2537results about "Braking systems" patented technology

The invention relates to the technical field of vehicle safety, and discloses a braking method and system based on vehicle automatic emergency early warning and braking and a storage medium. The method comprises the following steps: fusing multi-modal sensor data to generate a dynamic environment perception graph and calibrating the dynamic environment perception graph; generating a real-time risk distribution map and a potential collision probability prediction matrix based on the dynamic risk assessment model; carrying out matrix multi-stage decision optimization to generate emergency braking trigger conditions, and dividing early warning levels and scheduling according to the conditions and a risk map; and the braking system control parameters are adapted according to the early warning instruction set, and a final execution scheme is generated after verification. The system comprises a sensing module, an evaluation module, a decision module, an early warning module and an execution module. Electronic equipment and a computer readable storage medium can execute the method. Through multi-modal fusion, dynamic risk assessment, graded early warning and redundancy check, the safety performance of the vehicle in a complex environment is improved, accurate early warning and reliable braking are achieved, and the method is suitable for the technical field of vehicle safety.

According to the new energy automobile brake pressure control method based on dynamic environment perception, a multi-window environment perception dynamic time warping algorithm is constructed, so that the similarity of different driver brake sequences is analyzed more meticulously; according to the method, a pavement adhesion coefficient observer for optimizing variable structure Kalman filtering based on a deep reinforcement learning algorithm is provided to calculate a pavement adhesion coefficient; secondly, a slip rate dynamic adjustment factor is obtained through calculation based on a wheel dynamics model, a vehicle density correction coefficient is obtained through calculation based on vehicle density, a road adhesion correction coefficient is obtained based on a road adhesion correction parameter constraint expression, and influences of different external environments on the road adhesion coefficient can be fully considered; the brake pressure calculation is more reasonable, and the driving safety is improved. According to the method, classification results of different drivers are combined, a comprehensive self-adaptive brake pressure calculation model is constructed to cope with different types of drivers, and corresponding final brake pressure is obtained.

The invention discloses a vehicle braking force determination method and device. The method comprises the steps that the minimum wheel slip rate corresponding to each axle of a vehicle serves as a target, and a target function is constructed; based on the target constraint condition, the minimum wheel slip rate corresponding to each axle of the target function under the target braking strength and the braking force distribution result corresponding to the minimum wheel slip rate are solved, the target constraint conditions include that the wheel slip rates corresponding to all the axles are different and conform to the preset locking sequence of all the axles, the wheel slip rates of all the axles determine the longitudinal adhesion coefficients corresponding to all the axles, and the longitudinal adhesion coefficients corresponding to all the axles determine the braking force distribution results corresponding to all the axles; and the sum of the braking force distribution results corresponding to the axles is equal to the total adhesive force corresponding to the target braking strength, and the safety and stability of the vehicle can be improved.

Disclosed is an adaptive control method and system for train operating condition identification. The method includes acquiring train operating state data under various traction conditions and calculating traction and braking performance data. An adhesion condition characteristic data set is formed, and train adhesion conditions are divided into Nz grades based on this data set, where Nz is a natural number. The current adhesion condition grade Nd is identified using the number of adhesion condition grades and current operating state data, where Nd≤Nz, establishing a mapping relationship between an adhesion coefficient and maximum deceleration for braking under the identified grade. An optimal train protection curve is generated. By clustering and grading adhesion conditions through a clustering algorithm, the method achieves more accurate adhesion condition analysis. Adaptively generating optimal train protection curves based on adhesion condition grades enhances the reliability and safety of train operations.

The invention discloses a vehicle control method and device and a vehicle. The method comprises the steps that in a current stroke determination period, when it is determined that an accelerator is released and a brake pedal is stepped down, the current stroke of the brake pedal is determined; if the difference value between the current stroke and the previous stroke of the previous stroke determination period is smaller than or equal to a preset difference value threshold value, the current deceleration is determined according to the current stroke, and the motor is controlled to decelerate according to the current deceleration and a proportional-integral control strategy; if the difference value between the current stroke and the previous stroke is larger than a preset difference value threshold value, or the duration of the maximum stroke of the current stroke reaches a first preset duration, an electromagnetic brake is controlled to conduct braking; and in the process of controlling the motor to decelerate, if the duration of the opposite actual rotation direction of the motor to the initial rotation direction reaches a second preset duration, updating the proportional-integral control strategy, and controlling the motor to operate according to the updated proportional-integral control strategy. According to the technical scheme, the vehicle can be better controlled.

Control method and system (99) of a vehicle (1) moving on a road surface, wherein the system comprises a detection module (2) for detecting in real time a respective hydroplaning intensity (HI) for each tyre (3) of the vehicle (1), an actuation device (9) connected to each wheel (7) of the vehicle (1) and a command and control unit (8) programmed and configured for performing the control method comprising:—comparing each respective hydroplaning intensity (HI) with a first threshold;—upon the occurrence of a starting condition such that the respective hydroplaning intensity (HI) of at least one tyre (3) reaches the first threshold, then:—calculating in real time a reference value (YRr) of a parameter representative of a lateral motion of the vehicle (1) as a function of a longitudinal speed (Vxc) and of a steering angle (STA) of the vehicle;—calculating in real time a corrective moment (Mz) as a function of the reference value (YRr) and of a current value (YRc) of the parameter detected in real time;—applying in real time to each wheel (7) a respective torque (Tr) calculated in real time as a function of the corrective moment (Mz) and of the hydroplaning intensity (HI) of the respective tyre (3).

Disclosed in the present application is a wheel anti-lock braking system applicable to hill braking. In the wheel anti-lock braking system, a wheel speed identification module is used for identifying a vehicle wheel speed signal and a wheel acceleration signal; a vehicle speed acquisition module is used for calculating a vehicle body speed signal; a driving intention identification module is used for obtaining a front and a rear axle enable flag bit; a state machine module is used for determining whether the working state of a low-speed hill anti-lock braking system is a standby state or a shutdown state, and starting a conventional anti-lock braking system when the working state of the low-speed hill anti-lock braking system is a shutdown state; the state machine module receives the front and rear axle enable flag bits, and transmits the front and rear axle enable flag bits to a control logic module when the working state of the low-speed hill anti-lock braking system is a standby state; and the control logic module is used for sending a low-speed hill anti-lock braking system control command when wheels show a tendency to lock up. The present application realizes anti-lock braking control over wheels at low speeds, especially during hill braking, which cannot be achieved by conventional wheel anti-lock braking systems.

A vehicle motion management, VMM, system for a heavy-duty vehicle has at least one wheel speed sensor to output a wheel speed signal indicative of a rotation speed of a wheel on the vehicle, and at least one torque-generating device to apply torque to the wheel. The VMM system comprises processing circuitry arranged to determine at least the direction of a current applied torque at the wheel, and in preparation for determining wheel speed by the wheel speed signal, to apply a transient amount of torque to the wheel by the torque-generating device during a limited time period in a direction opposite to the direction of the current applied torque at the wheel.

The invention discloses a brake control method of a vehicle and electronic equipment. The mode relates to the field of vehicle braking control, and the method comprises the steps that in the vehicle running process, in response to a received braking signal, the current vehicle speed parameter of a vehicle is compared with a preset vehicle speed threshold value, and a target comparison result is obtained; under the condition that the target comparison result is that the current vehicle speed parameter is smaller than or equal to the preset vehicle speed threshold value, the vehicle is braked through a main braking system; and under the condition that the target comparison result is that the current vehicle speed parameter is larger than the preset vehicle speed threshold value, the vehicle is braked through an auxiliary braking mode, and the auxiliary braking mode is used for representing that the auxiliary braking system participates in braking of the vehicle. The technical problems that the intervention time of the main braking system and the auxiliary braking system of the vehicle is not clear, the efficiency of cooperatively braking the vehicle is low, and the abrasion degree of the main braking system is high in the related technology are solved.

The embodiment of the invention provides a vehicle energy recovery control method and device, a medium and a vehicle, and relates to the technical field of brake control. The method comprises the steps that a braking request of a target vehicle is responded, and current braking judgment parameters of the target vehicle are obtained; under the condition that it is determined that the target vehicle meets the preset energy recovery condition based on the current braking judgment parameters, the vehicle operation parameters are input into an intelligent decision-making model, and a braking force distribution strategy result is obtained; based on the braking force distribution strategy result, braking control is conducted on a motor control system and a braking system; the motor control system is used for providing regenerative braking force and generating recovery energy suitable for supplementing energy to the power battery. According to the embodiment of the invention, the vehicle operation parameters collected in real time are input into the self-adaptive adjustment intelligent decision-making model, and the braking force distribution strategy suitable for the current operation condition can be output, so that the accuracy and adaptability of braking force distribution are effectively improved.

The invention discloses a heavy vehicle AEB braking method and system based on multi-source data fusion. The AEB braking method comprises the following steps that (1) a model is established; 2) scoring driving; 3) judging a driving style; 4) AEB strategy adjustment; 5) automatically matching a preset strategy; and 6) secondary adjustment of the AEB strategy. According to the invention, the problem of poor braking effect caused by insufficient adjustment of a single environment or vehicle factors is solved.

A computer-implemented method performed in a vehicle control unit (130, 140) for controlling motion of a heavy-duty vehicle (100), the method comprising obtaining a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature creq and a target acceleration areq, determining a motion support device, MSD, control allocation (Ti / λi / ωi / δi) based on the vehicle motion request, determining a dynamic longitudinal wheel slip limit (λlim / ωlim) based on the vehicle motion request and separately from the MSD control allocation, where the dynamic longitudinal wheel slip limit increases with a decreasing target curvature, and controlling the motion of the heavy-duty vehicle (100) based on the MSD control allocation constrained by the dynamic longitudinal wheel slip limit.

The invention discloses an EPB anti-lock control method and system based on a self-adaptive wheel speed filtering algorithm, and belongs to the field of anti-lock control, and the method comprises the following steps: S1, collecting driving parameters in a vehicle driving process in real time, extracting feature vectors in the driving parameters after preprocessing, inputting the feature vectors into a pre-trained driving condition classification model, and obtaining a driving condition classification model; outputting the current driving condition type; s2, correcting a wheel speed signal based on an extended Kalman filter with determined parameters; s3, calculating a tire pressure deviation ratio based on the corrected wheel speed signal; and S4, when it is detected that the tire pressure deviation ratio exceeds a set threshold value, an EPB anti-lock control system is triggered. By the adoption of the EPB anti-lock control method and system based on the self-adaptive wheel speed filtering algorithm, the wheel speed information can be accurately extracted under the complex road and environment conditions, the calculation precision of the tire pressure deviation ratio is remarkably improved, and therefore a more reliable basis is provided for starting emergency braking.

A battery electric vehicle includes a driving operation member including an accelerator pedal, a simulated gear shifting operation member, and a control device. The control device is configured to execute, by selection by a driver, a control mode in which a driver demand torque for driving an electric motor is calculated based on an operation amount of the accelerator pedal and operation of the simulated gear shifting operation member, and perform a hold assist when the control device detects that the battery electric vehicle is stopped on a road surface having a gradient. The hold assist includes outputting a hold assist torque that is a drive wheel torque in an opposite direction of gravity, and ending the output of the hold assist torque and performing switching to output of the driver demand torque, in response to exceedance of the driver demand torque over the hold assist torque.

A computer-implemented method performed in a vehicle control unit for controlling motion of a heavy-duty vehicle. The method includes obtaining a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature and a target acceleration, determining a motion support device, MSD, control allocation based on the vehicle motion request, determining a dynamic wheel slip angle limit based on the vehicle motion request, where dynamic wheel slip angle limit increases with a decreasing target acceleration, and controlling the motion of the heavy-duty vehicle based on the MSD control allocation constrained by the dynamic wheel slip angle limit.

A computer implemented method for controlling at least one driven and / or braked wheel of a heavy-duty vehicle includes configuring a default inverse tire model and a boost inverse tire model, where each inverse tire model represents a respective relationship between longitudinal wheel slip and longitudinal wheel force at the wheel, where the boost inverse tire model is associated with a higher maximum obtainable wheel slip value for the wheel compared to the default inverse tire model, obtaining a motion request indicative of a desired longitudinal force to be generated by the wheel, selecting the boost inverse tire model as active inverse tire model in response to detecting a boost signal and selecting the default inverse tire model as active inverse tire model otherwise, and controlling the at least one driven and / or braked wheel in dependence of the motion request and based on the active inverse tire model.

The invention discloses a vehicle automatic braking system parameter adjusting method and system based on artificial intelligence. The method comprises the following steps: S1, collecting real-time data of an AEB system in a vehicle driving process by using various sensors assembled on a vehicle, and transmitting the real-time data to a cloud platform; s2, the cloud platform firstly carries out time sequence and space alignment processing and processing on the collected data; s3, an appropriate algorithm is automatically selected through artificial intelligence, and various parameters of the AEB system are calculated and adjusted according to the processed data; and S4, after AEB parameter adjustment is completed, performing a multi-scene simulation test in a virtual environment, and evaluating the performance of the AEB system in different driving scenes. By introducing an AEB parameter adjustment method based on artificial intelligence, real-time dynamic adjustment of the AEB system is realized, manual intervention is reduced, continuous optimization is performed by using real-time data feedback, and the intelligence and adaptive ability of the system are improved, so that the performance and safety of the AEB system in different driving scenes are improved.

The invention provides a retarding braking method and device, a vehicle control unit and a vehicle, and can be applied to the technical field of vehicle braking. The method comprises the steps that under the condition that it is determined that a vehicle enters a long downhill working condition, driving data of the vehicle are collected; determining a required braking force required by the vehicle based on the driving data; based on the battery SOC of the vehicle, a corresponding retarding braking strategy is determined and executed; wherein the retarding braking strategy is used for distributing respective target braking force of an electric driving system and a hydraulic retarding system in the vehicle, so that the braking force output by the vehicle is consistent with the required braking force. The corresponding retarding braking strategy is executed according to the SOC condition of the battery of the vehicle, the braking force of the electric driving system and the braking force of the hydraulic retarding system in the vehicle are dynamically distributed, and the energy recovery efficiency and the braking safety performance of the vehicle are both considered.

The invention relates to the technical field of artificial intelligence, in particular to a vehicle condition data exception handling system based on clustering analysis, which comprises a data vector module for processing according to collected historical normal sample data and calculating a first data vector; the vector processing module comprises a data acquisition unit, a running state vector unit and a judgment unit; the data acquisition unit constructs a multi-dynamic sensor network and acquires real-time data of the motorcycle in accordance with the first data vector; the operation state vector unit processes frequency spectrum information of the data in the real-time data through Fourier transform, and calculates a multi-feature information fusion vector; the judgment unit establishes a clustering analysis model to process the obtained multi-feature information fusion vector to obtain a first clustering result and a second clustering result; and the controller obtains a second clustering result and performs automatic adjustment according to a reinforcement learning algorithm.

A vehicle includes a speed control system that is configured to increase and decrease vehicle speed when a command is received from a control system. The speed control system may include an engine that provides positive torque, and a friction-based system that is configured to provide negative torque to decrease vehicle speed. The control system may provide negative torque commands to activate a friction-based system of a trailer, and a trailer torque can be adjusted by changing a gain of negative torque commands to the trailer. The control system may utilize a baseline gain if trailer fade is not detected. The control system may decrease the gain of negative torque commands to the trailer if the negative torque of the trailer for an applied gain decreases with time.

The invention discloses a dynamic adhesion coefficient correction evaluation method and system based on multi-source data fusion, and belongs to the field of vehicle electronic control, and the method comprises the following steps: S1, carrying out the data collection of a multi-source sensor; s2, calculating a slip rate based on data collected by a wheel speed sensor, calculating a dynamic compensation factor based on data collected by a suspension load sensor, correcting a centroid offset error based on data collected by an inertial sensor, and triggering segmented compensation based on data collected by a brake disc temperature sensor; s3, calculating a basic adhesion coefficient based on the slip rate; s4, correcting the basic adhesion coefficient based on the dynamic compensation factor and the corrected centroid offset; and S5, the basic braking force and the basic torque distributed by the ESC system are corrected. By adopting the dynamic adhesion coefficient correction evaluation method and system based on multi-source data fusion, high-precision correction of the dynamic adhesion coefficient and intelligent adjustment of the braking force are realized through multi-source sensor data fusion and ESC system integrated design.

The invention discloses a dynamic adjusting method, device and equipment for vehicle braking force and a medium. The method comprises the steps that when a vehicle is braked on a ramp road section, the ramp angle of the ramp road section is determined; according to the driving direction of the vehicle on the ramp road section, the ramp angle, the brake pedal pressure, the vehicle gravity and a preset braking performance coefficient, the target braking force of the vehicle is calculated, and the braking performance coefficient is used for representing that when the vehicle is braked on a non-ramp road section, the target braking force of the vehicle is obtained. The conversion relation between the brake pedal pressure and the target brake force is obtained; the braking air pressure of a vehicle brake is adjusted according to the target braking force, so that the wheel end braking force of the vehicle reaches the target braking force, the vehicle braking force is dynamically adjusted according to the ramp angle, the braking performance is optimized in real time, it is ensured that the vehicle can keep consistent braking feeling under different gradients, the fatigue of a driver is effectively reduced, and the driving safety is improved. The emergency braking safety is improved, meanwhile, the predictability and consistency of the braking system are enhanced, and the driving experience is optimized.

The invention discloses a vehicle, a control method and device thereof and an AEB controller, and relates to the technical field of vehicle control. According to the method, the center-of-gravity position of the vehicle can be obtained, and the braking acceleration of the AEB system of the vehicle can be flexibly adjusted based on the center-of-gravity position. The adjusted braking acceleration is the maximum braking acceleration that enables the yaw stability degree of the vehicle to be greater than a degree threshold value when braking is performed at the center-of-gravity position. Moreover, under the condition that the distance between the vehicle and the target obstacle in front of the vehicle is smaller than the safe braking distance, the method can control the vehicle to brake according to the adjusted braking acceleration. Therefore, according to the method provided by the invention, the gravity center position of the vehicle can be considered during braking, so that high yaw stability of the vehicle during braking can be ensured by adopting the braking acceleration adjusted based on the gravity center position for braking, and the safety of the vehicle during braking is improved.

The invention discloses a slipping wheel braking control method and device and a vehicle, and is applied to the technical field of vehicle running control, and the method comprises the steps that under the condition that the vehicle is controlled to start a braking torque control function, according to the wheel speed deviation value of a target slipping wheel, the initial braking torque of the target slipping wheel or the brake torque of the vehicle is combined, and the braking torque of the target slipping wheel is controlled; obtaining a candidate braking torque of the target slipping wheel; the candidate braking torque is limited, and the target braking torque of the target slipping wheel is obtained; and according to the target braking torque, braking control is conducted on the target slipping wheel. According to the technical scheme of the embodiment of the invention, the accuracy of the braking torque of the wheel can be effectively improved, so that the braking control precision of the slipping wheel is effectively improved, and the driving safety and the driving stability of the vehicle during slipping are ensured.

The invention discloses a vehicle braking pitching control method, a controller, a vehicle and a storage medium, and belongs to the technical field of automobiles. The method comprises the following steps: acquiring braking data of a target vehicle; under the condition that it is determined that the braking pitching event occurs, a target braking pitching control mode is determined based on the braking data; generating a target pitching control parameter based on the target braking pitching control mode; the target pitching control parameters comprise target suspension damping, target suspension rigidity, target impact degree, target total braking force, target front axle braking force and target rear axle braking force; and controlling the braking process of the target vehicle based on the target pitching control parameter. According to the vehicle braking pitching control method disclosed by the invention, the control effect of the vehicle braking pitching phenomenon is improved.

A brake torque distribution device for distributing braking torque to wheels of a vehicle includes: a receiving unit for receiving vehicle driving information including required braking torque; a regenerative braking unit for generating regenerative braking torque; a braking torque generating unit for generating braking torque; and a braking control unit for controlling the braking torque generating unit to distribute the braking torque to the wheels of the vehicle, where the braking control unit may determine the braking torque distributed to the braking torque generating unit based on an optimal tire slip diagram stored in memory.

The invention relates to the technical field of brake-by-wire, and provides a self-adaptive fluid infusion control method, device and equipment for a brake-by-wire system. The method comprises the steps that when a to-be-controlled vehicle enters a braking mode, the deceleration and the running speed of the to-be-controlled vehicle are obtained; according to the deceleration, the road surface type of the road surface where the to-be-controlled vehicle is located is recognized, and the road surface type is the type obtained by dividing the road surface based on the adhesion coefficient; and determining a liquid supplementing strategy according to the road surface type and the driving speed, and controlling the to-be-controlled vehicle to supplement liquid based on the liquid supplementing strategy. The method has the core advantages that the attachment type of the current road surface is recognized by obtaining the deceleration and the driving speed of the vehicle, and the optimal liquid supplementing strategy is selected accordingly. According to the method, the inherent defect that a traditional fixed parameter fluid infusion strategy is single in performance under different road conditions is overcome, and the performance optimal balance within the full working condition range is achieved. The intelligent self-adaptive mechanism greatly improves the comprehensive performance and the driving experience of the brake-by-wire system.

The invention provides a transverse stability control method and system during braking of a vehicle on a split road surface, and belongs to the technical field of vehicle transverse stability control. According to the method, the expected braking strength zd is compared with the maximum braking strength zth which can be generated by the whole vehicle on the low-adhesion road surface, and when zd is smaller than or equal to zth, the braking force at the high-adhesion position is restrained, and the difference value between the braking force at the high-adhesion position and the braking force at the low-adhesion position is reduced or even eliminated through the design of the controller; when z dgt; when zth is greater than zth, through the design of a controller, the braking force at the low attachment part is kept at a peak value, the braking force at the high attachment part is regulated and controlled, and meanwhile, the rear wheel turning angle is controlled, so that an additional yawing moment is generated, and the expected yawing moment of the whole vehicle is compensated. The invention further provides a split road surface stability comprehensive risk index, and the stability of the vehicle during braking on the split road surface is comprehensively evaluated. When the vehicle exceeds a steady state boundary, active four-wheel steering intervenes. According to the invention, the transverse stability of the vehicle during braking on the split road surface is effectively improved.

A vehicle control method includes collecting control-related information, determining a road condition scenario based on the control-related information, determining, based on the road condition scenario, a preset braking control parameter set corresponding to the road condition scenario, and performing control configuration based on the determined preset braking control parameter set.

The invention relates to a comfortable braking control method and device, electronic equipment and a storage medium. The comfortable braking control method comprises the steps that driving state data of a vehicle and physical parameters of the vehicle are obtained; according to the driving state data and the physical parameters of the vehicle, the required braking force needed by parking the vehicle on the current road surface is determined; determining the maximum distribution proportion of the braking force of the rear axle according to the driving state data and the required braking force; determining a front axle target braking force and a rear axle target braking force based on the maximum distribution proportion of the required braking force and the rear axle braking force; and controlling the vehicle to perform comfortable braking according to the front axle target braking force and the rear axle target braking force. According to the embodiment of the invention, longitudinal comfortable braking can be realized, energy accumulation of the suspension in the braking process is reduced, the situation that the vehicle is nodding during braking and parking is avoided, vehicle instability caused by too large slip rate of rear axle wheels can be avoided, the acceleration and acceleration fluctuation are reduced, the comfort is improved, and the safety in the comfortable braking process is ensured.