A braking force control method and device for heavy vehicles used in intelligent driving

Abstract

The present application provides a method and device for controlling the braking force of heavy-duty vehicles for intelligent driving, which relates to intelligent driving technology. The method includes: the intelligent collaborative controller of the braking force determines the calling degree of the basic braking module and the auxiliary braking module according to the braking information; the intelligent collaborative controller of the braking force sends a deceleration request to the basic braking module and sends a negative torque request to the auxiliary braking module according to the motion state of the vehicle and the calling degree. The control method of the present application solves the problem of controlling the braking force of heavy-duty vehicles for intelligent driving based on the combined braking of the basic control unit and the auxiliary control unit; the control method of the present application solves the problem of reduced braking capacity when the basic braking module is used for a long time, and low braking capacity and long braking response time when the auxiliary braking module is used according to the braking information; the control method of the present application solves the problem of the inability to accurately control the braking force according to the motion state of the vehicle.

Description

Technical Field

[0001] The present application relates to intelligent driving technology, and in particular to a method and device for controlling the braking force of a heavy-duty vehicle for intelligent driving. Background Art

[0002] With economic development and technological progress, intelligent driving technology has become increasingly mature. Vehicle braking performance, as a major factor in the safety and comfort of intelligent driving, has received widespread attention.

[0003] The braking system of a heavy-duty vehicle typically consists of a basic braking module and an auxiliary braking module. These systems, influenced by the vehicle's configuration, lack intelligent coordinated control. During intelligent driving, if the basic braking module is used, prolonged braking can lead to a decrease in braking capacity. If a single auxiliary braking module is used, braking capacity is weak and response is delayed, failing to meet safety requirements. Summary of the Invention

[0004] The present application provides a heavy-duty vehicle braking force control method and device for intelligent driving, which is used to solve the problem that if a basic braking module is used during intelligent driving, long-term braking will lead to a decrease in braking ability; if a single auxiliary braking module is used, the braking ability is weak and the response is delayed, which cannot meet safety requirements.

[0005] In a first aspect, the present application provides a heavy-duty vehicle braking force control method for intelligent driving, comprising:

[0006] The braking force intelligent cooperative controller of the intelligent driving domain controller of the heavy-duty vehicle receives braking information sent by the intelligent driving controller of the heavy-duty vehicle;

[0007] The intelligent collaborative controller of braking force determines the calling degree of basic braking module and auxiliary braking module according to the braking information;

[0008] The intelligent cooperative controller for braking force receives the vehicle motion status from the vehicle sensor of the heavy vehicle;

[0009] The intelligent collaborative controller of braking force sends a deceleration request to the basic braking module and a negative torque request to the auxiliary braking module according to the vehicle's motion state and the calling degree.

[0010] In one possible design, the braking information includes a first expected deceleration and a braking urgency level;

[0011] Accordingly, the intelligent collaborative controller for braking force determines the degree of activation of the basic braking module and the auxiliary braking module based on the braking information, including:

[0012] The intelligent collaborative controller of the braking force obtains a distribution mode of the first desired deceleration according to the braking urgency;

[0013] The intelligent collaborative controller of braking force determines the calling degree of basic braking module and auxiliary braking module according to the distribution method.

[0014] In a possible design, the ego vehicle motion state includes the ego vehicle speed and ego vehicle load;

[0015] Accordingly, the intelligent coordinated braking force controller sends a deceleration request to the basic braking module and a negative torque request to the auxiliary braking module based on the vehicle's motion state and the call level, including:

[0016] The intelligent collaborative controller for braking force determines the required deceleration of the basic braking module and the required negative torque of the auxiliary braking module based on the call level, vehicle speed, and vehicle load;

[0017] The intelligent collaborative controller of braking force sends a deceleration request to the basic brake module according to the required deceleration;

[0018] The intelligent collaborative controller of braking force sends a negative torque request to the auxiliary braking module according to the required negative torque.

[0019] In one possible design, the foundation brake module includes an electronically controlled brake system;

[0020] An auxiliary brake module including at least one of the following brake systems: an engine in-cylinder brake system, a retarder brake system, and an engine exhaust brake system;

[0021] Accordingly, the braking force intelligent collaborative controller sends a deceleration request to the basic brake module according to the required deceleration, including:

[0022] The intelligent collaborative controller of braking force sends a deceleration request to the electronic control braking system according to the required deceleration;

[0023] The intelligent collaborative controller for braking force sends a negative torque request to the auxiliary braking module based on the required negative torque, including:

[0024] The intelligent coordinated braking force controller determines a first required negative torque of the engine in-cylinder braking system, a second required negative torque of the retarder braking system, and a third required negative torque of the engine exhaust braking system according to the required negative torque;

[0025] The braking force intelligent collaborative controller sends a first negative torque request to the engine in-cylinder braking system according to the first required negative torque;

[0026] The braking force intelligent collaborative controller sends a second negative torque request to the retarder braking system according to the second required negative torque;

[0027] The braking force intelligent coordinated controller sends a third negative torque request to the engine exhaust braking system according to the third required negative torque.

[0028] In one possible design, the ego vehicle motion state also includes the ego vehicle deceleration;

[0029] The intelligent collaborative controller for braking force adjusts the required deceleration and / or required negative torque according to the deceleration of the vehicle;

[0030] Accordingly, after the braking force intelligent collaborative controller sends a negative torque request to the auxiliary braking module according to the required negative torque, the controller further includes:

[0031] The intelligent collaborative controller for braking force receives the deceleration of the vehicle;

[0032] The intelligent collaborative controller for braking force compares the vehicle deceleration with the first desired deceleration;

[0033] If the vehicle deceleration is not equal to the first expected deceleration, the braking force intelligent collaborative controller adjusts the required deceleration and / or required negative torque according to the vehicle deceleration, and sends a deceleration request and / or negative torque request.

[0034] In one possible design, the braking information further includes a second expected deceleration;

[0035] The braking force intelligent collaborative controller adjusts the required deceleration and / or required negative torque according to the second expected deceleration;

[0036] Accordingly, after the braking force intelligent collaborative controller sends a negative torque request to the auxiliary braking module according to the required negative torque, the controller further includes:

[0037] The braking force intelligent collaborative controller receives a second desired deceleration;

[0038] The braking force intelligent collaborative controller compares the second desired deceleration with the first desired deceleration;

[0039] If the second expected deceleration is greater than the first expected deceleration, the braking force intelligent collaborative controller adjusts the required deceleration and / or required negative torque according to the second expected deceleration, and sends a deceleration request and / or negative torque request.

[0040] In a possible design, the braking information also includes an expected braking time and a maximum braking time of a basic braking module;

[0041] The intelligent collaborative controller for braking force adjusts the required deceleration and / or required negative torque according to the maximum braking time;

[0042] Accordingly, after the braking force intelligent collaborative controller sends a deceleration request to the basic brake module according to the required deceleration, it also includes:

[0043] The braking force intelligent collaborative controller receives the expected braking time and the maximum braking time;

[0044] The intelligent collaborative controller for braking force compares the expected braking time with the maximum braking time;

[0045] If the expected braking time is greater than the maximum braking time, the braking force intelligent collaborative controller adjusts the required deceleration and / or required negative torque according to the maximum braking time and sends a deceleration request and / or negative torque request.

[0046] In one possible design, the ego-vehicle motion state also includes the actuator state;

[0047] Accordingly, after the braking force intelligent collaborative controller sends a deceleration request to the basic brake module according to the required deceleration, it also includes:

[0048] The intelligent collaborative controller for braking force receives the actuator status;

[0049] The intelligent collaborative controller for braking force determines the braking cycle of the basic braking module and / or the auxiliary braking module according to the actuator status.

[0050] In one possible design, the braking information also includes a control mode;

[0051] Control modes include: slow retreat mode and direct retreat mode;

[0052] If the first expected deceleration is not greater than zero, the control mode is the slow retreat mode;

[0053] If the intelligent driving is turned off, the control mode is straight back mode;

[0054] Accordingly, after the braking force intelligent collaborative controller determines the braking cycle of the basic braking module and / or the auxiliary braking module according to the actuator state, it also includes:

[0055] If the control mode is slow retreat mode, the braking force intelligent collaborative controller stops sending negative torque requests and deceleration requests after at least one braking cycle;

[0056] If the control mode is direct reverse mode, the braking force intelligent collaborative controller stops sending negative torque requests and deceleration requests.

[0057] In a second aspect, the present application provides a device for a heavy-duty vehicle braking force control method based on intelligent driving, comprising:

[0058] Intelligent driving domain controller, intelligent driving controller, vehicle sensor, basic braking module, auxiliary braking module;

[0059] The input end of the intelligent driving domain controller is connected to the output end of the intelligent driving controller and the vehicle sensor through signal lines; the output end of the intelligent driving domain controller is connected to the input end of the basic braking module and the auxiliary braking module through signal lines.

[0060] The intelligent driving domain controller includes: a braking force intelligent collaborative controller; the input end of the braking force intelligent collaborative controller is connected to the output end of the intelligent driving controller and the vehicle sensor through signal lines; the output end of the braking force intelligent collaborative controller is connected to the input end of the basic braking module and the auxiliary braking module through signal lines;

[0061] The intelligent driving controller is used to send braking information including but not limited to the first expected deceleration, control mode, braking urgency, second expected deceleration, expected braking time, and maximum braking time;

[0062] The vehicle sensor is used to send the vehicle motion status including but not limited to the vehicle speed, vehicle load, vehicle deceleration, and actuator status;

[0063] The basic brake module includes: an electronically controlled brake system; an input end of the electronically controlled brake system is connected to an output end of the braking force intelligent collaborative controller via a signal line;

[0064] The auxiliary braking module includes: an engine in-cylinder braking system, a retarder braking system, and an engine exhaust braking system; the input ends of the engine in-cylinder braking system, the retarder braking system, and the engine exhaust braking system are respectively connected to the output ends of the braking force intelligent collaborative controller through signal lines.

[0065] The present application provides a method and device for controlling the braking force of a heavy-duty vehicle for intelligent driving, which achieves the following technical effects: the control method of the present application solves the control of the braking force of a heavy-duty vehicle for intelligent driving based on the combined braking of a basic control unit and an auxiliary control unit; the control method of the present application determines the calling degree of the basic control unit and the auxiliary control unit according to braking information, realizes the use of different braking methods in different braking modes, and solves the problem of reduced braking capacity when the basic braking module is used for a long time, and low braking capacity and long braking response time when the auxiliary braking module is used; the control method of the present application determines the braking force that the basic control unit and the auxiliary control unit need to provide according to the vehicle's motion state, realizes real-time output of the required braking force, and solves the problem that the braking force cannot be accurately controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0067] Figure 1 A schematic diagram of a process for controlling the braking force of a heavy-duty vehicle for intelligent driving provided in an embodiment of the present application Figure 1 ;

[0068] Figure 2 A schematic diagram of a process for controlling the braking force of a heavy-duty vehicle for intelligent driving provided in an embodiment of the present application Figure 2 ;

[0069] Figure 3 Schematic diagram of the process of braking force feedback control provided in the embodiment of the present application Figure 3 ;

[0070] Figure 4 Schematic diagram of the process of active braking force control provided in the embodiment of the present application Figure 4 ;

[0071] Figure 5 Schematic diagram of the control method for preventing the basic brake module from braking for a long time provided in the embodiment of the present application Figure 5 ;

[0072] Figure 6 Schematic diagram of the control method of the control mode provided in the embodiment of the present application Figure 6 ;

[0073] Figure 7 A schematic diagram of a process of a heavy-duty vehicle braking force control method for intelligent driving provided in an embodiment of the present application;

[0074] Figure 8 A schematic structural diagram of a heavy-duty vehicle braking force control for intelligent driving provided in an embodiment of the present application.

[0075] Description of reference numerals:

[0076] 10-Intelligent driving domain controller; 11-Braking force intelligent collaborative controller;

[0077] 20-Intelligent driving controller; 21-Braking information; 22-First expected deceleration; 23-Control mode; 24-Braking urgency; 25-Second expected deceleration; 26-Expected braking time; 27-Maximum braking time;

[0078] 30 - Vehicle sensor; 31 - Vehicle motion status; 32 - Vehicle speed; 33 - Vehicle load; 34 - Vehicle deceleration; 35 - Actuator status;

[0079] 40-Basic brake module; 41-Deceleration request; 42-Electronic control brake system;

[0080] 50-Auxiliary brake module; 51-Negative torque request; 52-Engine in-cylinder braking system; 53-Retarder braking system; 54-Engine exhaust braking system. DETAILED DESCRIPTION

[0081] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0082] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0083] First, the relevant concepts or nouns involved in this application are explained:

[0084] A heavy-duty vehicle is a vehicle with a maximum gross vehicle mass greater than 3,500 kg, at least four wheels, and designed to carry passengers and cargo. These vehicles typically utilize a multi-axle tandem hydraulic suspension and are typically used to transport large cargo items whose size and weight exceed the limits set by road traffic regulations.

[0085] A Domain Control Unit (DCU) is a centralized electronic control unit architecture that features platform-based, highly integrated, high-performance, and secure information. It divides the vehicle into several domains based on the functions of its electronic components. Each domain is centrally controlled by a more powerful multi-core CPU / GPU, replacing the current distributed electrical and electronic architecture.

[0086] Figure 1 A schematic diagram of a process for controlling the braking force of a heavy-duty vehicle for intelligent driving provided in an embodiment of the present application Figure 1 .like Figure 1 As shown, the present application provides a heavy-duty vehicle braking force control method for intelligent driving, comprising:

[0087] S101: The braking force intelligent collaborative controller of the intelligent driving domain controller of the heavy-duty vehicle receives braking information sent by the intelligent driving controller of the heavy-duty vehicle;

[0088] Specifically, heavy-duty vehicles with intelligent driving include an intelligent driving domain controller (DDC), a centralized architecture of several electronic control units that control intelligent driving. The DDC also includes a braking force intelligent collaborative controller, which intelligently controls the heavy-duty vehicle's braking system based on received information.

[0089] Intelligent driving heavy-duty vehicles also include an intelligent driving controller, which sends processed braking information to other modules.

[0090] An embodiment of the present application provides an intelligent driving heavy-duty vehicle, in which a braking force intelligent collaborative controller receives braking information sent by an intelligent driving controller.

[0091] S102: The intelligent coordinated braking force controller determines the degree of activation of the basic braking module and the auxiliary braking module based on the braking information;

[0092] Specifically, the braking system of a heavy-duty vehicle includes a basic braking module and an auxiliary braking module.

[0093] The basic brake module (BMB) is the primary source of braking force for heavy-duty vehicles. It offers strong braking capabilities, excellent braking results, and fast response times. However, prolonged braking can cause the BMB to overheat, increasing the oil pressure in its brake pipes and increasing brake wear, which in turn reduces the BMB's deceleration. The BMB brakes the wheels of a heavy-duty vehicle's travel system, delivering braking force through deceleration.

[0094] The auxiliary brake module assists in providing braking force for heavy-duty vehicles. Compared to the basic brake module, its braking capacity and effectiveness are weaker, and its braking response time is longer. However, prolonged braking does not cause a decrease in the auxiliary brake module's negative torque. The auxiliary brake module brakes the engine or drive shaft in a heavy-duty vehicle's powertrain, generating braking force through negative torque.

[0095] The intelligent collaborative controller for braking force receives the braking information sent by the intelligent driving controller, analyzes and calculates the received control information, and determines the degree of calling the basic braking module and the auxiliary braking module based on the analysis and calculation results;

[0096] If the braking force intelligent collaborative controller analyzes and calculates the required braking force based on the braking information and finds that the response time of the required braking force is short and the braking capacity is strong, it determines that the required braking force is fully provided by the basic braking module;

[0097] If the braking force intelligent collaborative controller analyzes and calculates the required braking force based on the braking information and finds that the response time is short and there is no braking capacity requirement, it determines that the required braking force is provided by both the basic braking module and the auxiliary braking module. The basic braking module is used to compensate for transient errors and steady-state errors.

[0098] If the braking force intelligent collaborative controller analyzes and calculates the required braking force based on the braking information and determines that the braking capability is strong and there is no response time requirement, it determines that the required braking force is provided by both the basic braking module and the auxiliary braking module;

[0099] If the braking force intelligent collaborative controller analyzes and calculates based on the braking information that the required braking force does not meet the response time and braking capacity requirements, it is determined that the braking force is entirely provided by the auxiliary braking module.

[0100] S103: The intelligent coordinated braking force controller receives the vehicle motion state sent by the vehicle sensor of the heavy vehicle;

[0101] Specifically, the intelligent driving heavy-duty vehicle also includes a vehicle sensor, which sends the processed vehicle motion status to other modules.

[0102] An embodiment of the present application provides an intelligent driving heavy-duty vehicle, in which a braking force intelligent collaborative controller receives the vehicle's motion status transmitted by the vehicle's sensor.

[0103] S104: The intelligent coordinated braking force controller sends a deceleration request to the basic braking module and a negative torque request to the auxiliary braking module according to the vehicle's motion state and the calling degree.

[0104] Specifically, the intelligent collaborative braking controller receives the vehicle's motion status from the vehicle's sensors and analyzes and calculates it. Based on the degree of activation of the basic braking module and the auxiliary braking module and the analysis and calculation results of the vehicle's motion status, it determines the deceleration required by the basic braking module and sends a deceleration request to the basic braking module; it determines the negative torque required by the auxiliary braking module and sends a negative torque request to the auxiliary braking module.

[0105] If the required braking force is entirely provided by the basic brake module, the intelligent brake force collaborative controller analyzes and calculates the deceleration output when the basic brake module provides the required braking force based on the vehicle's motion state, and sends a deceleration request to the basic brake module based on the output deceleration;

[0106] If the required braking force is provided by both the basic brake module and the auxiliary brake module, the intelligent collaborative controller for braking force analyzes and calculates the deceleration output by the basic brake module when providing the required braking force and the negative torque output by the auxiliary brake module when providing the required braking force based on the vehicle's motion state. The controller sends a deceleration request to the basic brake module based on the output deceleration and a negative torque request to the auxiliary brake module based on the output negative torque.

[0107] If the required braking force is entirely provided by the auxiliary braking module, the braking force intelligent collaborative controller analyzes and calculates the negative torque output when the auxiliary braking module provides the required braking force based on the vehicle's motion state, and sends a negative torque request to the auxiliary braking module based on the output negative torque.

[0108] The method provided in this embodiment achieves the following technical effects: the control method of this application solves the control of the braking force of heavy-duty vehicles with intelligent driving based on the combined braking of the basic control unit and the auxiliary control unit; the control method of this application determines the calling degree of the basic control unit and the auxiliary control unit according to the braking information, realizes the use of different braking methods in different braking modes, and solves the problem of reduced braking capacity when the basic braking module is used for a long time, and low braking capacity and long braking response time when the auxiliary braking module is used; the control method of this application determines the braking force that the basic control unit and the auxiliary control unit need to provide according to the movement state of the vehicle, realizes real-time output of the required braking force, and solves the problem that the braking force cannot be accurately controlled.

[0109] Figure 2 A schematic diagram of a process for controlling the braking force of a heavy-duty vehicle for intelligent driving provided in an embodiment of the present application Figure 2 ;

[0110] Figure 3 Schematic diagram of the process of braking force feedback control provided in the embodiment of the present application Figure 3 ;

[0111] Figure 4 Schematic diagram of the process of active braking force control provided in the embodiment of the present application Figure 4 ;

[0112] Figure 5 Schematic diagram of the control method for preventing the basic brake module from braking for a long time provided in the embodiment of the present application Figure 5 ;

[0113] Figure 6 Schematic diagram of the control method of the control mode provided in the embodiment of the present application Figure 6 ;

[0114] Figure 7 A process diagram of a heavy-duty vehicle braking force control method for intelligent driving provided in an embodiment of the present application.

[0115] like Figure 2 As shown, the braking information includes a first expected deceleration and a braking urgency level;

[0116] Accordingly, S102: the intelligent coordinated braking force controller determines the calling degree of the basic braking module and the auxiliary braking module according to the braking information, including:

[0117] S201: The braking force intelligent collaborative controller obtains a first desired deceleration distribution method according to the braking urgency;

[0118] Specifically, the braking force intelligent collaborative controller receives the first expected deceleration and braking urgency sent by the intelligent driving controller, analyzes and calculates the received braking urgency, and obtains the shortest response time of the basic heavy-duty vehicle braking system based on the analysis and calculation results.

[0119] The braking force intelligent collaborative controller compares the shortest response time of the braking system with the shortest response time of the auxiliary braking module to obtain a distribution method of the first desired deceleration;

[0120] If the shortest response time of the braking system is less than the shortest response time of the auxiliary braking module, and the analysis and calculation shows that the required braking force response time is short, it is determined that the required braking force is preferentially provided by the basic braking module;

[0121] If the shortest response time of the braking system is not less than the shortest response time of the auxiliary braking module, and analysis and calculation show that the required braking force has no response time requirement, it is determined that the braking force can be provided preferentially by the auxiliary braking module.

[0122] S202: The intelligent coordinated braking force controller determines the calling degree of the basic braking module and the auxiliary braking module according to the distribution method.

[0123] If the braking force is preferentially provided by the basic brake module, and the first expected deceleration is greater than the maximum braking capacity of the auxiliary brake module, and the analysis and calculation show that the required braking response time is short and the braking capacity is strong, it is determined that the required braking force is entirely provided by the basic brake module;

[0124] If the braking force is preferentially provided by the basic brake module, and the first expected deceleration is not greater than the maximum braking capacity of the auxiliary brake module, and the analysis and calculation shows that the required braking force response time is short and there is no braking capacity requirement, then it is determined that the required braking force is provided by both the basic brake module and the auxiliary brake module, and the basic brake module is used to compensate for transient errors and steady-state errors;

[0125] If the braking force can be preferentially provided by the auxiliary brake module, and the first expected deceleration is greater than the maximum braking capacity of the auxiliary brake module, and the analysis and calculation show that the required braking force has a strong braking capacity and no braking response time requirement is required, then it is determined that the required braking force is provided by both the basic brake module and the auxiliary brake module, and the basic brake module is used to compensate for the steady-state error;

[0126] If the braking force can be provided preferentially by the auxiliary braking module, and the first expected deceleration is not greater than the maximum braking capacity of the auxiliary braking module, and the analysis and calculation shows that the required braking force does not have any requirements for braking response time and braking capacity, then it is determined that the braking force is provided entirely by the auxiliary braking module.

[0127] In another preferred embodiment, the motion state of the ego vehicle includes the ego vehicle speed and the ego vehicle load;

[0128] Accordingly, S104: the intelligent coordinated braking force controller sends a deceleration request to the basic braking module and a negative torque request to the auxiliary braking module according to the vehicle's motion state and the call level, including:

[0129] S203: The intelligent coordinated braking force controller determines the required deceleration of the basic braking module and the required negative torque of the auxiliary braking module based on the call level, the vehicle speed, and the vehicle load;

[0130] Specifically, the intelligent collaborative braking controller determines the deceleration that the basic braking module needs to output and the negative torque that the auxiliary braking module needs to output based on the degree of call of the basic braking module and the auxiliary braking module, as well as the analysis and calculation results of the vehicle speed and load.

[0131] To ensure the accuracy of analysis and calculation, the intelligent collaborative controller for braking force needs to obtain the vehicle load. In this embodiment, the following method is used to calculate the vehicle load:

[0132] During stable vehicle operation, the intelligent driving domain controller receives the current engine torque, engine speed, and vehicle acceleration, and calculates the current vehicle driving force based on the current engine torque and engine speed; the intelligent driving domain controller receives the next engine torque, engine speed, and vehicle acceleration, and calculates the next vehicle driving force based on the next engine torque and engine speed; the time span between the two moments is small, and the operating environment of the heavy-duty vehicle is basically the same. The air resistance, rolling resistance, and slope resistance experienced by the heavy-duty vehicle at the two moments are basically the same, and these parameters can be ignored; the vehicle load of the heavy-duty vehicle is calculated using the vehicle driving force and vehicle acceleration at the two moments according to the following formula:

[0133]

[0134] Where m is the vehicle load, T1 is the current driving force of the vehicle, T0 is the driving force of the vehicle at the previous moment, i is the transmission ratio, a1 is the current acceleration of the vehicle, a0 is the acceleration of the vehicle at the previous moment, δ is the vehicle rotation mass conversion coefficient, and r is the rolling radius of the heavy-duty vehicle tire.

[0135] If the required braking force is entirely provided by the basic brake module, the intelligent brake force collaborative controller analyzes and calculates the deceleration output when the basic brake module provides the first required deceleration based on the vehicle speed and vehicle load;

[0136] If the required braking force is provided by both the basic brake module and the auxiliary brake module, the intelligent collaborative controller for braking force analyzes and calculates the deceleration output when the basic brake module provides the required braking force and the negative torque output when the auxiliary brake module provides the required braking force based on the vehicle speed and vehicle load;

[0137] If the required braking force is entirely provided by the auxiliary braking module, the braking force intelligent collaborative controller analyzes and calculates the negative torque output when the auxiliary braking module provides the first required deceleration based on the vehicle speed and vehicle load.

[0138] S204: The braking force intelligent collaborative controller sends a deceleration request to the basic braking module according to the required deceleration;

[0139] Specifically, after analyzing and calculating the required deceleration of the basic braking module, the intelligent collaborative controller of braking force sends a deceleration request to the basic braking module, and controls the basic braking module to output the required deceleration according to the deceleration request.

[0140] S206: The braking force intelligent collaborative controller sends a negative torque request to the auxiliary braking module according to the required negative torque.

[0141] Specifically, after the braking force intelligent collaborative controller analyzes and calculates the required negative torque of the auxiliary braking module, it sends a negative torque request to the auxiliary braking module and controls the auxiliary braking module to output the required negative torque according to the negative torque request.

[0142] In another preferred embodiment, the foundation brake module includes an electronically controlled brake system;

[0143] An auxiliary brake module including at least one of the following brake systems: an engine in-cylinder brake system, a retarder brake system, and an engine exhaust brake system;

[0144] Accordingly, S204: the braking force intelligent collaborative controller sends a deceleration request to the basic braking module according to the required deceleration, including:

[0145] S205: The intelligent coordinated braking force controller sends a deceleration request to the electronic control braking system according to the required deceleration;

[0146] Specifically, the foundation brake module includes an electronically controlled brake system.

[0147] An electronically controlled brake system (EBS) is an electronically controlled vehicle braking system. It reduces the braking system's response time and pressure buildup time, ensuring electronic braking force distribution throughout the vehicle and consistent control between the driver and trailer. This shortens the vehicle's braking distance and improves its overall braking performance. The EBS actively brakes the vehicle, applying deceleration to the vehicle's driving system.

[0148] After analyzing and calculating the required deceleration of the basic brake module, the intelligent collaborative controller of the braking force sends a deceleration request to the electronic control brake system, and controls the electronic control brake system to output the required deceleration according to the deceleration request.

[0149] S206: The intelligent coordinated braking force controller sends a negative torque request to the auxiliary braking module according to the required negative torque, including:

[0150] S207: The intelligent coordinated braking force controller determines, based on the required negative torque, a first required negative torque for the engine in-cylinder braking system, a second required negative torque for the retarder braking system, and a third required negative torque for the engine exhaust braking system.

[0151] Specifically, the auxiliary brake module includes at least one of the following brake systems: an engine in-cylinder brake system, a retarder brake system, and an engine exhaust brake system.

[0152] The engine's in-cylinder braking system utilizes the compression resistance, internal friction, and intake and exhaust resistance generated during the engine's compression stroke to apply negative torque to the engine crankshaft, achieving a braking effect. During the compression phase, the exhaust valve opens momentarily when the piston is near its uppermost position, releasing high-pressure gas. After the gas is released, the exhaust valve closes, and only the pressure in the cylinder decreases. During the expansion phase, as the piston moves downward from its uppermost position, negative pressure is created in the cylinder, generating a torque in the opposite direction on the crankshaft, thus producing a braking effect. The magnitude of the negative torque output by the in-cylinder braking system is related to the engine crankshaft speed.

[0153] A retarder braking system uses the rotation of the drive shaft to drive the retarder rotor, generating a negative torque on the drive shaft to achieve braking. Depending on their operating principles, retarders include, but are not limited to, hydraulic retarders, electric turbine retarders, and aerodynamic retarders. The magnitude of the negative torque output by the retarder braking system is related to the drive shaft speed.

[0154] During the exhaust phase, the engine exhaust brake system closes the regulating valve on the engine exhaust pipe, increasing the pressure during the exhaust stroke and applying negative torque to the engine crankshaft to achieve a braking effect. The magnitude of the negative torque output by the engine exhaust brake system is related to the engine crankshaft speed.

[0155] The braking effects of the engine in-cylinder braking system, retarder braking system, and engine exhaust braking system decrease in sequence. Therefore, the calling priority of the auxiliary braking module is: engine in-cylinder braking system, retarder braking system, and engine exhaust braking system.

[0156] After analyzing and calculating the required negative torque of the auxiliary braking module, the intelligent collaborative controller of braking force determines the first required negative torque of the engine cylinder braking system, the second required negative torque of the retarder braking system, and the third required negative torque of the engine exhaust braking system based on the braking effect of the required negative torque on the engine cylinder braking system, the retarder braking system, and the engine exhaust braking system.

[0157] S208: The braking force intelligent coordinated controller sends a first negative torque request to the engine in-cylinder braking system according to the first required negative torque;

[0158] Specifically, after analyzing and calculating the first required negative torque of the engine cylinder braking system, the intelligent collaborative controller of braking force sends a first negative torque request to the engine cylinder braking system, and controls the engine cylinder braking system to output the first required negative torque according to the first negative torque request.

[0159] S209: The braking force intelligent coordinated controller sends a second negative torque request to the retarder braking system according to the second required negative torque;

[0160] Specifically, after analyzing and calculating the second required negative torque of the retarder braking system, the braking force intelligent collaborative controller sends a second negative torque request to the retarder braking system, and controls the retarder braking system to output the second required negative torque according to the second negative torque request.

[0161] S210: The braking force intelligent coordinated controller sends a third negative torque request to the engine exhaust braking system according to the third required negative torque.

[0162] Specifically, after analyzing and calculating the third required negative torque of the engine exhaust brake system, the intelligent collaborative controller of braking force sends a third negative torque request to the engine exhaust brake system, and controls the engine exhaust brake system to output the third required negative torque according to the third negative torque request.

[0163] In another preferred embodiment, Figure 3 As shown, the vehicle motion state also includes the vehicle deceleration;

[0164] The intelligent collaborative controller for braking force adjusts the required deceleration and / or required negative torque according to the deceleration of the vehicle;

[0165] Accordingly, after the braking force intelligent coordinated controller sends a negative torque request to the auxiliary braking module according to the required negative torque in S206 , the process further includes:

[0166] S301: The intelligent coordinated braking force controller receives the vehicle deceleration;

[0167] Specifically, the intelligent collaborative controller of braking force obtains the deceleration of the vehicle through the feedforward control method.

[0168] The intelligent braking force coordinated controller receives the first desired deceleration and, based on the degree of urgency and the vehicle's motion state, analyzes and calculates the required deceleration for the basic braking module and the required negative torque for the auxiliary braking module. It then sends a deceleration request to the basic braking module and a negative torque request to the auxiliary braking module. The basic braking module and / or the auxiliary braking module decelerate the heavy-duty vehicle, causing the vehicle's sensor to detect the vehicle's deceleration and transmit it to the intelligent braking force coordinated controller, which then receives the vehicle's deceleration.

[0169] The electronically controlled braking system outputs deceleration to the driving system of the heavy-duty vehicle according to the required deceleration. At this time, the braking force applied to the heavy-duty vehicle is the first braking force.

[0170] The engine cylinder braking system outputs a first negative braking torque to the diesel engine piston of the heavy-duty vehicle according to the first required negative torque. At this time, the braking force applied to the heavy-duty vehicle is a second braking force.

[0171] The retarder braking system outputs a second negative braking torque to the transmission shaft of the heavy-duty vehicle according to the second required negative torque. At this time, the braking force applied to the heavy-duty vehicle is a third braking force.

[0172] The engine exhaust brake system outputs a third negative braking torque to the diesel engine piston of the heavy-duty vehicle according to the third required negative torque. At this time, the braking force applied to the heavy-duty vehicle is a fourth braking force.

[0173] The sum of the first braking force, the second braking force, the third braking force, and the fourth braking force vectors is the vehicle braking force. The basic braking module and the auxiliary braking module provide the heavy-duty vehicle with the vehicle braking force. During the braking process, the deceleration of the heavy-duty vehicle generated by the vehicle braking force is the vehicle deceleration.

[0174] The vehicle sensor monitors the vehicle's deceleration in real time and transmits the collected deceleration to the braking force intelligent collaborative controller in real time. The braking force intelligent collaborative controller receives the vehicle's deceleration in real time.

[0175] S302: The braking force intelligent coordinated controller compares the vehicle deceleration with the first expected deceleration;

[0176] Specifically, the intelligent collaborative braking force controller uses a feedback control method to determine whether the deceleration of the own vehicle is equal to the first desired deceleration; if so, the magnitude of the own vehicle deceleration is maintained unchanged until the first desired deceleration changes; if not, the magnitude of the own vehicle deceleration is adjusted by adjusting the required deceleration and / or required negative torque until the deceleration of the own vehicle is equal to the first desired deceleration.

[0177] S303: If the vehicle deceleration is not equal to the first expected deceleration, the braking force intelligent collaborative controller adjusts the required deceleration and / or required negative torque according to the vehicle deceleration, and sends a deceleration request and / or negative torque request.

[0178] Specifically, if the ego vehicle's deceleration is not equal to the first desired deceleration, the braking force intelligent collaborative controller sends an abnormal status message. At the same time, the braking force intelligent collaborative controller subtracts the ego vehicle's deceleration from the first desired deceleration vector to obtain the difference between the two.

[0179] Based on the difference between the two, the intelligent collaborative braking controller of braking force re-determines the calling degree of the basic braking module and the auxiliary braking module through feedforward control, analyzes and calculates the adjusted required deceleration and / or required negative torque, and re-sends the deceleration request and / or negative torque request until the deceleration of the vehicle is equal to the first expected deceleration.

[0180] In another preferred embodiment, Figure 4 As shown, the braking information also includes a second expected deceleration;

[0181] The braking force intelligent collaborative controller adjusts the required deceleration and / or required negative torque according to the second expected deceleration;

[0182] Accordingly, after the braking force intelligent coordinated controller sends a negative torque request to the auxiliary braking module according to the required negative torque in S206 , the process further includes:

[0183] S401: The braking force intelligent coordinated controller receives a second desired deceleration;

[0184] Specifically, during the braking phase of intelligent driving, the driver steps on the brake pedal, the intelligent driving controller sends a second desired deceleration according to the degree of pedal stepping, and the braking force intelligent collaborative controller receives the second desired deceleration sent by the intelligent driving controller.

[0185] S402: The braking force intelligent coordinated controller compares the second expected deceleration with the first expected deceleration;

[0186] Specifically, after receiving the second desired deceleration, the intelligent collaborative controller for braking force determines the magnitude of the second desired deceleration and the first desired deceleration;

[0187] If the second expected deceleration is not greater than the first expected deceleration, considering the possibility of driver error and to ensure driving safety, the braking force intelligent collaborative controller continues to control the basic braking module and / or auxiliary braking module according to the first expected deceleration.

[0188] If the second expected deceleration is greater than the first expected deceleration, the braking force intelligent cooperative controller switches to controlling the basic brake module and / or the auxiliary brake module according to the second expected deceleration.

[0189] S403: If the second expected deceleration is greater than the first expected deceleration, the braking force intelligent collaborative controller adjusts the required deceleration and / or required negative torque according to the second expected deceleration, and sends a deceleration request and / or negative torque request.

[0190] Specifically, if the second expected deceleration is greater than the first expected deceleration, the braking force intelligent collaborative controller sends an abnormal status message; at the same time, the braking force intelligent collaborative controller recalculates the basic braking module and the auxiliary braking module to provide the heavy-duty vehicle with its own braking force, and the heavy-duty vehicle's own vehicle deceleration generated by its own vehicle braking force through the second expected deceleration, until the own vehicle deceleration is equal to the second expected deceleration.

[0191] During the braking phase of intelligent driving, if the driver intervenes in the braking phase of a heavy vehicle by actively controlling the auxiliary braking module, in order to ensure driving safety, the intelligent collaborative controller of braking force will still control the auxiliary braking module to provide the required braking force based on the braking information and the vehicle's motion status.

[0192] The method of the driver actively controlling the auxiliary brake module includes at least one of the following methods: turning on or off the control switch of the engine cylinder braking system and / or the retarder braking system and / or the engine exhaust braking system of the heavy-duty vehicle.

[0193] In another preferred embodiment, Figure 5 As shown, the braking information also includes the expected braking time and the maximum braking time of the basic braking module;

[0194] The intelligent collaborative controller for braking force adjusts the required deceleration and / or required negative torque according to the maximum braking time;

[0195] Accordingly, after the braking force intelligent collaborative controller sends a deceleration request to the basic braking module according to the required deceleration in S204, the following steps are further included:

[0196] S501: The braking force intelligent collaborative controller receives the expected braking time and the maximum braking time of the basic braking module;

[0197] Specifically, while the basic brake module offers strong braking capacity, good braking effect, and fast braking response time, prolonged braking can cause it to overheat, which in turn reduces its deceleration. To ensure driving safety, the basic brake module cannot be used for extended periods of time. When extended braking is required, the braking force provided by the auxiliary brake module should be increased, while the braking force provided by the basic brake module and / or the braking time of the basic brake module should be reduced.

[0198] The intelligent driving controller analyzes and calculates the expected braking time of the heavy-duty vehicle based on the braking information and the vehicle's motion state. The intelligent driving controller can also analyze and calculate the maximum braking time of the basic braking module based on the vehicle's motion state and the required deceleration of the basic braking module.

[0199] S502: The braking force intelligent collaborative controller compares the expected braking time with the maximum braking time;

[0200] Specifically, the expected braking time is compared with the maximum braking time. If the expected braking time is not greater than the maximum braking time, the required deceleration and / or required negative torque is maintained; if the expected braking time is greater than the maximum braking time, the required deceleration and / or required negative torque is adjusted until the expected braking time is no greater than the maximum braking time.

[0201] S503: If the expected braking time is greater than the maximum braking time, the braking force intelligent collaborative controller adjusts the required deceleration and / or required negative torque according to the maximum braking time, and sends a deceleration request and / or negative torque request.

[0202] Specifically, if the expected braking time is greater than the maximum braking time, the braking force intelligent collaborative controller sends an abnormal status message; at the same time, the braking force intelligent collaborative controller re-determines the calling degree of the basic braking module and the auxiliary braking module according to the maximum braking time, analyzes and calculates the adjusted required deceleration and / or required negative torque, and re-sends the deceleration request and / or negative torque request until the expected braking time is no greater than the maximum braking time.

[0203] In another preferred embodiment, Figure 6 As shown, the ego-vehicle motion state also includes the actuator state;

[0204] Accordingly, after the braking force intelligent collaborative controller sends a deceleration request to the basic braking module according to the required deceleration in S204, the following steps are further included:

[0205] S601: The braking force intelligent collaborative controller receives the actuator status;

[0206] Specifically, the vehicle's sensors monitor the execution status in real time and send it to the intelligent brake force collaborative controller. The actuator status includes but is not limited to the braking cycle of the basic brake module and / or auxiliary brake module.

[0207] The electronically controlled braking system controls the braking and releasing of the brake pads by changing the brake oil pressure, outputting deceleration to the driving system. One set of braking and releasing of the brake pads constitutes one braking cycle of the electronically controlled braking system.

[0208] The engine cylinder brake system releases the high-pressure gas in the cylinder during the engine piston compression phase, forming a negative pressure and outputting a negative torque to the engine crankshaft. One working cycle of the engine piston is one braking cycle of the engine cylinder brake system.

[0209] The retarder braking system drives the rotor to rotate when the transmission shaft rotates, outputting negative torque to the transmission shaft. One rotation of the transmission shaft belongs to one braking cycle of the retarder braking system.

[0210] During the engine exhaust phase, the engine exhaust brake system closes the regulating valve of the exhaust pipe, forming negative pressure and outputting negative torque to the engine crankshaft. One working cycle of the engine piston belongs to one braking cycle of the engine exhaust brake system.

[0211] S602: The braking force intelligent collaborative controller determines a braking cycle of the basic braking module and / or the auxiliary braking module according to the actuator state.

[0212] Specifically, after the intelligent collaborative controller of braking force receives the actuator status sent by the vehicle sensor, it determines the braking cycle of the electronic control braking system, the engine in-cylinder braking system retarder braking system, and the engine exhaust braking system according to the actuator status.

[0213] In another preferred embodiment, Figure 6 As shown, the braking information also includes the control mode;

[0214] Control modes include: slow retreat mode and direct retreat mode;

[0215] If the first expected deceleration is not greater than zero, the control mode is the slow retreat mode;

[0216] If the intelligent driving is turned off, the control mode is straight back mode;

[0217] Accordingly, after the intelligent coordinated braking controller determines the braking cycle of the basic braking module and / or the auxiliary braking module according to the actuator state in step S602, the following steps are further included:

[0218] S603: If the control mode is the slow retreat mode, the braking force intelligent collaborative controller stops sending the negative torque request and the deceleration request after at least one braking cycle;

[0219] Specifically, at the end of the intelligent driving braking phase, the control mode is the slow retreat mode, and the braking force intelligent collaborative controller sends abnormal status information; at the same time, the intelligent driving controller stops sending the first desired deceleration and, based on driving needs, sends an acceleration request or a uniform speed request to the intelligent driving domain controller. Based on the received acceleration request or uniform speed request, the braking force intelligent collaborative controller stops sending negative torque requests and deceleration requests after at least one braking cycle of each braking system, while ensuring the smooth operation of the heavy-duty vehicle. Each braking system also stops outputting deceleration and / or negative torque.

[0220] If the braking force intelligent cooperative controller receives an acceleration request, in order to ensure that the heavy-duty vehicle can complete acceleration in a short time, the braking force intelligent cooperative controller stops sending negative torque requests and deceleration requests for several braking cycles of each braking system within the acceleration response time based on the acceleration response time of the heavy-duty vehicle;

[0221] If the braking intelligent collaborative controller receives a uniform speed request, in order to ensure the driving stability of the heavy-duty vehicle, the braking force intelligent collaborative controller stops sending negative torque requests and deceleration requests based on the time it takes for the heavy-duty vehicle's speed to decay to the critical value and the number of braking cycles of each braking system within the time it takes for the speed to decay.

[0222] S604: If the control mode is the direct reverse mode, the braking force intelligent collaborative controller stops sending negative torque requests and deceleration requests.

[0223] Specifically, when the driver actively turns off intelligent driving, the control mode is straight back mode, and the braking force intelligent collaborative controller sends abnormal status information; at the same time, the braking force intelligent collaborative controller immediately stops sending negative torque requests and deceleration requests.

[0224] like Figure 7 FIG. 1 is a process diagram of a braking force control method for a heavy-duty vehicle with intelligent driving.

[0225] S701: Start the heavy-duty vehicle, turn on intelligent driving, and activate the intelligent driving domain controller and the intelligent collaborative controller for braking force.

[0226] Specifically, after starting a heavy-duty vehicle, powering on the heavy-duty vehicle, and turning on intelligent driving, the intelligent driving domain controller and the braking force intelligent collaborative controller are activated, and the braking force intelligent collaborative controller begins to receive control signals from other controllers and send control signals to the basic braking module and / or auxiliary braking module.

[0227] S702: The braking force intelligent collaborative controller receives braking information sent by the intelligent driving controller;

[0228] Specifically, the braking force intelligent collaborative controller receives braking information sent by the intelligent driving controller through the CAN bus.

[0229] S703: The intelligent coordinated braking force controller determines the degree of activation of the basic braking module and the auxiliary braking module based on the braking information;

[0230] S704: The intelligent coordinated braking force controller receives the vehicle motion state sent by the vehicle sensor;

[0231] Specifically, the braking force intelligent collaborative controller receives the vehicle motion status sent by the vehicle sensor through the CAN bus.

[0232] S705: The intelligent coordinated braking force controller sends a deceleration request to the basic braking module and a negative torque request to the auxiliary braking module according to the call level and the motion state.

[0233] S706: Monitor the deceleration of heavy-duty vehicles in real time, and improve the deceleration control accuracy of the vehicle through feedback control to achieve smooth braking of the vehicle.

[0234] The method provided in this embodiment achieves the following technical effects: the control method of this application solves the control of the braking force of heavy-duty vehicles with intelligent driving based on the combined braking of the basic control unit and the auxiliary control unit; the control method of this application determines the calling degree of the basic control unit and the auxiliary control unit according to the braking information, realizes that different braking modes adopt different braking methods, and solves the problem that the braking ability decreases when the basic braking module is used for a long time, and the braking ability is not large and the braking response time is long when the auxiliary braking module is used; the control method of this application determines the braking force that the basic control unit and the auxiliary control unit need to provide according to the movement state of the vehicle, realizes real-time output of the required braking force, and solves the problem that the braking force cannot be accurately controlled; the control method of this application compares the deceleration of the vehicle with the first expected deceleration through feedback control according to the deceleration of the vehicle, and then uses feedforward control to Adjusting the deceleration of the vehicle achieves precise control of the deceleration of the vehicle and solves the problem of unstable vehicle braking; the control method of the present application adjusts the required deceleration and / or negative torque according to the second expected acceleration, realizes the braking by the driver stepping on the brake pedal during braking, and solves the problem of the inability to actively control braking during braking of heavy-duty vehicles with intelligent driving; the control method of the present application adjusts the required deceleration and / or negative torque according to the required deceleration and maximum braking time, realizes that the maximum braking time of the basic braking module is not greater than the expected braking time, and solves the problem of long-term braking of the basic braking module resulting in a decrease in braking capacity; the control method of the present application determines the braking cycle of the basic braking module and the auxiliary braking module according to the actuator state and control mode, realizes stopping braking in different ways under different control modes, and solves the problem of uncontrollable braking force at the end of the braking stage.

[0235] This embodiment provides a device for a heavy-duty vehicle braking force control method based on intelligent driving. The device provided by the present invention is described in detail below using a detailed embodiment.

[0236] Figure 8 This is a schematic diagram of a heavy-duty vehicle braking force control for intelligent driving provided by an embodiment of the present application. Figure 8 As shown, the present application provides a device for a heavy-duty vehicle braking force control method based on intelligent driving, comprising an intelligent driving domain controller 10, an intelligent driving controller 20, a vehicle sensor 30, a basic braking module 40, and an auxiliary braking module 50;

[0237] The input end of the intelligent driving domain controller 10 is connected to the output end of the intelligent driving controller 20 and the vehicle sensor 30 through signal lines; the output end of the intelligent driving domain controller 10 is connected to the input end of the basic braking module 40 and the auxiliary braking module 50 through signal lines;

[0238] The intelligent driving domain controller 10 includes: a braking force intelligent collaborative controller 11; the input end of the braking force intelligent collaborative controller 11 is connected to the output end of the intelligent driving controller 20 and the vehicle sensor 30 via signal lines; the output end of the braking force intelligent collaborative controller 11 is connected to the input end of the basic braking module 40 and the auxiliary braking module 50 via signal lines;

[0239] The intelligent driving controller 20 is used to send braking information 21 including but not limited to a first desired deceleration 22, a control mode 23, a braking urgency 24, a second desired deceleration 25, an expected braking time 26, and a maximum braking time 27;

[0240] The ego vehicle sensor 30 is used to send the ego vehicle motion state 31 including but not limited to the ego vehicle speed 32, the ego vehicle load 33, the ego vehicle deceleration 34, and the actuator state 35;

[0241] The basic brake module 40 includes: an electronically controlled brake system 42; an input end of the electronically controlled brake system 42 is connected to an output end of the braking force intelligent cooperative controller 11 via a signal line;

[0242] The auxiliary braking module 50 includes: an engine cylinder braking system 52, a retarder braking system 53, and an engine exhaust braking system 54; the input ends of the engine cylinder braking system 52, the retarder braking system 53, and the engine exhaust braking system 54 are respectively connected to the output ends of the braking force intelligent collaborative controller 11 through signal lines.

[0243] Specifically, the braking force intelligent cooperative controller 11 sends a deceleration request 41 to the basic braking module 40 and a negative torque request 51 to the auxiliary braking module 50 according to the braking information 21 and the vehicle motion state 31 .

[0244] This embodiment provides a device for a heavy-duty vehicle braking force control method based on intelligent driving, which can be used to execute the control method in the above embodiment. Its implementation principle and technical effects are similar and will not be described in detail in this embodiment.

[0245] In the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects, and do not limit their order. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity or execution order, and words such as "first" and "second" do not necessarily mean different.

[0246] It should be noted that in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0247] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0248] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0249] It should be understood that the present application is not limited to the exact structure described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A heavy-duty vehicle braking force control method for intelligent driving, characterized in that: include: The braking force intelligent collaborative controller of the intelligent driving domain controller of the heavy-duty vehicle receives braking information sent by the intelligent driving controller of the heavy-duty vehicle; wherein the braking information includes: a first expected deceleration and a braking urgency; The intelligent collaborative controller for braking force analyzes and calculates the braking urgency to obtain a minimum response time of the braking system, and compares the minimum response time of the braking system with the shortest response time of the auxiliary braking module to obtain a distribution method for the first desired deceleration; The braking force intelligent collaborative controller determines the calling degree of the basic braking module and the auxiliary braking module according to the distribution method; The braking force intelligent cooperative controller receives the vehicle motion state sent by the vehicle sensor of the heavy vehicle; wherein the vehicle motion state includes: vehicle speed and vehicle load; The braking force intelligent cooperative controller sends a deceleration request to the basic brake module and a negative torque request to the auxiliary brake module according to the vehicle motion state and the calling degree.

2. The method according to claim 1, characterized in that The intelligent coordinated braking force controller sends the deceleration request to the basic braking module and sends the negative torque request to the auxiliary braking module according to the vehicle motion state and the calling degree, including: The intelligent coordinated braking force controller determines the required deceleration of the basic braking module and the required negative torque of the auxiliary braking module according to the calling degree, the vehicle speed, and the vehicle load; The braking force intelligent collaborative controller sends the deceleration request to the basic braking module according to the required deceleration; The braking force intelligent coordinated controller sends the negative torque request to the auxiliary braking module according to the required negative torque.

3. The method according to claim 2, characterized in that The basic brake module includes: an electronically controlled brake system; The auxiliary brake module includes at least one of the following brake systems: an engine in-cylinder brake system, a retarder brake system, and an engine exhaust brake system; Accordingly, the braking force intelligent collaborative controller sends the deceleration request to the basic braking module according to the required deceleration, including: The braking force intelligent collaborative controller sends the deceleration request to the electronic control braking system according to the required deceleration; The intelligent coordinated braking force controller sends the negative torque request to the auxiliary braking module according to the required negative torque, including: The braking force intelligent coordinated controller determines a first required negative torque of the engine in-cylinder braking system, a second required negative torque of the retarder braking system, and a third required negative torque of the engine exhaust braking system according to the required negative torque; The braking force intelligent coordinated controller sends a first negative torque request to the engine in-cylinder braking system according to the first required negative torque; The braking force intelligent collaborative controller sends a second negative torque request to the retarder braking system according to the second required negative torque; The braking force intelligent coordinated controller sends a third negative torque request to the engine exhaust braking system according to the third required negative torque.

4. The method according to claim 3, characterized in that The vehicle motion state further includes: vehicle deceleration; The braking force intelligent collaborative controller adjusts the required deceleration and / or the required negative torque according to the vehicle deceleration; Accordingly, after the braking force intelligent coordinated controller sends a negative torque request to the auxiliary braking module according to the required negative torque, the controller further includes: The braking force intelligent collaborative controller receives the vehicle deceleration; The braking force intelligent collaborative controller compares the vehicle deceleration with the first expected deceleration; If the vehicle deceleration is not equal to the first expected deceleration, the braking force intelligent collaborative controller adjusts the required deceleration and / or the required negative torque according to the vehicle deceleration, and sends the deceleration request and / or the negative torque request.

5. The method according to claim 3, characterized in that The braking information further includes: a second expected deceleration; The braking force intelligent collaborative controller adjusts the required deceleration and / or the required negative torque according to the second expected deceleration; Accordingly, after the braking force intelligent coordinated controller sends a negative torque request to the auxiliary braking module according to the required negative torque, the controller further includes: The braking force intelligent collaborative controller receives the second expected deceleration; The braking force intelligent collaborative controller compares the second expected deceleration with the first expected deceleration; If the second expected deceleration is greater than the first expected deceleration, the braking force intelligent collaborative controller adjusts the required deceleration and / or the required negative torque according to the second expected deceleration, and sends the deceleration request and / or the negative torque request.

6. The method according to claim 3, characterized in that The braking information further includes: expected braking time, maximum braking time of the basic braking module; The braking force intelligent collaborative controller adjusts the required deceleration and / or the required negative torque according to the maximum braking time; Accordingly, after the braking force intelligent collaborative controller sends the deceleration request to the basic braking module according to the required deceleration, the controller further includes: The braking force intelligent collaborative controller receives the expected braking time and the maximum braking time; The braking force intelligent collaborative controller compares the expected braking time with the maximum braking time; If the expected braking time is greater than the maximum braking time, the braking force intelligent collaborative controller adjusts the required deceleration and / or the required negative torque according to the maximum braking time, and sends the deceleration request and / or the negative torque request.

7. The method according to any one of claims 3 to 6, characterized in that: The vehicle motion state also includes: actuator state; Accordingly, after the braking force intelligent collaborative controller sends the deceleration request to the basic braking module according to the required deceleration, the controller further includes: The braking force intelligent collaborative controller receives the actuator state; The braking force intelligent collaborative controller determines the braking cycle of the basic braking module and / or the auxiliary braking module according to the actuator state.

8. The method according to claim 7, characterized in that The braking information also includes: a control mode; The control modes include: slow retreat mode and direct retreat mode; If the first expected deceleration is not greater than zero, the control mode is the slow retreat mode; If the intelligent driving is turned off, the control mode is the straight-back mode; Accordingly, after the braking force intelligent collaborative controller determines the braking cycle of the basic braking module and / or the auxiliary braking module according to the actuator state, it further includes: If the control mode is the slow retreat mode, the braking force intelligent collaborative controller stops sending the negative torque request and the deceleration request after at least one braking cycle; If the control mode is the direct reverse mode, the braking force intelligent cooperative controller stops sending the negative torque request and the deceleration request.

9. A device based on the control method according to claim 1, characterized in that: Include: An intelligent driving domain controller (10), an intelligent driving controller (20), a vehicle sensor (30), the basic braking module (40), and the auxiliary braking module (50); The input end of the intelligent driving domain controller (10) is connected to the output end of the intelligent driving controller (20) and the vehicle sensor (30) through signal lines; the output end of the intelligent driving domain controller (10) is connected to the input end of the basic braking module (40) and the auxiliary braking module (50) through signal lines; The intelligent driving domain controller (10) comprises: the braking force intelligent collaborative controller (11); the input end of the braking force intelligent collaborative controller (11) is connected to the output end of the intelligent driving controller (20) and the vehicle sensor (30) through signal lines; the output end of the braking force intelligent collaborative controller (11) is connected to the input end of the basic braking module (40) and the auxiliary braking module (50) through signal lines; The intelligent driving controller (20) is used to send the braking information (21) including but not limited to a first expected deceleration (22), a control mode (23), a braking urgency (24), a second expected deceleration (25), an expected braking time (26), and a maximum braking time (27); The vehicle sensor (30) is used to send the vehicle motion state (31) including but not limited to the vehicle speed (32), the vehicle load (33), the vehicle deceleration (34), and the actuator state (35); The basic brake module (40) comprises: an electronically controlled brake system (42); an input end of the electronically controlled brake system (42) is connected to an output end of the braking force intelligent cooperative controller (11) via a signal line; The auxiliary brake module (50) comprises: an engine cylinder brake system (52), a retarder brake system (53), and an engine exhaust brake system (54); the input ends of the engine cylinder brake system (52), the retarder brake system (53), and the engine exhaust brake system (54) are respectively connected to the output end of the braking force intelligent collaborative controller (11) through signal lines.

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