1874results about "Braking systems" patented technology

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.

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.

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.

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.

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.

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 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 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.

The bogie weighing device comprises a weighing valve and a force transmission mechanism, an air inlet of the weighing valve is communicated with an auxiliary air cylinder, an air outlet of the weighing valve is communicated with a distribution valve in a vehicle braking system, the weighing valve is fixed to a framework of a vehicle bogie, and the force transmission mechanism is connected with the framework and can rotate around a connecting point. One end of the force transmission mechanism is connected with the weighing valve, and the other end of the force transmission mechanism is connected with the hanging bracket. Stepless regulation of vehicle braking can be achieved.

The invention relates to a vehicle braking method based on a road adhesion coefficient, and the method comprises the steps: 1, carrying out the real vehicle data collection, and punching a uniform timestamp through a clock source; 2, uniformly converting all the collected data into a vehicle coordinate system; 3, inputting the collected data into a preset deep learning regression model to obtain a predicted value of an attachment coefficient, generating a typical attachment coefficient representing the type of road, and adding the typical attachment coefficient into a preset road attachment coefficient query table; 4, the current road type is recognized, the corresponding typical attachment coefficient is called from the road attachment coefficient query table, the vehicle following distance is adjusted, and the braking deceleration is formulated; 5, analyzing to obtain the maximum adhesion potential of the current road surface; and 6, the original road adhesion coefficient is corrected, and the final braking deceleration is assigned to the current road so that the vehicle can conduct deceleration braking according to the assigned value.

The embodiment of the invention provides a control unit and a control method for comfortable braking of a vehicle. The control unit comprises: a detection module configured to detect a driving behavior of a vehicle to obtain a first detection result, detect a road condition of a vehicle driving road to obtain a second detection result, and detect a driving state of the vehicle to obtain a third detection result; the processing module is configured to judge whether a triggering condition of a virtual sensor for calculating the vehicle load is met or not based on the first detection result, the second detection result and the third detection result; if it is judged that the triggering condition is met, a virtual sensor is adopted, and the vehicle load state is obtained based on multiple sets of parameters representing the current state of the vehicle; and a comfort braking module configured to determine an adjustment to a comfort braking parameter of the vehicle based on the vehicle load condition.

A vehicle and a control method and apparatus therefor, a storage medium, and a computer program product, relating to the technical field of vehicles. The control method for a vehicle comprises: correcting an ideal yaw rate on the basis of desired steering characteristic information; obtaining an additional yaw moment on the basis of an ideal sideslip angle, the corrected ideal yaw rate, and an actual sideslip angle and an actual yaw rate of a vehicle; and performing torque distribution on the basis of the additional yaw moment. In the method, the ideal yaw rate is corrected on the basis of the desired steering characteristic information, so that, on the basis of the ideal sideslip angle, the corrected ideal yaw rate, and the actual sideslip angle and the actual yaw rate of the vehicle, variable steering characteristics of the vehicle are achieved by means of torque control, thereby enabling the vehicle to obtain higher steering sensitivity.

The invention discloses a braking control optimization method and system combined with vehicle multi-state perception, and belongs to the technical field of vehicle intelligent control, and the method comprises five steps of multi-source data acquisition, data preprocessing, multi-state risk modeling, multi-target braking force distribution and braking control optimization. Based on a tire dynamic model and a semantic physical double-source weighting mechanism, generating high-precision vehicle multi-state sensing feature data; a multi-state risk modeling method based on path prediction and a physical constraint model is combined with a dynamic risk weight adjustment mechanism to calculate a comprehensive target deceleration; a multi-objective optimization function including the braking distance, the stability and the tire reliability is constructed, and four-wheel braking force distribution and coaxial cooperative control are carried out; and pressure control is executed according to the optimization result, and brake control optimization is achieved. According to the method, real-time self-adaptive adjustment of the brake control strategy can be achieved under the complex environment and multiple working conditions, and the safety, stability and response precision of braking are improved.

The invention discloses a brake system slip rate control performance calculation method and device and a medium. Belongs to the technical field of vehicles. The method comprises the following steps: determining a road condition type in a real vehicle test; determining a target slip rate according to the road condition type; the average slip rate of the four wheels is calculated according to a preset time interval, and an average slip rate array is obtained; and calculating a performance score of the braking system according to the average slip rate array and the target slip rate. Manual intervention is not needed in the whole process from data analysis to score output, and the calibration efficiency is improved. And meanwhile, the target slip rate is dynamically corrected in combination with road adhesion conditions, so that the evaluation result better fits the actual working condition. When the performance score is calculated, multi-dimensional difference values such as an average value, an extreme value, a median value and the like are used, and the control stability and precision are comprehensively reflected.

The invention discloses an ABS real-time self-adaptive control method and system based on hub sensing signal fusion, and relates to the field of automobile safety control. The method comprises the steps that S1, multi-source hub sensing signals of all wheels are synchronously collected; s2, calculating a hub response coupling factor based on the multi-source hub sensing signal; s3, calculating an instantaneous slip rate based on the coupling factor and the wheel speed in combination with vehicle dynamic parameters; s4, on the basis of the wheel speed, the braking torque and the tangential acceleration, the coupling factor and the instantaneous slip rate are combined, and the normal load is calculated; s5, calculating an adhesion coefficient according to the instantaneous slip rate, the normal load and the wheel speed; s6, according to the slip rate deviation, a fusion weight is generated in combination with the coupling factor, and the adhesion capacity of the whole vehicle is calculated; and S7, according to the adhesion coefficient, the normal load, the slip rate and the adhesion capacity of the whole vehicle, the target braking force is calculated, and the wheel braking strength is adjusted. By monitoring the state of the wheels in real time, the slip rate is accurately controlled, braking force distribution is optimized, and the response precision and stability of the ABS are improved.

The invention discloses an enhanced braking system for a mountain railway vehicle, which relates to the technical field of railway vehicle braking control, and comprises the following steps: acquiring a rail position vector and an arc length, calculating a rail curvature and a rail gradient, and combining the current speed and the target speed of the vehicle to solve a braking demand acceleration value and generate a gradient parameter and a curve parameter; according to the braking force distribution proportion, a wheel rail hydraulic braking torque value is adjusted, the meshing depth and the vibration frequency of a rack rail brake are controlled through a rack rail action instruction, and a wheel rail system state report and a rack rail work log are generated; and gradient parameters, actual adhesive force numerical values and toothed rail meshing efficiency in the braking process are extracted from a wheel-rail system state report and a toothed rail work log, and closed-loop optimization is carried out in combination with a terrain braking curve. Self-learning and self-adaptive adjustment are carried out on the braking process through closed-loop feedback and parameter optimization, so that the energy utilization efficiency is improved and the service life of key components is prolonged while the braking efficiency is guaranteed.

The invention discloses a redundant braking control method of an automatic driving vehicle and a storage medium, which are applied to a vehicle control unit. According to the method, when it is detected that an automatic driving module, anti-collision early warning or remote monitoring triggers a braking demand, the target deceleration is calculated in combination with the vehicle speed and the obstacle distance. By collecting the actual acceleration, the parking air chamber air pressure and the motor torque, the total braking force is estimated, the electronic parking braking force is separated out, and then the road adhesion coefficient is calculated. And in the redundant braking mode, according to the target deceleration, the attachment condition and the capacity upper limit of the two systems, performance indexes including deceleration deviation and a parking penalty term are constructed, and the target motor deceleration and the target electronic parking deceleration are obtained through joint distribution. And finally, the target parking deceleration is converted into target air pressure through the deceleration air pressure mapping table containing the online correction amount, the air pressure is adjusted through closed-loop control, and accurate and stable redundant service braking is achieved.

The invention belongs to the technical field of vehicles, and particularly relates to an ABS function trigger control method and device, a vehicle and a medium. The method comprises the following steps: calculating a wheel slip rate; determining driver intention according to the hydraulic sensor signal, the brake pedal sensor signal and the accelerator pedal sensor signal, wherein the driver intention comprises emergency braking, conventional braking, sliding and acceleration; the road bumping state is determined according to the wheel slip rate, the vehicle vertical acceleration and the suspension displacement; according to the intention of the driver and the road bumping state, the triggering condition of the ABS function is determined; and determining whether the triggering condition of the ABS function is met or not according to the wheel slip rate. By judging the intention of the driver and the road bumping state and adjusting the triggering condition of the ABS function in real time according to the intention of the driver and the road bumping state, false triggering of the ABS function when the vehicle passes through the bumping road is avoided.

The invention relates to an auxiliary braking constant-speed downhill control method and device, electronic equipment and a storage medium, and belongs to the technical field of vehicle braking. The method comprises the steps that when a vehicle starts an auxiliary braking function, running parameters of the vehicle are obtained, and the total braking force of the vehicle is determined based on the running parameters; the operation parameters comprise load, vehicle speed and gradient; determining a braking mode of the vehicle based on the engine braking force and the total braking force of the vehicle; the braking mode is engine braking, or the braking mode is engine braking and service braking; and controlling the vehicle to go downhill at constant speed based on the braking mode. According to the auxiliary braking constant-speed downhill control method, when the auxiliary braking function of the vehicle is started, the load, the vehicle speed and the gradient of the vehicle are obtained, the total braking force is calculated, traveling braking is supplemented when engine braking is insufficient, and it is guaranteed that the vehicle keeps the constant speed to go downhill by combining engine braking and traveling braking; the braking device can flexibly adapt to different road conditions, improves the braking effect and the driving safety, and is low in cost.

The invention discloses an abrupt slope slow descent system based on energy recovery, and particularly relates to the technical field of vehicle control, and the system comprises a slope estimation module which receives a vehicle speed signal and a vehicle acceleration signal, and estimates the current slope of a vehicle through the vehicle speed signal and the vehicle acceleration signal; the abrupt slope slow descent activation judgment module is used for receiving a slope signal, a vehicle gear signal, a brake pedal signal, an accelerator pedal signal, a driving direction signal and a driving mode signal; when the vehicle is on the slope, a brake pedal and an accelerator pedal are not stepped on, and the vehicle speed is within a vehicle speed threshold interval, the abrupt slope slow descent function is activated, and otherwise, the abrupt slope slow descent function exits; the target vehicle speed calculation module identifies the intention of the driver and gives a target vehicle speed; and the electromechanical braking force distribution module introduces feedforward control through a gradient signal firstly, then gives target braking force by superposing closed-loop control of a target vehicle speed, and then distributes the braking force to electric braking and mechanical braking to realize energy recovery and caliper braking respectively.

The invention provides a braking control method and a vehicle, and relates to the technical field of vehicle braking. The method comprises the following steps: acquiring braking parameters and driving parameters of a vehicle and biological data of a driver at the current moment; determining a driving style, a driving intention and a driving state of the driver at the current moment according to the driving parameters and the biological data; wherein the driving style is used for representing the preference of the driving behavior of the driver, the driving intention is used for representing the driving behavior of the driver in a preset scene, and the driving state is used for representing the physiological and psychological states of the driver; according to the driving style, the driving intention and the driving state, a braking control instruction corresponding to the braking parameters is determined; according to the technical scheme, braking control is conducted on the vehicle on the basis of the braking control instruction, braking control can be effectively adjusted according to the actual driving condition, and therefore the actual braking effect adapts to the driving behavior of a driver, the driving comfort is improved, and the driving safety is improved.

The invention relates to a vehicle braking control method and device, computer equipment and a storage medium. The method comprises the steps that in response to a braking instruction of a vehicle, target braking deceleration of the vehicle is determined according to braking pedal information and driving mode information of the vehicle; determining a target braking force and a target braking torque of the vehicle according to the target braking deceleration, the whole vehicle mass and the wheel rolling radius of the vehicle; under the condition that the target braking deceleration is larger than a preset deceleration threshold value, the mechanical braking torque of the vehicle is determined according to the target braking torque and the energy recovery torque; according to the real-time acceleration of the vehicle, the wheel static load is corrected, and the wheel dynamic load of the vehicle is obtained; according to the mechanical braking torque and the wheel dynamic load, the mechanical braking force of each wheel of the vehicle is determined; the mechanical braking force is used for controlling the vehicle to conduct mechanical braking, and the braking effect of the vehicle is improved.

The invention discloses an active steering and braking integrated control system based on roll angle feedback, and belongs to the technical field of vehicle dynamics control. In order to solve the problems of slow control response and multi-actuator action conflict of the vehicle under the limit working condition, the method quantifies the comprehensive instability risk of the whole vehicle by constructing a dynamic virtual potential field. The potential field is based on key state variables such as a roll angle and a side slip angle, and the topological structure (namely the weight of each variable) of the potential field is remodeled in real time by a dynamic risk factor reflecting the intention urgency degree of a driver and the environmental danger level. The system evaluates the instantaneous control efficiency by calculating the contribution degree of each actuator to the reduction of the potential field gradient in a distributed manner. According to the method, the complex control problem is converted into the process of finding the minimum potential energy point, prospective suppression of the instability trend and conflict-free efficient cooperation between the actuators are achieved, and the limit stability and safety of the vehicle are remarkably improved.

The invention relates to a whole vehicle stability control method for a composite braking system, which comprises the following steps of: quickly obtaining target braking requirements of each braking execution unit by adopting an NSGA-II algorithm, solving the response speed difference between a hub motor and an EMB through an EMB response delay model and a hub motor feedforward compensation algorithm, and eliminating braking force oscillation. In a four-wheel pure EMB vehicle stability control strategy, a sliding mode control strategy and a model prediction control strategy are respectively adopted based on control demand difference and algorithm characteristic matching of a drifting risk and an understeering working condition, and meanwhile, an actuator physical constraint and a multi-stage fault monitoring mechanism are embedded, so that the basic stability of the vehicle can still be kept under an extreme working condition.

A method for controlling an electromechanical brake). The electromechanical brake includes an electric motor which acts on a brake actuator via a gear unit to generate a braking force. A switchable and bistable freewheel locking device, via which a brake release direction of the brake actuator can be locked, is provided to lock the gear unit. The method includes moving back the brake actuator after a braking operation by a fixed predefined distance and controlling the locking device to fix the brake actuator in the retracted position.

The invention belongs to the technical field of intelligent automobiles, and particularly relates to a load estimation method and system for a vehicle electronic braking system. The method aims at solving the core problems that an existing vehicle load estimation technology seriously depends on specific ideal working conditions such as uniform acceleration and uniform deceleration, so that estimation lags behind, and results are not accurate. The method comprises the following steps of: judging parameters such as accelerator pedal opening, vehicle speed, steering wheel angle, acceleration and road slope condition to confirm that the vehicle is in an estimation triggering condition of stable acceleration, and then calculating theoretical acceleration corresponding to all assumed weights in parallel in a no-load to full-load mass interval; and finally, matching the theoretical acceleration with a measured value and selecting a solution with the minimum error as a load result, so that the real-time performance and accuracy of load estimation are remarkably improved, and the precision of self-adaptive braking force adjustment of the electronic braking system is further improved.

A vehicle auxiliary steering control method, which is applied to a vehicle having a controller, and comprises: in response to the vehicle satisfying a preset auxiliary steering condition, controlling the vehicle to execute an auxiliary steering operation, wherein the auxiliary steering operation comprises adjusting the braking force of an inner front wheel and controlling two rear wheels to slip.