CN114435322A - Commercial vehicle slow braking control method, device, equipment and storage medium - Google Patents
Commercial vehicle slow braking control method, device, equipment and storage medium Download PDFInfo
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- CN114435322A CN114435322A CN202210191524.8A CN202210191524A CN114435322A CN 114435322 A CN114435322 A CN 114435322A CN 202210191524 A CN202210191524 A CN 202210191524A CN 114435322 A CN114435322 A CN 114435322A
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- 238000000034 method Methods 0.000 title claims abstract description 72
- 230000008569 process Effects 0.000 claims abstract description 30
- 230000001133 acceleration Effects 0.000 claims description 88
- 230000000979 retarding effect Effects 0.000 claims description 15
- 230000004044 response Effects 0.000 claims description 8
- 230000006870 function Effects 0.000 description 11
- 238000005299 abrasion Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
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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
- 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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
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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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
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- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Transmission Of Braking Force In Braking Systems (AREA)
Abstract
The invention discloses a method, a device, equipment and a storage medium for controlling the slow braking of a commercial vehicle, wherein the method comprises the steps of calculating a target deceleration required by the current vehicle in the running process when a braking signal is received, comparing the target deceleration with a preset deceleration threshold value, and generating a comparison result; generating a retarder control instruction according to the comparison result, and controlling the retarder and the electric control fan according to the retarder control instruction; the required brake pressure of vehicle front and rear axle is calculated, and vehicle front axle and vehicle rear axle are braked according to brake pressure, can improve travelling comfort, have reduced the wearing and tearing of brake block, and vehicle braking nature is more stable and soft, can fully use the service braking function under the emergency braking, has promoted speed and the efficiency of commercial car slow braking control.
Description
Technical Field
The invention relates to the technical field of braking of commercial vehicles, in particular to a method, a device, equipment and a storage medium for controlling slow braking of a commercial vehicle.
Background
In the braking process of an automobile, rear axle sideslip is a main factor causing instability of the automobile, and a large number of tests prove that the rear axle sideslip is possible to occur if the rear axle is locked and dragged to slide earlier than a front axle during braking, in order to prevent dangerous sideslip caused by locking of rear wheels, an actual front and rear braking force Distribution curve of an automobile braking system is always below an ideal braking force Distribution line (I curve), so that the probability of losing steering capacity of the front wheels can be reduced, the braking efficiency is improved, the closer the actual braking force Distribution curve is to the I curve, the better the actual braking force Distribution curve is, and an Electronic control braking force Distribution system (Electronic Brake force Distribution, EBD) can achieve the purpose; an electronic control brake force distribution system (EBD) function is to automatically change the distribution ratio of the wheel brake braking force according to the brake deceleration and the change of the wheel load, thereby shortening the braking distance and improving the running stability; the cost pressure of modern transportation industry is increasing day by day, the requirements for payload, mileage and average speed are increasing, the engine power is increasing continuously, the efficiency of the service brake is limited, and as a result, the safety of drivers, vehicles and goods cannot be guaranteed; the travelling comfort is relatively poor, the abrasion of the brake shoes is serious, and the service brake cannot be fully used under the emergency condition.
Disclosure of Invention
The invention mainly aims to provide a commercial vehicle slow braking control method, a commercial vehicle slow braking control device, commercial vehicle slow braking control equipment and a storage medium, and aims to solve the technical problems that in the prior art, the efficiency of service braking is limited, the safety is low, the comfort in the service process is poor, and the service braking cannot be fully used in an emergency situation.
In a first aspect, the invention provides a method for controlling the slow braking of a commercial vehicle, which comprises the following steps:
when a braking signal is received, calculating a target deceleration required by the current vehicle in the running process, comparing the target deceleration with a preset deceleration threshold value, and generating a comparison result;
generating a retarder control instruction according to the comparison result, and controlling the retarder and the electric control fan according to the retarder control instruction;
and calculating the braking pressure required by the front axle and the rear axle of the vehicle, and braking the front axle and the rear axle of the vehicle according to the braking pressure.
Optionally, when the braking signal is received, calculating a target deceleration required by the current vehicle during running, comparing the target deceleration with a preset deceleration threshold, and generating a comparison result, including:
when a braking signal is received, acquiring the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration of the current vehicle;
inputting the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration to an EBS/ESC to obtain a target deceleration required by the current vehicle during running;
and comparing the target deceleration with a preset deceleration threshold value to generate a comparison result.
Alternatively, the inputting the wheel speed, the engine torque, the longitudinal acceleration and the lateral acceleration to the EBS/ESC to obtain the target deceleration required by the current vehicle during running includes:
and inputting the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration to an EBS/ESC, so that the EBS/ESC calculates a target deceleration required during the running process of the current vehicle through a calculation program.
Optionally, the comparing the target deceleration with a preset deceleration threshold to generate a comparison result includes:
the received maximum deceleration which can be provided by the retarder of the current vehicle and the maximum full-load deceleration of the current vehicle, which are calculated by the EBS/ESC through an operation program;
determining a first preset deceleration threshold and a second preset deceleration threshold according to the maximum deceleration, the maximum full-load deceleration and a preset deceleration weight ratio, wherein the first preset deceleration threshold is smaller than the second preset deceleration threshold;
and comparing the target deceleration with the first preset deceleration threshold and the second preset deceleration threshold respectively to generate a comparison result.
Optionally, the generating a retarder control instruction according to the comparison result, and controlling the retarder and the electronically controlled fan according to the retarder control instruction includes:
when the comparison result shows that the target deceleration is smaller than a first preset deceleration threshold value, generating a first retarder control instruction, determining retarder target gear information according to the first retarder control instruction, controlling a retarder to enter a corresponding braking state according to the target gear information, and sending the target gear information to an engine ECU in a CAN message form so that the engine ECU starts an electric control fan according to the target gear information;
when the comparison result shows that the target deceleration is not less than the first preset deceleration threshold and less than the second preset deceleration threshold, generating a second retarder control instruction, controlling the retarder to work in a maximum limited gear according to the second retarder control instruction, and sending current gear information to the engine ECU in a CAN message form, so that the engine ECU starts the electric control fan according to the current gear information;
and when the comparison result shows that the target deceleration is not less than the second preset deceleration threshold value, generating a third retarder control instruction, closing the retarder according to the third retarder control instruction, and sending retarder quitting work information to the engine ECU in a CAN message form, so that the engine ECU closes the electric control fan.
Optionally, the calculating the brake pressures required by the front axle and the rear axle of the vehicle, and braking the front axle and the rear axle of the vehicle according to the brake pressures includes:
acquiring the front wheelbase, the rear wheelbase, the wheel base, the mass center height, the vehicle weight, the vehicle longitudinal acceleration and the vehicle lateral acceleration of the current vehicle;
calculating a left front wheel load, a right front wheel load, a left rear wheel load and a right rear wheel load according to the front wheel base, the rear wheel base, the center of mass height, the vehicle weight, the vehicle longitudinal acceleration and the vehicle lateral acceleration in combination with a preset load algorithm;
determining front axle brake pressure required by a front axle of the vehicle according to the left front wheel load and the left rear wheel load, and determining rear axle brake pressure required by a rear axle of the vehicle according to the right front wheel load and the right rear wheel load;
and braking the front axle of the vehicle according to the front axle braking pressure, and braking the rear axle of the vehicle according to the rear axle braking pressure.
Optionally, after the brake pressure required by the front axle and the rear axle of the vehicle is calculated and the front axle and the rear axle of the vehicle are braked according to the brake pressure, the method for controlling the slow braking of the commercial vehicle further includes:
and when the brake signal disappears and the accelerator response signal is received, controlling the retarder to stop sending working information to the engine ECU and quit the retarding brake state, and controlling the engine ECU to close the electric control fan.
In a second aspect, to achieve the above object, the present invention further provides a commercial vehicle slow braking control device, including:
the comparison module is used for calculating a target deceleration required by the current vehicle in the running process when the brake signal is received, comparing the target deceleration with a preset deceleration threshold value and generating a comparison result;
the control module is used for generating a retarder control instruction according to the comparison result and controlling the retarder and the electric control fan according to the retarder control instruction;
and the braking module is used for calculating the braking pressure required by the front axle and the rear axle of the vehicle and braking the front axle and the rear axle of the vehicle according to the braking pressure.
In a third aspect, to achieve the above object, the present invention further provides a commercial vehicle slow braking control device, including: the device comprises a memory, a processor and a commercial vehicle slow braking control program which is stored on the memory and can run on the processor, wherein the commercial vehicle slow braking control program is configured to realize the steps of the commercial vehicle slow braking control method.
In a fourth aspect, in order to achieve the above object, the present invention further provides a storage medium, where a commercial vehicle slow braking control program is stored, and the commercial vehicle slow braking control program, when executed by a processor, implements the steps of the commercial vehicle slow braking control method described above.
According to the commercial vehicle slow braking control method, when a braking signal is received, a target deceleration required by a current vehicle in the running process is calculated, the target deceleration is compared with a preset deceleration threshold value, and a comparison result is generated; generating a retarder control instruction according to the comparison result, and controlling the retarder and the electric control fan according to the retarder control instruction; the required brake pressure of vehicle front and rear axle is calculated, and vehicle front axle and vehicle rear axle are braked according to brake pressure, can improve travelling comfort, have reduced the wearing and tearing of brake block, and vehicle braking nature is more stable and soft, can fully use the service braking function under the emergency braking, has promoted speed and the efficiency of commercial car slow braking control.
Drawings
FIG. 1 is a schematic diagram of an apparatus architecture of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a method for controlling the retarding braking of a commercial vehicle according to the present invention;
FIG. 3 is a schematic flow chart of a second embodiment of the method for controlling the retarding braking of a commercial vehicle according to the present invention;
FIG. 4 is a schematic flow chart of a third embodiment of the method for controlling the retarding braking of a commercial vehicle according to the present invention;
FIG. 5 is a schematic flow chart of a fourth embodiment of the method for controlling the retarding braking of a commercial vehicle according to the present invention;
FIG. 6 is a schematic flow chart of a fifth embodiment of the method for controlling the slow braking of a commercial vehicle according to the present invention;
fig. 7 is a functional block diagram of a first embodiment of a commercial vehicle retarder brake control apparatus of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The solution of the embodiment of the invention is mainly as follows: when a braking signal is received, calculating a target deceleration required by the current vehicle in the running process, and comparing the target deceleration with a preset deceleration threshold value to generate a comparison result; generating a retarder control instruction according to the comparison result, and controlling the retarder and the electric control fan according to the retarder control instruction; the required brake pressure of vehicle front and rear axle is calculated, brake to vehicle front axle and vehicle rear axle according to brake pressure, travelling comfort can be improved, the wearing and tearing of brake block have been reduced, vehicle braking nature is more stable and soft, but the service brake function under the emergency braking, the speed and the efficiency of commercial car retarder brake control have been promoted, the efficiency of service brake among the prior art has been solved and has been received the restriction, the security is low, driving in-process travelling comfort is relatively poor, can't make full use of service brake's technical problem under the emergency situation.
Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The Memory 1005 may be a high-speed RAM Memory or a Non-Volatile Memory (Non-Volatile Memory), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the device shown in fig. 1 is not intended to be limiting of the device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include an operating device, a network communication module, a user interface module, and a commercial vehicle retarder brake control program.
The device calls a commercial vehicle slow braking control program stored in a memory 1005 through a processor 1001 and executes the following operations:
when a braking signal is received, calculating a target deceleration required by the current vehicle in the running process, comparing the target deceleration with a preset deceleration threshold value, and generating a comparison result;
generating a retarder control instruction according to the comparison result, and controlling the retarder and the electric control fan according to the retarder control instruction;
and calculating the braking pressure required by the front axle and the rear axle of the vehicle, and braking the front axle and the rear axle of the vehicle according to the braking pressure.
The device calls a commercial vehicle slow braking control program stored in a memory 1005 through a processor 1001, and further performs the following operations:
when a braking signal is received, acquiring the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration of the current vehicle;
inputting the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration to an EBS/ESC to obtain a target deceleration required by the current vehicle during running;
and comparing the target deceleration with a preset deceleration threshold value to generate a comparison result.
The device calls a commercial vehicle slow braking control program stored in a memory 1005 through a processor 1001, and further performs the following operations:
and inputting the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration to an EBS/ESC, so that the EBS/ESC calculates a target deceleration required during the running process of the current vehicle through a calculation program.
The device calls a commercial vehicle slow braking control program stored in a memory 1005 through a processor 1001, and further performs the following operations:
the received maximum deceleration which can be provided by the retarder of the current vehicle and the maximum full-load deceleration of the current vehicle, which are calculated by the EBS/ESC through an operation program;
determining a first preset deceleration threshold and a second preset deceleration threshold according to the maximum deceleration, the maximum full-load deceleration and a preset deceleration weight ratio, wherein the first preset deceleration threshold is smaller than the second preset deceleration threshold;
and comparing the target deceleration with the first preset deceleration threshold and the second preset deceleration threshold respectively to generate a comparison result.
The device calls a commercial vehicle slow braking control program stored in a memory 1005 through a processor 1001, and further performs the following operations:
when the comparison result shows that the target deceleration is smaller than a first preset deceleration threshold value, generating a first retarder control instruction, determining retarder target gear information according to the first retarder control instruction, controlling a retarder to enter a corresponding braking state according to the target gear information, and sending the target gear information to an engine ECU in a CAN message form so that the engine ECU starts an electric control fan according to the target gear information;
when the comparison result shows that the target deceleration is not less than the first preset deceleration threshold and less than the second preset deceleration threshold, generating a second retarder control instruction, controlling the retarder to work in a maximum limited gear according to the second retarder control instruction, and sending current gear information to the engine ECU in a CAN message form, so that the engine ECU starts the electric control fan according to the current gear information;
and when the comparison result shows that the target deceleration is not less than the second preset deceleration threshold value, generating a third retarder control instruction, closing the retarder according to the third retarder control instruction, and sending retarder quitting work information to the engine ECU in a CAN message form, so that the engine ECU closes the electric control fan.
The device calls a commercial vehicle slow braking control program stored in a memory 1005 through a processor 1001, and further performs the following operations:
acquiring the front wheelbase, the rear wheelbase, the wheel base, the mass center height, the vehicle weight, the vehicle longitudinal acceleration and the vehicle lateral acceleration of the current vehicle;
calculating a left front wheel load, a right front wheel load, a left rear wheel load and a right rear wheel load according to the front wheel base, the rear wheel base, the center of mass height, the vehicle weight, the vehicle longitudinal acceleration and the vehicle lateral acceleration in combination with a preset load algorithm;
determining front axle brake pressure required by a front axle of the vehicle according to the left front wheel load and the left rear wheel load, and determining rear axle brake pressure required by a rear axle of the vehicle according to the right front wheel load and the right rear wheel load;
and braking the front axle of the vehicle according to the front axle braking pressure, and braking the rear axle of the vehicle according to the rear axle braking pressure.
The device calls a commercial vehicle slow braking control program stored in a memory 1005 through a processor 1001, and further performs the following operations:
and when the brake signal disappears and the accelerator response signal is received, controlling the retarder to stop sending working information to the engine ECU and quit the retarding brake state, and controlling the engine ECU to close the electric control fan.
According to the scheme, when the braking signal is received, the target deceleration required by the current vehicle in the running process is calculated, the target deceleration is compared with the preset deceleration threshold value, and the comparison result is generated; generating a retarder control instruction according to the comparison result, and controlling the retarder and the electric control fan according to the retarder control instruction; the required brake pressure of vehicle front and rear axle is calculated, and vehicle front axle and vehicle rear axle are braked according to brake pressure, can improve travelling comfort, have reduced the wearing and tearing of brake block, and vehicle braking nature is more stable and soft, can fully use the service braking function under the emergency braking, has promoted speed and the efficiency of commercial car slow braking control.
Based on the hardware structure, the embodiment of the commercial vehicle slow braking control method is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a method for controlling a retarder brake of a commercial vehicle according to the present invention.
In a first embodiment, the method for controlling the slow braking of the commercial vehicle comprises the following steps:
and step S10, when the braking signal is received, calculating the target deceleration required by the current vehicle in the running process, comparing the target deceleration with a preset deceleration threshold value, and generating a comparison result.
It should be noted that, when the braking signal is received, a target deceleration required by the current vehicle in the running process may be calculated, the target deceleration is a whole vehicle required deceleration required by the current vehicle in the running process, the preset deceleration threshold is a preset deceleration threshold, and the corresponding comparison result is generated by comparing the target deceleration with the preset deceleration threshold.
In a specific implementation, the braking signal is generally estimated by using the output air pressure of the cavity of the tandem master cylinder, and the output air pressure is generally obtained by an air pressure sensor.
And step S20, generating a retarder control instruction according to the comparison result, and controlling the retarder and the electric control fan according to the retarder control instruction.
It can be understood that a retarder control instruction for controlling the retarder is generated through the comparison result, and the retarder and the electronically controlled fan of the current vehicle are correspondingly controlled according to the retarder control instruction.
And step S30, calculating the brake pressure required by the front axle and the rear axle of the vehicle, and braking the front axle and the rear axle of the vehicle according to the brake pressure.
It should be understood that the brake pressure is a pressure for braking a front axle and a rear axle of the vehicle, and the brake pressure is obtained to distribute the brake pressure for the front axle and the rear axle of the vehicle, so that the front axle and the rear axle of the vehicle can be braked.
According to the scheme, when the braking signal is received, the target deceleration required by the current vehicle in the running process is calculated, the target deceleration is compared with the preset deceleration threshold value, and the comparison result is generated; generating a retarder control instruction according to the comparison result, and controlling the retarder and the electric control fan according to the retarder control instruction; the required brake pressure of vehicle front and rear axle is calculated, and vehicle front axle and vehicle rear axle are braked according to brake pressure, can improve travelling comfort, have reduced the wearing and tearing of brake block, and vehicle braking nature is more stable and soft, can fully use the service braking function under the emergency braking, has promoted speed and the efficiency of commercial car slow braking control.
Further, fig. 3 is a schematic flow chart of a second embodiment of the method for controlling a slow braking of a commercial vehicle according to the present invention, and as shown in fig. 3, the second embodiment of the method for controlling a slow braking of a commercial vehicle according to the present invention is provided based on the first embodiment, in this embodiment, the step S10 specifically includes the following steps:
and step S11, acquiring the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration of the current vehicle when the brake signal is received.
It should be noted that, when the braking signal is received, the wheel speed, the engine torque, the longitudinal acceleration and the lateral acceleration of the current vehicle may be obtained; the wheel speed is estimated by a wheel speed sensor, a reference vehicle speed is correspondingly obtained according to the wheel speed sensor, the engine torque is estimated by an engine control management function, the driving force of a driving wheel is obtained by the torque of an engine, the load of each tire is obtained by the driving force, and the tire driving force is related to longitudinal acceleration and transverse acceleration, wherein the tire driving force is equal to the engine torque x the gearbox gear ratio x the axle gear ratio x the mechanical efficiency.
Step S12, inputting the wheel speed, the engine torque, the longitudinal acceleration and the lateral acceleration to EBS/ESC, obtaining the target deceleration required by the current vehicle during running.
It is understood that the wheel speed, the engine torque, the longitudinal acceleration and the lateral acceleration are inputted to an Electronic Brake System (EBS)/a body Electronic Stability control system (ESC), which is generally calculated by a control algorithm in the ESC/EBS system, to obtain a target deceleration required during the driving of the present vehicle.
Further, the step S12 specifically includes the following steps:
and inputting the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration to an EBS/ESC, so that the EBS/ESC calculates a target deceleration required during the running process of the current vehicle through a calculation program.
It should be understood that the deceleration required during the current running of the vehicle, i.e., the target deceleration, is calculated by the EBS/ESC controller calculation program, and accordingly, the maximum deceleration that can be provided by the axle load and the buffer is also calculated by the EBS/ESC controller calculation program.
And step S13, comparing the target deceleration with a preset deceleration threshold value, and generating a comparison result.
It should be appreciated that comparing the target deceleration to a preset deceleration threshold can generate a corresponding comparison.
Further, the step S13 includes the following steps:
the received maximum deceleration which can be provided by the retarder of the current vehicle and the maximum full-load deceleration of the current vehicle, which are calculated by the EBS/ESC through an operation program;
determining a first preset deceleration threshold and a second preset deceleration threshold according to the maximum deceleration, the maximum full-load deceleration and a preset deceleration weight ratio, wherein the first preset deceleration threshold is smaller than the second preset deceleration threshold;
and comparing the target deceleration with the first preset deceleration threshold and the second preset deceleration threshold respectively to generate a comparison result.
In a specific implementation, the preset deceleration weight may be set to 0.6 and 0.9, and may also be set to other values, which is not limited in this embodiment; the first preset deceleration threshold may be 0.9 times the maximum retarder deceleration, the second preset deceleration threshold may be 0.6 times the maximum full-load deceleration, and the maximum full-load deceleration of the current vehicle may be obtained by the following deceleration formula:
according to the scheme, when the braking signal is received, the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration of the current vehicle are obtained; inputting the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration to an EBS/ESC to obtain a target deceleration required by the current vehicle during running; and comparing the target deceleration with a preset deceleration threshold value to generate a comparison result, so that the comparison result can be quickly obtained, and the speed and efficiency of the commercial vehicle slow braking control are improved.
Further, fig. 4 is a schematic flow chart of a third embodiment of the method for controlling a slow braking of a commercial vehicle according to the present invention, and as shown in fig. 4, the third embodiment of the method for controlling a slow braking of a commercial vehicle according to the present invention is provided based on the first embodiment, in this embodiment, the step S20 specifically includes the following steps:
step S21, when the comparison result is that the target deceleration is smaller than a first preset deceleration threshold value, generating a first retarder control instruction, determining the target gear information of the retarder according to the first retarder control instruction, controlling the retarder to enter a corresponding braking state according to the target gear information, and sending the target gear information to the engine ECU in a CAN message form, so that the engine ECU starts an electric control fan according to the target gear information.
It should be noted that, when the comparison result is that the target deceleration is smaller than a first preset deceleration threshold, a corresponding first retarder control instruction CAN be generated, so as to determine the gear of the retarder, and then notify the gear information required by the retarder with a CAN message, the retarder ECU takes over braking completely, notify the engine ECU with a CAN message, transmit the operating gear information to its own execution mechanism, enter a corresponding braking state, and the engine ECU receives the operating gear information sent by the retarder ECU, and confirms to start the electrically controlled fan.
In the specific implementation, the vehicle is started, the ECU of the EBS/ESC, the engine ECU, the retarder ECU and the like are electrified and then enter a working state, and the vehicle runs according to normal road conditions; when a brake pedal is stepped on, the retarder ECU receives the deceleration a of the whole vehicle and compares the deceleration a with the maximum retarder deceleration a2 of 0.9 times, when the deceleration a of the whole vehicle is less than the maximum retarder deceleration a2 of 0.9 times, a retarder control program takes over the braking control, and the retarder ECU outputs matched gear information according to the deceleration a value of the whole vehicle, transmits the gear information to an execution mechanism of the retarder ECU and enters a corresponding braking state; meanwhile, a message is sent to an engine ECU through a CAN bus, the engine ECU receives working gear information sent by a retarder ECU, an electric control fan is confirmed to be started, and the deceleration function of the vehicle is executed; and when the driver releases the brake and presses the accelerator pedal, the EBS/ESC exits the brake working state.
And step S22, when the comparison result is that the target deceleration is not less than the first preset deceleration threshold and is less than the second preset deceleration threshold, generating a second retarder control instruction, controlling the retarder to work in a maximum limited gear according to the second retarder control instruction, and sending current gear information to the engine ECU in a CAN message form, so that the engine ECU starts the electric control fan according to the current gear information.
It CAN be understood that, when the comparison result is that the target deceleration is not less than the first preset deceleration threshold and is less than the second preset deceleration threshold, a second retarder control instruction may be generated, the retarder is controlled to operate in the maximum limited gear according to the second retarder control instruction, the remaining braking is completed by the EBS/ESC, and after receiving the current gear information of the full operation, the retarder ECU may send to the engine ECU in the form of a CAN message, so that the engine ECU starts the electrically controlled fan according to the current gear information.
In the specific implementation, the vehicle is started, the ECU of the EBS/ESC, the engine ECU, the retarder ECU and the like are electrified and then enter a working state, and the vehicle runs according to normal road conditions; after a brake pedal is stepped on in a running process, the EBS/ESC ECU rapidly calculates the deceleration a of a required vehicle and the maximum deceleration a2 which CAN be reached by the retarder according to the received vehicle information, and finishes comparison, and when a is not less than 0.9a2 and not more than 0.6amax, the retarder is informed to work at the maximum gear by a CAN message; when the retarder ECU receives full-force working information, the maximum gear information is transmitted to an execution mechanism of the retarder ECU, the retarder enters a full-force braking state, meanwhile, the engine ECU is informed by CAN messages, and the engine ECU starts an electric control fan; the rest of the braking is completed by EBS/ESC; the EBS/ESC ECU calculates the residual braking, the required braking pressure of the front axle and the rear axle, distributes and regulates the braking pressure required respectively before and after, sends a control instruction to the front module valve and the rear module valve by using an electric signal, and air pressure sensors are arranged in the front module valve and the rear module valve; when the air pressure sensor displays that the air pressure reaches the required braking air pressure, the ABS in the front loop and the rear loop maintains the pressure, the accurate control of the air pressure of the braking air chamber is ensured, the braking force of the brake is distributed in proportion, the requirement of the residual braking deceleration is met, and the deceleration function of the vehicle is executed. When the driver releases the brake and steps on the accelerator pedal, the engine ECU closes the electric control fan, the retarder stops sending work information to the engine ECU and quits the retarding brake state, meanwhile, the EBS/ESC ECU stops sending work information to the retarder ECU, and the EBS/ESC quits the brake state.
And step S23, when the comparison result is that the target deceleration is not less than the second preset deceleration threshold, generating a third retarder control instruction, closing the retarder according to the third retarder control instruction, and sending retarder quitting work information to the engine ECU in a CAN message form, so that the engine ECU closes the electric control fan.
It should be understood that, when the comparison result is that the target deceleration is not less than the second preset deceleration threshold, a third retarder control instruction may be generated, and then the retarder ECU may be controlled to receive the exit operation information and send the exit operation information to the engine ECU in the form of a CAN message, so that the engine ECU turns off the electronically controlled fan.
In the specific implementation, the vehicle is started, the ECU of the EBS/ESC, the engine ECU, the retarder ECU and the like are electrified and then enter a working state, and the vehicle runs according to normal road conditions; after a brake pedal is stepped on in a running process, the EBS/ESC ECU rapidly calculates the deceleration a of a required vehicle and the maximum deceleration a2 which can be reached by a retarder according to received vehicle information, and finishes comparison when a is more than or equal to 0.6 amax: when a brake pedal is slightly stepped into heavy stepping, an ECU (electronic control unit) of a retarder is informed, and the retarder is out of a working state; when the retarder ECU receives the quitting work information, the quitting work instruction is transmitted to the execution mechanism of the retarder ECU, the retarder is quitted to work, meanwhile, the engine ECU is informed by CAN messages, and the engine ECU closes the electric control fan; when the brake pedal is directly and heavily stepped, the retarder is not informed to work; and the EBS/ECU calculates the braking pressures required by the front axle and the rear axle respectively, enters a braking mode under the ABS circulation of the running vehicle and executes the deceleration function of the vehicle. When the driver releases the brake and presses the accelerator pedal, the EBS/ESC exits the brake working state.
According to the scheme, when the comparison result shows that the target deceleration is smaller than a first preset deceleration threshold value, a first retarder control instruction is generated, target gear information of the retarder is determined according to the first retarder control instruction, the retarder is controlled to enter a corresponding braking state according to the target gear information, and the target gear information is sent to the engine ECU in a CAN message mode, so that the engine ECU starts an electric control fan according to the target gear information; when the comparison result shows that the target deceleration is not less than the first preset deceleration threshold and less than the second preset deceleration threshold, generating a second retarder control instruction, controlling the retarder to work in a maximum limited gear according to the second retarder control instruction, and sending current gear information to the engine ECU in a CAN message form, so that the engine ECU starts the electric control fan according to the current gear information; and when the comparison result is that the target deceleration is not less than the second preset deceleration threshold value, generating a third retarder control instruction, closing the retarder according to the third retarder control instruction, and sending the retarder quitting work information to the engine ECU in a CAN message form, so that the engine ECU closes the electric control fan, the driving comfort CAN be improved, the abrasion of a brake pad is reduced, and the braking performance of the vehicle is more stable and soft.
Further, fig. 5 is a schematic flow chart of a fourth embodiment of the method for controlling a slow braking of a commercial vehicle according to the present invention, and as shown in fig. 5, the fourth embodiment of the method for controlling a slow braking of a commercial vehicle according to the present invention is provided based on the first embodiment, in this embodiment, the step S30 specifically includes the following steps:
and step S31, acquiring the front wheelbase, the rear wheelbase, the wheel base, the center of mass height, the vehicle weight, the vehicle longitudinal acceleration and the vehicle lateral acceleration of the current vehicle.
It should be noted that the front wheel base of the current vehicle is the wheel base of the front axle of the vehicle, the rear wheel base is the wheel base of the rear axle of the current vehicle, the wheel bases are the wheel bases of two front wheels of the current vehicle and the wheel bases of two rear wheels of the current vehicle, the height of the center of mass is the height of the center of mass of the current vehicle, the weight of the vehicle is the total weight of the vehicle of the current vehicle together with the cargo on the vehicle, and the longitudinal acceleration and the lateral acceleration of the vehicle are the longitudinal acceleration and the lateral acceleration at the moment when the current vehicle runs.
And step S32, calculating left front wheel load, right front wheel load, left rear wheel load and right rear wheel load according to the front wheel base, the rear wheel base, the center of mass height, the vehicle weight, the vehicle longitudinal acceleration and the vehicle lateral acceleration by combining a preset load algorithm.
It is understood that the left front wheel load, the right front wheel load, the left rear wheel load and the right rear wheel load can be calculated from the front wheel base, the rear wheel base, the centroid height, the vehicle weight, the vehicle longitudinal acceleration and the vehicle lateral acceleration in combination with a preset load algorithm.
It should be understood that the preset load algorithm is a preset load calculation method, and the vertical load of each tire, namely the load after the axle load transfer, can be calculated by the following formula:
wherein, FZ1For vertical loading of the left-hand tyre of the front axle, FZ2For vertical loading of the right-hand tire of the front axle, FZ3For vertical loading of the left-hand tire of the rear axle, FZ4Is the vertical load of the tire on the right side of the rear axle, and g is the acceleration of gravity (m/s)2) A is the distance (mm) from the center of mass of the automobile to the front axle, c is the distance (mm) from the center of mass of the automobile to the rear axle, b is the 1/2 wheel base (mm) of the automobile, h is the height (mm) of the center of mass of the automobile, and M is the mass (kg) of the automobile; the longitudinal acceleration ax and the lateral acceleration ay of the vehicle can be obtained by the acceleration sensor, and the load of the rear two wheels is calculated according to the average distribution.
And step S33, determining the front axle brake pressure required by the front axle of the vehicle according to the left front wheel load and the left rear wheel load, and determining the rear axle brake pressure required by the rear axle of the vehicle according to the right front wheel load and the right rear wheel load.
It should be understood that the operating program for EBS/ESC can determine the front axle brake pressure required for the front axle of the vehicle from the left front wheel load and the left rear wheel load, and the operating program for EBS/ESC can determine the rear axle brake pressure required for the rear axle of the vehicle from the right front wheel load and the right rear wheel load.
And step S34, braking the front axle of the vehicle according to the front axle braking pressure, and braking the rear axle of the vehicle according to the rear axle braking pressure.
It will be appreciated that the vehicle front axle can be braked according to the front axle brake pressure and correspondingly the vehicle rear axle can be braked according to the rear axle brake pressure.
According to the scheme, the front wheelbase, the rear wheelbase, the wheel track, the mass center height, the vehicle weight, the vehicle longitudinal acceleration and the vehicle lateral acceleration of the current vehicle are obtained; calculating a left front wheel load, a right front wheel load, a left rear wheel load and a right rear wheel load according to the front wheel base, the rear wheel base, the center of mass height, the vehicle weight, the vehicle longitudinal acceleration and the vehicle lateral acceleration in combination with a preset load algorithm; determining front axle brake pressure required by a front axle of the vehicle according to the left front wheel load and the left rear wheel load, and determining rear axle brake pressure required by a rear axle of the vehicle according to the right front wheel load and the right rear wheel load; the front axle brake pressure is right the vehicle front axle is braked, and the rear axle brake pressure is right the vehicle rear axle is braked, so that the driving comfort can be improved, the abrasion of a brake block is reduced, the vehicle brake performance is more stable and soft, the service brake function can be fully used under emergency brake, and the speed and the efficiency of the commercial vehicle slow brake control are improved.
Further, fig. 6 is a schematic flow chart of a fifth embodiment of the method for controlling a slow braking of a commercial vehicle according to the present invention, and as shown in fig. 6, the fifth embodiment of the method for controlling a slow braking of a commercial vehicle according to the present invention is provided based on the first embodiment, in this embodiment, the step S30 further includes the following steps:
and step S40, when the brake signal disappears and the accelerator response signal is received, controlling the retarder to stop sending work information to the engine ECU and quit the retarding brake state, and controlling the engine ECU to close the electric control fan.
It should be understood that when the brake signal disappears is detected and the throttle response signal is received, the retarder can be controlled to stop sending the work information to the engine ECU and exit the retarding brake state, and then the electric control fan is turned off.
In the specific implementation, when a driver releases the brake and steps on an accelerator pedal, the engine ECU closes the electric control fan, the retarder stops sending work information to the engine ECU and exits from a retarding brake state, the ECU of the EBS/ESC stops sending work information to the retarder ECU, and the EBS/ESC exits from the brake state.
According to the scheme, the braking signal disappears when the accelerator response signal is received, the retarder is controlled to stop sending working information to the engine ECU and quitting the retarding braking state, the engine ECU is controlled to be closed the electric control fan, and the speed and the efficiency of the commercial vehicle retarding braking control can be improved.
Correspondingly, the invention further provides a commercial vehicle slow braking control device.
Referring to fig. 7, fig. 7 is a functional block diagram of a first embodiment of a commercial vehicle retarder brake control device according to the present invention.
In a first embodiment of the commercial vehicle slow braking control device of the present invention, the commercial vehicle slow braking control device comprises:
the comparison module 10 is configured to, when receiving the braking signal, calculate a target deceleration required by the current vehicle in the running process, compare the target deceleration with a preset deceleration threshold, and generate a comparison result.
And the control module 20 is configured to generate a retarder control instruction according to the comparison result, and control the retarder and the electrically controlled fan according to the retarder control instruction.
And the braking module 30 is used for calculating the braking pressure required by the front axle and the rear axle of the vehicle and braking the front axle and the rear axle of the vehicle according to the braking pressure.
The comparison module 10 is further configured to obtain a wheel speed, an engine torque, a longitudinal acceleration and a lateral acceleration of the current vehicle when receiving the braking signal; inputting the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration to an EBS/ESC to obtain a target deceleration required by the current vehicle during running; and comparing the target deceleration with a preset deceleration threshold value to generate a comparison result.
The comparison module 10 is further configured to input the wheel speed, the engine torque, the longitudinal acceleration and the lateral acceleration to the EBS/ESC, so that the EBS/ESC calculates a target deceleration required during the running of the current vehicle through a calculation program.
The comparison module 10 is further configured to receive the maximum deceleration that can be provided by the retarder of the current vehicle and the maximum full-load deceleration of the current vehicle, which are calculated by the EBS/ESC through an operation program; determining a first preset deceleration threshold and a second preset deceleration threshold according to the maximum deceleration, the maximum full-load deceleration and a preset deceleration weight ratio, wherein the first preset deceleration threshold is smaller than the second preset deceleration threshold; and comparing the target deceleration with the first preset deceleration threshold and the second preset deceleration threshold respectively to generate a comparison result.
The control module 20 is further configured to generate a first retarder control instruction when the target deceleration is smaller than a first preset deceleration threshold according to the comparison result, determine target gear information of the retarder according to the first retarder control instruction, control the retarder to enter a corresponding braking state according to the target gear information, and send the target gear information to the engine ECU in a CAN message form, so that the engine ECU starts the electrically controlled fan according to the target gear information; when the comparison result shows that the target deceleration is not less than the first preset deceleration threshold and less than the second preset deceleration threshold, generating a second retarder control instruction, controlling the retarder to work in a maximum limited gear according to the second retarder control instruction, and sending current gear information to the engine ECU in a CAN message form, so that the engine ECU starts the electric control fan according to the current gear information; and when the comparison result shows that the target deceleration is not less than the second preset deceleration threshold value, generating a third retarder control instruction, closing the retarder according to the third retarder control instruction, and sending retarder quitting work information to the engine ECU in a CAN message form, so that the engine ECU closes the electric control fan.
The braking module 30 is further configured to obtain a front wheelbase, a rear wheelbase, a wheel base, a center of mass height, a vehicle weight, a vehicle longitudinal acceleration and a vehicle lateral acceleration of the current vehicle; calculating a left front wheel load, a right front wheel load, a left rear wheel load and a right rear wheel load according to the front wheel base, the rear wheel base, the center of mass height, the vehicle weight, the vehicle longitudinal acceleration and the vehicle lateral acceleration in combination with a preset load algorithm; determining front axle brake pressure required by a front axle of the vehicle according to the left front wheel load and the left rear wheel load, and determining rear axle brake pressure required by a rear axle of the vehicle according to the right front wheel load and the right rear wheel load; and braking the front axle of the vehicle according to the front axle braking pressure, and braking the rear axle of the vehicle according to the rear axle braking pressure.
The braking module 30 is further configured to control the retarder to stop sending the working information to the engine ECU and exit from the retarding braking state when detecting that the braking signal disappears and receiving the accelerator response signal, and control the engine ECU to close the electronically controlled fan.
The steps implemented by the functional modules of the commercial vehicle slow braking control device can refer to the embodiments of the commercial vehicle slow braking control method, and are not described herein again.
In addition, an embodiment of the present invention further provides a storage medium, where a commercial vehicle slow braking control program is stored in the storage medium, and when executed by a processor, the commercial vehicle slow braking control program implements the following operations:
when a braking signal is received, calculating a target deceleration required by the current vehicle in the running process, comparing the target deceleration with a preset deceleration threshold value, and generating a comparison result;
generating a retarder control instruction according to the comparison result, and controlling the retarder and the electric control fan according to the retarder control instruction;
and calculating the braking pressure required by the front axle and the rear axle of the vehicle, and braking the front axle and the rear axle of the vehicle according to the braking pressure.
Further, when executed by the processor, the commercial vehicle slow braking control program further implements the following operations:
when a braking signal is received, acquiring the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration of the current vehicle;
inputting the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration to an EBS/ESC to obtain a target deceleration required by the current vehicle during running;
and comparing the target deceleration with a preset deceleration threshold value to generate a comparison result.
Further, when executed by the processor, the commercial vehicle slow braking control program further implements the following operations:
and inputting the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration to an EBS/ESC, so that the EBS/ESC calculates a target deceleration required during the running process of the current vehicle through a calculation program.
Further, when executed by the processor, the commercial vehicle slow braking control program further implements the following operations:
the received maximum deceleration which can be provided by the retarder of the current vehicle and the maximum full load deceleration of the current vehicle, which are calculated by the EBS/ESC through an operation program;
determining a first preset deceleration threshold and a second preset deceleration threshold according to the maximum deceleration, the maximum full-load deceleration and a preset deceleration weight ratio, wherein the first preset deceleration threshold is smaller than the second preset deceleration threshold;
and comparing the target deceleration with the first preset deceleration threshold and the second preset deceleration threshold respectively to generate a comparison result.
Further, when executed by the processor, the commercial vehicle slow braking control program further implements the following operations:
when the comparison result shows that the target deceleration is smaller than a first preset deceleration threshold value, generating a first retarder control instruction, determining retarder target gear information according to the first retarder control instruction, controlling a retarder to enter a corresponding braking state according to the target gear information, and sending the target gear information to an engine ECU in a CAN message form so that the engine ECU starts an electric control fan according to the target gear information;
when the comparison result shows that the target deceleration is not less than the first preset deceleration threshold and less than the second preset deceleration threshold, generating a second retarder control instruction, controlling the retarder to work in a maximum limited gear according to the second retarder control instruction, and sending current gear information to the engine ECU in a CAN message form, so that the engine ECU starts the electric control fan according to the current gear information;
and when the comparison result shows that the target deceleration is not less than the second preset deceleration threshold value, generating a third retarder control instruction, closing the retarder according to the third retarder control instruction, and sending retarder quitting work information to the engine ECU in a CAN message form, so that the engine ECU closes the electric control fan.
Further, when executed by the processor, the commercial vehicle slow braking control program further implements the following operations:
acquiring the front wheelbase, the rear wheelbase, the wheel base, the mass center height, the vehicle weight, the vehicle longitudinal acceleration and the vehicle lateral acceleration of the current vehicle;
calculating a left front wheel load, a right front wheel load, a left rear wheel load and a right rear wheel load according to the front wheel base, the rear wheel base, the center of mass height, the vehicle weight, the vehicle longitudinal acceleration and the vehicle lateral acceleration in combination with a preset load algorithm;
determining front axle brake pressure required by a front axle of the vehicle according to the left front wheel load and the left rear wheel load, and determining rear axle brake pressure required by a rear axle of the vehicle according to the right front wheel load and the right rear wheel load;
and braking the front axle of the vehicle according to the front axle braking pressure, and braking the rear axle of the vehicle according to the rear axle braking pressure.
Further, when executed by the processor, the commercial vehicle slow braking control program further implements the following operations:
and when the brake signal disappears and the accelerator response signal is received, controlling the retarder to stop sending working information to the engine ECU and quit the retarding brake state, and controlling the engine ECU to close the electric control fan.
According to the scheme, when the braking signal is received, the target deceleration required by the current vehicle in the running process is calculated, the target deceleration is compared with the preset deceleration threshold value, and the comparison result is generated; generating a retarder control instruction according to the comparison result, and controlling the retarder and the electric control fan according to the retarder control instruction; the braking pressure required by the front axle and the rear axle of the vehicle is calculated, the front axle and the rear axle of the vehicle are braked according to the braking pressure, the driving comfort can be improved, the abrasion of a brake pad is reduced, the braking performance of the vehicle is more stable and soft, the driving braking function can be fully used under emergency braking, and the speed and the efficiency of the commercial vehicle slow braking control are improved.
It should be noted that, in this document, 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 identified by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
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.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A commercial vehicle slow braking control method is characterized by comprising the following steps:
when a braking signal is received, calculating a target deceleration required by the current vehicle in the running process, comparing the target deceleration with a preset deceleration threshold value, and generating a comparison result;
generating a retarder control instruction according to the comparison result, and controlling the retarder and the electric control fan according to the retarder control instruction;
and calculating the braking pressure required by the front axle and the rear axle of the vehicle, and braking the front axle and the rear axle of the vehicle according to the braking pressure.
2. The method for controlling the slow braking of the commercial vehicle according to claim 1, wherein the step of calculating the target deceleration required by the current vehicle during the running process when the braking signal is received, comparing the target deceleration with a preset deceleration threshold value and generating a comparison result comprises the following steps:
when a braking signal is received, acquiring the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration of the current vehicle;
inputting the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration to an EBS/ESC to obtain a target deceleration required by the current vehicle during running;
and comparing the target deceleration with a preset deceleration threshold value to generate a comparison result.
3. The commercial vehicle slow brake control method according to claim 2, wherein the inputting the wheel speed, the engine torque, the longitudinal acceleration and the lateral acceleration to the EBS/ESC to obtain the target deceleration required by the current vehicle during running comprises:
and inputting the wheel speed, the engine torque, the longitudinal acceleration and the transverse acceleration into the EBS/ESC so that the EBS/ESC calculates the target deceleration required by the current vehicle in the running process through an operation program.
4. A method for controlling a commercial vehicle retarder brake according to claim 3, characterised in that said comparing the target deceleration with a preset deceleration threshold generates a comparison result comprising:
the received maximum deceleration which can be provided by the retarder of the current vehicle and the maximum full-load deceleration of the current vehicle, which are calculated by the EBS/ESC through an operation program;
determining a first preset deceleration threshold and a second preset deceleration threshold according to the maximum deceleration, the maximum full-load deceleration and a preset deceleration weight ratio, wherein the first preset deceleration threshold is smaller than the second preset deceleration threshold;
and comparing the target deceleration with the first preset deceleration threshold and the second preset deceleration threshold respectively to generate a comparison result.
5. The method for controlling the slow braking of the commercial vehicle according to claim 4, wherein the generating a retarder control command according to the comparison result, and controlling a retarder and an electrically controlled fan according to the retarder control command comprises:
when the comparison result shows that the target deceleration is smaller than a first preset deceleration threshold value, generating a first retarder control instruction, determining retarder target gear information according to the first retarder control instruction, controlling a retarder to enter a corresponding braking state according to the target gear information, and sending the target gear information to an engine ECU in a CAN message form so that the engine ECU starts an electric control fan according to the target gear information;
when the comparison result shows that the target deceleration is not less than the first preset deceleration threshold and less than the second preset deceleration threshold, generating a second retarder control instruction, controlling the retarder to work in a maximum limited gear according to the second retarder control instruction, and sending current gear information to the engine ECU in a CAN message form, so that the engine ECU starts the electric control fan according to the current gear information;
and when the comparison result shows that the target deceleration is not less than the second preset deceleration threshold value, generating a third retarder control instruction, closing the retarder according to the third retarder control instruction, and sending retarder quitting work information to the engine ECU in a CAN message form, so that the engine ECU closes the electric control fan.
6. The method for controlling the slow braking of the commercial vehicle according to claim 1, wherein the step of calculating the braking pressure required by the front axle and the rear axle of the vehicle and braking the front axle and the rear axle of the vehicle according to the braking pressure comprises the following steps:
acquiring the front wheelbase, the rear wheelbase, the wheel base, the mass center height, the vehicle weight, the vehicle longitudinal acceleration and the vehicle lateral acceleration of the current vehicle;
calculating a left front wheel load, a right front wheel load, a left rear wheel load and a right rear wheel load according to the front wheel base, the rear wheel base, the center of mass height, the vehicle weight, the vehicle longitudinal acceleration and the vehicle lateral acceleration in combination with a preset load algorithm;
determining front axle brake pressure required by a front axle of the vehicle according to the left front wheel load and the left rear wheel load, and determining rear axle brake pressure required by a rear axle of the vehicle according to the right front wheel load and the right rear wheel load;
and braking the front axle of the vehicle according to the front axle braking pressure, and braking the rear axle of the vehicle according to the rear axle braking pressure.
7. The method for controlling the slow braking of the commercial vehicle according to claim 1, wherein the braking pressures required by the front axle and the rear axle of the vehicle are calculated, and after the front axle and the rear axle of the vehicle are braked according to the braking pressures, the method for controlling the slow braking of the commercial vehicle further comprises the following steps:
and when the brake signal disappears and the accelerator response signal is received, controlling the retarder to stop sending working information to the engine ECU and quit the retarding brake state, and controlling the engine ECU to close the electric control fan.
8. The utility model provides a commercial car slow-speed braking controlling means which characterized in that, commercial car slow-speed braking controlling means includes:
the comparison module is used for calculating a target deceleration required by the current vehicle in the running process when the brake signal is received, comparing the target deceleration with a preset deceleration threshold value and generating a comparison result;
the control module is used for generating a retarder control instruction according to the comparison result and controlling the retarder and the electric control fan according to the retarder control instruction;
and the braking module is used for calculating the braking pressure required by the front axle and the rear axle of the vehicle and braking the front axle and the rear axle of the vehicle according to the braking pressure.
9. The utility model provides a commercial car slow-speed braking controlgear which characterized in that, commercial car slow-speed braking controlgear includes: the device comprises a memory, a processor and a commercial vehicle slow braking control program which is stored on the memory and can run on the processor, wherein the commercial vehicle slow braking control program is configured to realize the steps of the commercial vehicle slow braking control method according to any one of claims 1 to 7.
10. A storage medium, characterized in that the storage medium has stored thereon a commercial vehicle slow brake control program, which when executed by a processor implements the steps of the commercial vehicle slow brake control method according to any one of claims 1 to 7.
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| CN105756763A (en) * | 2016-03-14 | 2016-07-13 | 潍柴动力股份有限公司 | Vehicle cooling system and control method thereof as well as vehicle provided with system |
| CN110641431A (en) * | 2019-09-11 | 2020-01-03 | 肇庆学院 | An electronic braking system for a commercial vehicle |
| WO2021078358A1 (en) * | 2019-10-21 | 2021-04-29 | Volvo Truck Corporation | A method for operating a vehicle |
| CN110803165A (en) * | 2019-11-22 | 2020-02-18 | 一汽解放汽车有限公司 | Brake control method, device and system based on adaptive cruise and vehicle |
| CN113859194A (en) * | 2021-09-30 | 2021-12-31 | 潍柴(扬州)亚星新能源商用车有限公司 | A novel retarder control system and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115303239A (en) * | 2022-08-09 | 2022-11-08 | 一汽解放汽车有限公司 | Vehicle brake system control method, apparatus, device, medium, and product |
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