Braking cruise control method, device, equipment and medium for heavy-duty towing vehicle

Abstract

The application provides a heavy-duty towing vehicle brake cruise control method, device, equipment and medium. The method comprises the following steps: under the brake cruise mode activation condition, when the vehicle is downhill, the deviation between the current vehicle speed and the target vehicle speed is obtained; if the deviation is greater than a preset value, the engine auxiliary brake is started, and the target brake power is obtained according to the current vehicle speed and the target vehicle speed; the available brake power of the engine auxiliary brake is estimated according to the current engine operation information; if the available brake power is less than the target brake power, the instrument program alarms the driver to manually adjust the vehicle gear to reduce the vehicle gear and increase the engine speed, so that the available brake power of the engine auxiliary brake is increased. The method of the application can provide sufficient brake power for the vehicle only by manually reducing the gear, and the system mechanism is simple, easy to operate, low in use cost, and can ensure the safe downhill of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle safety braking cruise, and more particularly to a braking cruise control method, device, equipment and medium for heavy tractor vehicles. Background Technology

[0002] Regardless of the type of vehicle being driven, safety is a major concern. Currently, the braking of heavy-duty tractor trucks is still carried out using complex and not necessarily reliable methods.

[0003] To meet the braking power requirements of downhill slopes of varying gradients, current vehicles generally employ a staged braking method. When the engine reaches its maximum braking power, braking force is output to the vehicle by either cutting off cylinders or controlling the number of openings of the braking solenoid valves; or an automatic braking gear control method is used. However, this method cannot solve the problem that the braking power output at the current engine speed is still insufficient to meet the braking requirements, resulting in failure to meet safety braking requirements and also incurring significant costs.

[0004] The ability to autonomously determine whether the braking power at the current engine speed is sufficient to meet the vehicle's safe braking requirements during long downhill descents, and to achieve braking cruise under the premise of low cost and simple system structure and control method, is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a braking cruise control method, device, equipment, and medium for heavy-duty tractor vehicles to solve the problem that the braking method provided by the engine and engine cylinder in the prior art is relatively complex and may not guarantee sufficient safety.

[0006] In a first aspect, this application provides a braking cruise control method for a heavy-duty tractor vehicle, comprising:

[0007] When the brake cruise mode is activated, the deviation between the vehicle's current speed and the target speed is obtained when the vehicle is going downhill.

[0008] If the deviation is greater than the preset value, the engine auxiliary brake is activated, and the target braking power is obtained based on the current vehicle speed and the target vehicle speed.

[0009] Based on the current engine operating information, the braking power that the engine auxiliary brake can provide is estimated;

[0010] If the available braking power is less than the target braking power, the instrument program will alarm and remind the driver to manually adjust the vehicle gear to lower the gear and increase the engine speed, thereby increasing the available braking power of the engine auxiliary brake.

[0011] In one possible implementation, obtaining the target braking power based on the current vehicle speed and the target vehicle speed includes:

[0012] The first braking force is obtained based on the current vehicle speed and the target vehicle speed;

[0013] The second braking force is obtained based on the vehicle's mass, current speed, and previous speed.

[0014] Based on the first braking force and the second braking force, the braking force requirement of the vehicle is obtained;

[0015] The target braking power is obtained based on the braking force requirement and the vehicle's current speed.

[0016] In one possible implementation, obtaining the first braking force based on the current vehicle speed and the target vehicle speed includes:

[0017] The target speed difference is obtained based on the current vehicle speed and the target vehicle speed.

[0018] The first braking force is obtained based on the target vehicle speed difference.

[0019] In one possible implementation, obtaining the second braking force based on the vehicle's mass, the current vehicle speed, and the vehicle's speed at the previous moment includes:

[0020] The difference between the current vehicle speed and the vehicle speed at the previous moment is obtained;

[0021] The second braking force is obtained based on the current speed difference and the mass of the vehicle.

[0022] In one possible implementation, obtaining the deviation between the vehicle's current speed and the target speed includes:

[0023] The current speed of the vehicle is obtained through real-time monitoring, and the target speed of the vehicle is also obtained.

[0024] The deviation is obtained by subtracting the target vehicle speed from the current vehicle speed.

[0025] In one possible implementation, estimating the braking power that the engine auxiliary brake can provide based on the current engine operating information includes:

[0026] Based on the current engine speed, intake air volume, and intercooler pressure information, combined with engine map data, the braking power that the engine auxiliary brake can provide is estimated.

[0027] In one possible implementation, after estimating the braking power that the engine auxiliary brake can provide based on the current engine operating information, the method further includes:

[0028] If the available kinetic power is greater than or equal to the target braking power, then the deviation is continuously compared to see if it is greater than the preset value until the deviation is less than the preset value, at which point the engine auxiliary brake is turned off.

[0029] Secondly, this application provides a braking device for a heavy-duty tractor vehicle, comprising:

[0030] The first acquisition module is used to acquire the deviation between the vehicle's current speed and the target speed when the vehicle is going downhill under the condition that the brake cruise mode is activated.

[0031] The second acquisition module is used to activate the engine auxiliary brake if the deviation is greater than a preset value, and to acquire the target braking power based on the current vehicle speed and the target vehicle speed.

[0032] The estimation module is used to estimate the braking power that the engine auxiliary brake can provide based on the current engine operating information.

[0033] The processing module is configured to, if the available power is less than the target braking power, issue an instrument program alarm to remind the driver to manually adjust the vehicle gear to lower the vehicle gear and increase the engine speed, thereby increasing the available braking power of the engine auxiliary brake.

[0034] Thirdly, this application provides a braking device for a heavy-duty tractor vehicle, comprising: at least one processor and a memory;

[0035] The memory stores computer-executed instructions;

[0036] The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the braking cruise control method for a heavy-duty tractor vehicle as described above.

[0037] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the braking cruise control method for a heavy-duty tractor vehicle as described above.

[0038] This application provides a braking cruise control method, device, equipment, and medium for a heavy-duty tractor vehicle. When the braking cruise mode is activated and the vehicle is descending a slope, the deviation between the vehicle's current speed and the target speed is obtained. If the deviation is greater than a preset value, the engine auxiliary brake is activated, and the target braking power is obtained based on the current speed and the target speed. The available braking power of the engine auxiliary brake is estimated based on the current engine operating information. If the available braking power is less than the target braking power, the instrument panel program alarms to remind the driver to manually adjust the vehicle gear to lower the gear and increase the engine speed, thereby increasing the available braking power of the engine auxiliary brake. In the above method, by obtaining the available braking power of the engine auxiliary brake and the target braking power for safe braking of the vehicle, when the available braking power is less than the target braking power, that is, when the current engine braking power cannot meet the demand, the instrument program alarms to remind the driver to downshift. Downshifting can increase the engine speed and thus increase the braking power, which can provide sufficient braking power to the vehicle to ensure that the vehicle can safely descend the slope. Moreover, the brake cruise system involved in this process is simple to operate and has a low failure rate. For manual transmission heavy tractor vehicles, the system not only has a simple structure, is easy to operate, and has low operating costs, but also ensures the vehicle can safely descend the slope. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 A schematic diagram of a braking cruise system for a heavy-duty tractor provided in this application embodiment;

[0041] Figure 2 A braking method flow for a braking cruise system of a heavy-duty tractor provided in this application embodiment. Figure 1 ;

[0042] Figure 3 A braking method flow for a braking cruise system of a heavy-duty tractor provided in this application embodiment. Figure 2 ;

[0043] Figure 4 A curve showing the variation of engine auxiliary braking power with engine speed is provided for an embodiment of this application;

[0044] Figure 5 A diagram of a braking device for a heavy-duty tractor provided in an embodiment of the present invention;

[0045] Figure 6 This is a hardware schematic diagram of a braking device for a heavy-duty tractor provided in an embodiment of the present invention. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] Currently, most vehicles equipped with engine-assisted braking systems typically employ a stepped braking method to adjust the engine-assisted braking system to its maximum braking power state in order to meet the braking needs of downhill slopes with varying gradients. This involves outputting some or all of the braking force to the vehicle by cutting off cylinders or controlling the number of solenoid valves opening. However, this still cannot solve the problem of reaching the upper limit of the braking power output at the current engine speed, which affects driver safety. In addition, the process of adjusting the output braking force sometimes relies on the driver's judgment to adjust the braking power, which is complex and may result in the inability to achieve vehicle stability in a timely manner.

[0048] Therefore, this application proposes a simpler braking method that can provide sufficient braking power for vehicles going downhill.

[0049] The implementation process of this invention will be described in detail below with reference to the accompanying pictures and specific embodiments.

[0050] Figure 1 This is a schematic diagram of a braking cruise system for a heavy-duty tractor provided in an embodiment of this application. Figure 1 As shown, the system includes: a brake cruise mode switch, a controller, an instrument cluster, an engine assist brake, an onboard computer (Electronic Control Unit, ECU), and an anti-lock braking system (ABS).

[0051] Anti-lock braking system (ABS) is used to keep the vehicle in a rolling and slipping state during braking, i.e., to prevent it from locking up. Because the steering wheel cannot be turned when the vehicle is locked up, which is very dangerous for a vehicle that is braking, the brake cruise mode switch can only be activated when the ABS signals that the vehicle is in a non-locked state. The ABS can also be an electronic brake system (EBS), both of which can play an auxiliary role in the vehicle braking process.

[0052] When the brake cruise mode switch is on, it indicates that brake cruise mode has been entered. The controller will obtain the vehicle's current speed in real time and calculate whether the braking power supplied to the vehicle meets the demand (target braking power). If the demand is not met, a downshift is requested, and a prompt message is sent to the instrument panel for display. The driver can downshift the vehicle according to the prompt. Taking advantage of the characteristic that the available braking power increases with the increase of engine speed, after the vehicle downshifts, the engine speed increases, and the braking power increases, making the current vehicle speed less than or equal to the preset value, so that the instrument panel no longer prompts. At this time, the engine auxiliary brake is turned off. The instrument panel is programmed to issue an alarm when the available braking power is less than the target braking power.

[0053] This brake cruise system has a simple structure and can autonomously determine whether the braking power supplied to the vehicle is sufficient to control the vehicle speed. It reminds the driver to downshift the vehicle to ensure that the auxiliary brake can output sufficient braking power during downhill driving and ensure safe descent.

[0054] The following is combined Figure 2 This invention provides a detailed explanation of how embodiments of the present invention downshift the engine to achieve braking requirements.

[0055] Figure 2 A braking method flow for a braking cruise system of a heavy-duty tractor provided in this application embodiment. Figure 1 .like Figure 2 As shown, the method includes:

[0056] S201. When the brake cruise mode is activated, the deviation between the vehicle's current speed and the target speed is obtained when the vehicle is going downhill.

[0057] Vehicles are prone to safety hazards when braking downhill. Whether the braking speed is too high or too low, it may cause accidents such as rollover. Therefore, it is necessary to set up safe braking methods for vehicles to ensure that they can go downhill smoothly.

[0058] Brake cruise mode can be controlled by a brake cruise mode switch. When the driver activates the brake cruise mode switch, the vehicle determines whether to enter brake cruise mode. When brake cruise mode is activated, it means that the vehicle has entered brake cruise state.

[0059] The vehicle does not automatically enter cruise control mode; it is necessary to confirm whether the vehicle is under emergency braking before doing so.

[0060] For example, confirm whether the vehicle's anti-lock braking system (ABS) is in anti-lock mode. If so, wait for the vehicle to de-lock before activating the brake cruise mode. The brake cruise mode includes cruise and assisted braking processes.

[0061] Confirm that the vehicle is not under the control of the anti-lock braking system (ABS), which is mainly to prevent the wheels from locking up during emergency braking. If it is, wait for the vehicle to de-lock before activating the brake cruise mode.

[0062] When the brake cruise mode is activated, the vehicle's current speed and target speed are obtained in real time. The target speed can be the optimal braking speed for the current downhill condition. Different target speeds for different downhill conditions can be pre-entered into the vehicle system and retrieved when the system needs them.

[0063] The current vehicle speed is obtained by the vehicle's system-related speed measuring device. In fact, the vehicle's current speed is also being acquired in real time and displayed on the instrument panel even when braking is not in use. The purpose of acquiring the vehicle's current speed here is to compare it with the target speed and calculate the deviation between the current speed and the target speed. That is, to obtain the speed difference between the current speed and the target speed. If the speed difference is too large, it indicates that the vehicle's braking effect is not good, and there may even be safety problems.

[0064] A method for obtaining the deviation between the current vehicle speed and the target vehicle speed: For example, the current vehicle speed is obtained through real-time monitoring, and the target vehicle speed is obtained; the deviation is obtained by subtracting the target vehicle speed from the current vehicle speed.

[0065] Real-time monitoring is achieved by the vehicle system's speed measurement devices. The speed difference between the current speed and the target speed is obtained by subtracting the target speed from the current speed. If the deviation is positive, it means the current speed is greater than the target speed, and the current speed needs to be reduced. If the deviation is negative, it means the current speed is less than the target speed, indicating that the current vehicle state is safe and no adjustment is needed. Assisted braking can be disengaged after determining that the deviation is negative. In general, entering assisted braking requires reducing the current speed.

[0066] Optionally, the vehicle system can determine whether the current vehicle speed is less than the target vehicle speed; if so, auxiliary braking will not be activated.

[0067] S202. If the deviation is greater than a preset value, the engine auxiliary brake is activated, and the target braking power is obtained based on the current vehicle speed and the target vehicle speed.

[0068] The value of this deviation is positive. The preset value indicates that the deviation between the current vehicle speed and the target vehicle speed is considered to be the maximum safe deviation. Alternatively, the preset value can be set to a value that is less than the maximum safe deviation. The preset value can also indicate the degree of closeness between the current vehicle speed and the target vehicle speed. When the deviation is less than the preset value, it indicates that the vehicle is in a safe braking state, and since the current vehicle speed is close to the target vehicle speed, it indicates that the current vehicle also has sufficient braking capacity.

[0069] When the deviation is greater than the preset value, it indicates that the vehicle may be in an unsafe braking state or that the braking capacity is insufficient, and the engine auxiliary brake needs to be activated for auxiliary braking; the braking capacity is represented by the braking power.

[0070] The braking power requirement varies depending on the vehicle's condition; this braking power requirement is the target braking power that the vehicle needs to achieve.

[0071] S203. Based on the current engine operating information, estimate the braking power that the engine auxiliary brake can provide.

[0072] The current engine operating information includes engine speed and other information. Based on the engine speed and other information, the braking power provided by the engine auxiliary brake can be queried.

[0073] For example, based on the current engine speed, intake air volume, and intercooler pressure information, combined with engine map data, the braking power that the engine auxiliary brake can provide is estimated.

[0074] S204. If the available power is less than the target braking power, the instrument program will alarm and remind the driver to manually adjust the vehicle gear to lower the vehicle gear and increase the engine speed, so that the available braking power of the engine auxiliary brake can be increased.

[0075] If the available braking power is less than the target braking power, it means that the current vehicle gear is insufficient to provide adequate braking effect, and the vehicle gear needs to be adjusted. Since the lower the engine gear, the higher its speed and the higher the braking power it can output, downshifting the vehicle gear to increase the engine speed can increase the braking power available from the engine auxiliary brake. This downshifting process is carried out gradually until the available braking power is greater than or equal to the target braking power, indicating that the available braking power is sufficient for stable braking of the vehicle. At this point, downshifting can be stopped to avoid excessive braking power.

[0076] If the available driving power is greater than or equal to the target braking power, it means that the current vehicle gear is sufficient to stabilize the vehicle and provide adequate braking effect. The vehicle can brake stably, so no further adjustment is needed.

[0077] For example, if the available power is greater than or equal to the target braking power, the comparison continues to determine whether the deviation is greater than the preset value until the deviation is less than the preset value, at which point the engine auxiliary brake is turned off.

[0078] Since no additional adjustments are required, the vehicle can disengage assisted braking but can continue cruising.

[0079] In this embodiment, when the brake cruise mode is activated, the deviation between the vehicle's current speed and the target speed is obtained when the vehicle is going downhill. If the deviation is greater than a preset value, the engine auxiliary brake is activated, and the target braking power is obtained based on the current speed and the target speed. The available braking power of the engine auxiliary brake is estimated based on the current engine operating information. If the available braking power is less than the target braking power, the instrument cluster program alerts the driver to manually adjust the vehicle gear to downshift and increase engine speed, thereby increasing the available braking power of the engine auxiliary brake. In this method, by obtaining the available braking power of the engine auxiliary brake and the target braking power for safe vehicle braking, when the available braking power is less than the target braking power (i.e., the current engine braking power cannot meet the demand), the instrument cluster program alerts the driver to downshift. Downshifting increases engine speed and thus braking power, providing sufficient braking power to ensure the vehicle can safely descend the slope. Furthermore, the brake cruise system involved in this process is simple to operate, has a low failure rate, and is low in cost.

[0080] The following is combined Figure 3 This invention provides a detailed explanation of how the target braking power is obtained in the embodiments of the present invention.

[0081] Figure 3 A braking method flow for a braking cruise system of a heavy-duty tractor provided in this application embodiment. Figure 2 .like Figure 3 As shown, the method includes:

[0082] S301. Obtain the first braking force based on the current vehicle speed and the target vehicle speed.

[0083] The current vehicle speed and the target vehicle speed are both available parameters. Combined with the current driving power coefficient, which is related to vehicle speed and resistance, the first braking force can be obtained.

[0084] Specifically, the difference in braking force required to reach the target speed can be calculated based on the difference between the current vehicle speed and the target vehicle speed, which is the first braking force.

[0085] For example, the target vehicle speed difference is obtained based on the current vehicle speed and the target vehicle speed;

[0086] The first braking force is obtained based on the target vehicle speed difference.

[0087] The target speed difference is the value obtained by subtracting the target speed from the current speed.

[0088] S302. Obtain the second braking force based on the vehicle's mass, the current vehicle speed, and the vehicle's speed at the previous moment.

[0089] The vehicle's mass, current speed, and previous speed are all available parameters. The vehicle's mass can be directly recorded in the vehicle's system, while the current speed and previous speed are real-time available parameters. The specific method for obtaining the second braking force based on the above data is as follows:

[0090] For example, the difference between the current vehicle speed and the vehicle speed at the previous moment is obtained;

[0091] The second braking force is obtained based on the current speed difference and the mass of the vehicle.

[0092] The current speed difference is the current speed minus the speed at the previous moment.

[0093] S303. Obtain the braking force requirement of the vehicle based on the first braking force and the second braking force.

[0094] The braking force requirement of the vehicle is obtained by adding the first braking force and the second braking force together.

[0095] S304. The target braking power is obtained based on the braking force requirement and the current vehicle speed.

[0096] Multiply the braking force demand by the vehicle's current speed to obtain the target braking power, which is the braking power that a stable vehicle should achieve.

[0097] One method for obtaining the target braking power in this embodiment can be represented by the following formula, which is optional:

[0098] ΔF=m v (V t -V set )+m(V t -V t-1 )

[0099] ΔP=ΔF×V t

[0100] Where ΔP is the target braking power, ΔF is the vehicle's braking force requirement, and V t V represents the current vehicle speed. set For the target vehicle speed, V t-1 The speed of the vehicle at the previous moment, m vHere, m is a coefficient related to vehicle speed and resistance, and m is the mass of the vehicle.

[0101] When obtaining the change in engine auxiliary braking power, it is necessary to use the engine auxiliary braking power change curve.

[0102] Figure 4 This application provides a curve illustrating the variation of engine auxiliary braking power with engine speed, as shown in the embodiment of the present application. Figure 4 As shown, the change in engine auxiliary braking power indicates the power that the engine can provide, and the higher the engine speed, the greater the braking power that the engine can provide. Figure 4 In the text, r / min represents revolutions per minute; the larger the value, the higher the engine speed.

[0103] The above embodiments repeatedly mention the relationship between the braking power provided by the engine and the gear. Firstly, the lower the gear, the higher the engine speed. Figure 4 It can be seen that the engine speed and braking power are positively correlated. When the vehicle speed is 1500 r / min, the braking power that the engine auxiliary brake can provide is between 50% and 75% of its total power.

[0104] Figure 5 A diagram of a braking device for a heavy-duty tractor provided in an embodiment of the present invention is shown below. Figure 5 As shown, the device includes: a first acquisition module 501, a second acquisition module 502, an estimation module 503, and a processing module 504;

[0105] The first acquisition module 501 is used to acquire the deviation between the vehicle's current speed and the target speed when the vehicle is going downhill under the condition that the brake cruise mode is activated.

[0106] The first acquisition module 501 is also used to acquire the current speed of the vehicle through real-time monitoring and to acquire the target speed of the vehicle.

[0107] The deviation is obtained by subtracting the target vehicle speed from the current vehicle speed.

[0108] The second acquisition module 502 is used to activate the engine auxiliary brake if the deviation is greater than a preset value, and to acquire the target braking power based on the current vehicle speed and the target vehicle speed.

[0109] The second acquisition module 502 is also used for

[0110] The first braking force is obtained based on the current vehicle speed and the target vehicle speed;

[0111] The second braking force is obtained based on the vehicle's mass, current speed, and previous speed.

[0112] Based on the first braking force and the second braking force, the braking force requirement of the vehicle is obtained;

[0113] The target braking power is obtained based on the braking force requirement and the vehicle's current speed.

[0114] The second acquisition module 502 is also used for

[0115] The target speed difference is obtained based on the current vehicle speed and the target vehicle speed.

[0116] The first braking force is obtained based on the target vehicle speed difference.

[0117] The second acquisition module 502 is further configured to obtain the difference between the current vehicle speed and the vehicle speed at the previous moment.

[0118] The difference between the current vehicle speed and the vehicle speed at the previous moment is obtained;

[0119] The second braking force is obtained based on the current speed difference and the mass of the vehicle.

[0120] The estimation module 503 is used to estimate the braking power that the engine auxiliary brake can provide based on the current engine operating information.

[0121] If the available power is less than the target braking power, the instrument program will alarm and remind the driver to manually adjust the vehicle gear to lower the vehicle gear and increase the engine speed, thereby increasing the available braking power of the engine auxiliary brake.

[0122] The processing module 504 is further configured to, if the available power is greater than or equal to the target braking power, continue to compare whether the deviation is greater than the preset value until the deviation is less than the preset value, and then turn off the engine auxiliary brake.

[0123] This application also provides a braking device for a heavy-duty tractor vehicle, comprising: at least one processor and a memory;

[0124] The memory stores computer-executed instructions;

[0125] The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to execute a braking cruise control method for a heavy-duty tractor vehicle.

[0126] Figure 6 This is a hardware schematic diagram of a braking device for a heavy-duty tractor provided in an embodiment of the present invention. Figure 6As shown, the braking device 60 for a heavy-duty tractor provided in this embodiment includes at least one processor 601 and a memory 602. The device 60 also includes a communication component 603. The processor 601, memory 602, and communication component 603 are connected via a bus 604.

[0127] In a specific implementation, at least one processor 601 executes computer execution instructions stored in the memory 602, causing at least one processor 601 to perform the above method.

[0128] The specific implementation process of processor 601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0129] In the above Figure 6 In the illustrated embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0130] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0131] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0132] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the braking and cruise control method for a heavy-duty tractor as described above.

[0133] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0134] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0135] The division of units described herein is merely a logical functional division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0136] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0137] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0138] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0139] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0140] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A braking cruise control method for a heavy-duty tractor vehicle, characterized in that, include: When the brake cruise mode is activated, the deviation between the vehicle's current speed and the target speed is obtained when the vehicle is going downhill. If the deviation is greater than the preset value, the engine auxiliary brake is activated, and the target braking power is obtained based on the current vehicle speed and the target vehicle speed. Based on the current engine operating information, the braking power that the engine auxiliary brake can provide is estimated; If the available braking power is less than the target braking power, the instrument program will alarm and remind the driver to manually adjust the vehicle gear to lower the vehicle gear and increase the engine speed, so that the available braking power of the engine auxiliary brake can be increased. The step of obtaining the target braking power based on the current vehicle speed and the target vehicle speed includes: The first braking force is obtained based on the current vehicle speed and the target vehicle speed; The second braking force is obtained based on the vehicle's mass, current speed, and previous speed. The first braking force and the second braking force are added together to obtain the vehicle's braking force requirement; The target braking power is obtained based on the braking force requirement and the vehicle's current speed. The formula for obtaining the target braking power includes: in, For the target braking power, For the vehicle's braking force requirements, Current vehicle speed For the target vehicle speed, The speed of the vehicle at the previous moment. The coefficient is related to vehicle speed and resistance, where m is the mass of the vehicle; The step of obtaining the first braking force based on the current vehicle speed and the target vehicle speed includes: The target speed difference is obtained based on the current vehicle speed and the target vehicle speed. The first braking force is obtained based on the target vehicle speed difference. The step of obtaining the second braking force based on the vehicle's mass, current speed, and previous speed includes: The difference between the current vehicle speed and the vehicle speed at the previous moment is obtained; The second braking force is obtained based on the current speed difference and the mass of the vehicle.

2. The method according to claim 1, characterized in that, The process of obtaining the deviation between the vehicle's current speed and the target speed includes: The current speed of the vehicle is obtained through real-time monitoring, and the target speed of the vehicle is also obtained. The deviation is obtained by subtracting the target vehicle speed from the current vehicle speed.

3. The method according to claim 1, characterized in that, The step of estimating the braking power that the engine auxiliary brake can provide based on the current engine operating information includes: Based on the current engine speed, intake air volume, and intercooler pressure information, combined with engine map data, the braking power that the engine auxiliary brake can provide is estimated.

4. The method according to claim 1, characterized in that, After estimating the braking power that the engine auxiliary brake can provide based on the current engine operating information, the method further includes: If the available kinetic power is greater than or equal to the target braking power, then the deviation is continuously compared to see if it is greater than the preset value until the deviation is less than the preset value, at which point the engine auxiliary brake is turned off.

5. A braking device for a heavy-duty tractor vehicle, characterized in that, include: The first acquisition module is used to acquire the deviation between the vehicle's current speed and the target speed when the vehicle is going downhill under the condition that the brake cruise mode is activated. The second acquisition module is used to activate the engine auxiliary brake if the deviation is greater than a preset value, and to acquire the target braking power based on the current vehicle speed and the target vehicle speed. The estimation module is used to estimate the braking power that the engine auxiliary brake can provide based on the current engine operating information. The processing module is used to alert the driver via an instrument program if the available power is less than the target braking power, so as to manually adjust the vehicle gear to lower the vehicle gear and increase the engine speed, thereby increasing the available braking power of the engine auxiliary brake. The second acquisition module is specifically used for: The first braking force is obtained based on the current vehicle speed and the target vehicle speed; The second braking force is obtained based on the vehicle's mass, current speed, and previous speed. The first braking force and the second braking force are added together to obtain the vehicle's braking force requirement; The target braking power is obtained based on the braking force requirement and the vehicle's current speed. The formula for obtaining the target braking power includes: in, For the target braking power, For the vehicle's braking force requirements, Current vehicle speed For the target vehicle speed, The speed of the vehicle at the previous moment. The coefficient is related to vehicle speed and resistance, where m is the mass of the vehicle; The second acquisition module is specifically used for: The target speed difference is obtained based on the current vehicle speed and the target vehicle speed. The first braking force is obtained based on the target vehicle speed difference. The second acquisition module is specifically used for: The difference between the current vehicle speed and the vehicle speed at the previous moment is obtained; The second braking force is obtained based on the current speed difference and the mass of the vehicle.

6. A braking device for a heavy-duty tractor vehicle, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the braking cruise control method for a heavy-duty tractor vehicle as described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the braking cruise control method for a heavy-duty tractor vehicle as described in any one of claims 1-4.

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