal and the driving characteristic of the brake device in the prior art are linear or fixed, and lack flexibility. The method and the device can obtain better output characteristics through the nonlinear mapping relation. Further, the vehicle braking method in the embodiment of the application can adjust the running mode, and different running modes can be suitable for various working conditions of the agricultural vehicle and the preference of a driver of the agricultural vehicle.
Example two
Referring to fig. 9, the present embodiment proposes a vehicle brake system including: an acquisition module 901, a mapping module 902, an adjustment module 903 and a control module 904; the vehicle brake system will be described in detail with reference to the accompanying drawings.
An obtaining module 901, configured to obtain a braking signal generated by a brake pedal;
a mapping module 902, configured to perform a non-linear mapping process on the brake signal to obtain a first output signal;
an adjusting module 903, configured to adjust the first output signal according to a set driving mode to obtain a second output signal;
and a control module 904 for controlling the braking device to brake the vehicle according to the second output signal.
Further, the control module 904 includes:
the determining submodule is used for determining a braking capacity parameter of the braking device; the braking capacity parameter is used for representing the braking capacity of the braking device;
the correction submodule is used for correcting the second output signal according to the braking capacity parameter so as to compensate the change of the braking performance of the braking device;
and the control submodule is used for outputting the compensated and corrected second output signal to a braking device for braking.
Further, the braking capability parameters are: a braking deceleration within a predetermined deceleration interval, a braking time within a predetermined deceleration interval, or a braking distance within a predetermined deceleration interval.
Further, the adjusting module 903 comprises:
the first acquisition submodule is used for acquiring the braking acceleration a of the vehicle in real time when the driving mode is the comfortable mode;
a first adjusting submodule for making the second output signal equal to the first output signal when the magnitude of the braking acceleration a of the vehicle is smaller than an acceleration threshold Amax;
and a second adjusting submodule for decreasing the first output signal to obtain a second output signal when the magnitude of the braking acceleration a of the vehicle is not less than the acceleration threshold value Amax, so as to decrease the braking acceleration of the vehicle to be within the acceleration threshold value Amax.
Further, the adjusting module 903 comprises:
the second acquisition submodule is used for acquiring the inclination angle information of the vehicle in real time when the driving mode is the safe mode;
the judgment submodule is used for judging whether the inclination angle of the vehicle is positioned in a safety interval [ Qmin, Qmax ] according to the acquired inclination angle information;
a third adjustment submodule for making the second output signal equal to the first output signal when the inclination angle of the vehicle is within the safety interval [ Qmin, Qmax ];
and the fourth adjusting submodule is used for reducing the first output signal to obtain a second output signal when the inclination angle of the vehicle is positioned outside the safety interval [ Qmin, Qmax ] so as to enable the inclination angle of the vehicle to return to be within the safety interval [ Qmin, Qmax ].
Further, the adjusting module 903 comprises:
the third acquisition submodule is used for acquiring the braking acceleration a of the vehicle in real time when the running mode is the quick response mode;
the output signal determining submodule is used for determining a second output signal So according to the acquired braking acceleration a; wherein So ═ Si + f (ae-a); wherein Si is a brake signal generated by a brake pedal; a is the braking acceleration of the vehicle; ae is the brake acceleration expectation represented by the brake signal Si; f (a-ae) is a function with (a-ae) as an argument.
Further, the nonlinear mapping relationship between the acceleration signal and the first output signal is: a multi-line segment mapping relationship, a curve mapping relationship, or an array mapping relationship.
Further, the vehicle brake system further includes:
the identity information acquisition module is used for acquiring the identity information of the driver;
and the setting module is used for setting a corresponding driving mode according to the identity information of the driver.
Further, the response device of the acceleration signal further comprises:
and the updating module is used for updating and storing the driving mode corresponding to the identity information of the driver when the driving mode is changed by the driver.
EXAMPLE III
The present embodiment provides an agricultural machine having a controller; the controller is for running a program that is operative to perform the vehicle braking method set forth in the preceding section. For avoiding repetition, the related contents can be referred to the description of the previous part, and are not described herein again.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It should be understood that the steps described above are not in the exact order of execution and that all changes that can be envisioned and do not affect the implementation of the functions are intended to be within the scope of the invention.
Are understood to indicate or imply relative importance or implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions in actual implementation, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The specific embodiments described herein are merely illustrative of the spirit of the application. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the present application as defined by the appended claims.
Claims (9)
1. A vehicle braking method, characterized by comprising:
acquiring a brake signal generated by a brake pedal;
carrying out nonlinear mapping processing on the brake signal to obtain a first output signal;
adjusting the first output signal according to a set driving mode to obtain a second output signal;
controlling a braking device to brake the vehicle according to the second output signal;
the controlling a braking device to brake the vehicle according to the second output signal comprises:
determining a braking capacity parameter of a braking device; the braking capacity parameter is used for representing the braking capacity of the braking device;
correcting the second output signal according to the braking capacity parameter to compensate the change of the braking performance of the braking device;
and outputting the compensated and corrected second output signal to a braking device for braking.
2. The vehicle braking method according to claim 1, characterized in that the braking capability parameter is: a braking deceleration within a predetermined deceleration interval, a braking time within a predetermined deceleration interval, or a braking distance within a predetermined deceleration interval.
3. The vehicle braking method according to claim 1, wherein the adjusting the first output signal to obtain a second output signal according to a set driving mode comprises:
when the driving mode is a comfortable mode, acquiring the braking acceleration a of the vehicle in real time;
when the magnitude of the braking acceleration a of the vehicle is smaller than an acceleration threshold value Amax, enabling the second output signal to be equal to the first output signal;
when the magnitude of the braking acceleration a of the vehicle is not less than the acceleration threshold value Amax, the first output signal is reduced to obtain a second output signal so as to reduce the braking acceleration of the vehicle to within the acceleration threshold value Amax.
4. The vehicle braking method according to claim 1, wherein the adjusting the first output signal to obtain a second output signal according to a set driving mode comprises:
when the driving mode is the safe mode, acquiring the inclination angle information of the vehicle in real time;
judging whether the inclination angle of the vehicle is within a safety interval [ Qmin, Qmax ] according to the acquired inclination angle information;
when the inclination angle of the vehicle is within the safety interval [ Qmin, Qmax ], making the second output signal equal to the first output signal;
when the inclination angle of the vehicle is outside the safety interval [ Qmin, Qmax ], the first output signal is reduced to obtain a second output signal, so that the inclination angle of the vehicle returns to be within the safety interval [ Qmin, Qmax ].
5. The vehicle braking method according to claim 1, wherein the adjusting the first output signal to obtain a second output signal according to a set driving mode comprises:
when the driving mode is the quick response mode, acquiring the braking acceleration a of the vehicle in real time;
determining a second output signal So according to the acquired braking acceleration a; wherein So ═ Si + f (ae-a); wherein Si is a brake signal generated by a brake pedal; a is the braking acceleration of the vehicle; ae is the brake acceleration expectation represented by the brake signal Si; f (a-ae) is a function with (a-ae) as an argument.
6. A method of braking a vehicle according to claim 1, wherein the non-linear mapping between the braking signal and the first output signal is: a multi-line segment mapping relationship, a curve mapping relationship, or an array mapping relationship.
7. The vehicle braking method according to claim 1, characterized by further comprising:
acquiring identity information of a driver;
and setting a corresponding driving mode according to the identity information of the driver.
8. A vehicle braking system, characterized by comprising:
the acquisition module is used for acquiring a brake signal generated by a brake pedal;
the mapping module is used for carrying out nonlinear mapping processing on the brake signal to obtain a first output signal;
the adjusting module is used for adjusting the first output signal according to a set driving mode to obtain a second output signal;
the control module is used for controlling a braking device to brake the vehicle according to the second output signal;
the control module includes:
the determining submodule is used for determining a braking capacity parameter of the braking device; the braking capacity parameter is used for representing the braking capacity of the braking device;
the correction submodule is used for correcting the second output signal according to the braking capacity parameter so as to compensate the change of the braking performance of the braking device;
and the control submodule is used for outputting the compensated and corrected second output signal to a braking device for braking.
9. An agricultural machine, comprising a controller; the controller is for running a program which is run to perform a vehicle braking method according to any one of claims 1 to 7.
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