An intelligent drive-brake combination system based on commercial vehicle platooning

Abstract

The present invention discloses an intelligent drive-brake integration system for commercial vehicle platoons, comprising an on-board information collection module, a drive-brake index analysis module, a drive-brake adjustment module, and an adjustment effectiveness determination module. The system is applicable to commercial vehicle platoons where the number of vehicles in the platoon is a multiple of four. The on-board information collection module is used to collect vehicle driving data; the drive-brake index analysis module is used to collect and calculate various indicator parameters related to the status of the platoon vehicles; the drive-brake adjustment module is used to adjust the driving force and braking deceleration of the platoon vehicles during driving, and includes a driving force adjustment module and a braking deceleration adjustment module; and the adjustment effectiveness determination module is used to detect the adjustment effect of the braking deceleration adjustment module, and includes a driving force adjustment effectiveness determination module and a braking deceleration adjustment effectiveness determination module.

Description

Technical Field

[0001] The present invention relates to an intelligent driving and braking combination system based on commercial vehicle platooning. Background Art

[0002] Commercial vehicle platooning is an advanced technology that aims to improve the safety, efficiency and stability of platooning. Commercial vehicle platooning uses intelligent control technology, which can monitor the status of each vehicle in the platoon and the distance between them in real time, which enables the system to make precise adjustments based on the distance and relative speed between vehicles. However, the current safety distances for commercial vehicle driving are mostly regulated based on the normal driving conditions of the vehicles, and little attention is paid to the adjustment of vehicle spacing during braking and starting after braking. In order to improve the safety of commercial vehicles during braking and ensure that the vehicles have sufficient braking distance when braking, it can be considered to make the braking deceleration of the vehicles at the back of the platoon greater during braking, thereby shortening their braking distance; at the same time, when starting after braking, the driving force of the vehicles at the back of the platoon is made greater to ensure that the platoon can return to the vehicle spacing before braking, thereby ensuring the energy efficiency of platooning. Therefore, in order to achieve the above-mentioned purpose, the present invention proposes an intelligent drive and braking combination system based on commercial vehicle platooning. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent drive-brake combination system based on commercial vehicle platooning to solve the problems faced in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: vehicle-mounted information acquisition module, driving and braking index analysis module, driving and braking adjustment module, and adjustment efficiency determination module;

[0005] The intelligent braking system based on commercial vehicle platooning is applicable to commercial vehicle platoons in which the number of vehicles in the platoon is a multiple of 4. The commercial vehicle platoon consists of four commercial vehicles in sequence from the first vehicle to the last vehicle, forming a sub-platoon. The vehicles in each sub-platoon are numbered i in sequence, with i ranging from 1 to 4. The distance S0 between each two sub-platoons must meet the following conditions:

[0006]

[0007] Among them, v represents the speed of the fourth vehicle in the sub-formation, v r represents the relative speed between the fourth vehicle in the sub-formation and the following vehicle, a represents the braking deceleration of the fourth vehicle in the sub-formation, and a l represents the braking deceleration of the vehicle following the fourth vehicle in the sub-platoon, t1 represents the driver's reaction time, t2 represents the braking system's reaction time, and L0 represents the distance between the fourth vehicle in the sub-platoon and the vehicle following it after the vehicle stops;

[0008] The vehicle information collection module is used to collect vehicle driving data, including: vehicle number i in each sub-formation, the maximum value F of each tire ground vertical force value Zmax , vehicle mass m, local acceleration of gravity g, number of tires per commercial vehicle n, actual loaded mass of the vehicle m e , rated load mass of the vehicle m a , the maximum thickness value d of each tire being worn max , the minimum thickness value d of each tire being worn min , the average thickness of each tire worn The time interval t since the last maintenance of the communication system main , the time interval t between the last maintenance of the communication system and the next maintenance of the communication system cyc , the time interval t since the last maintenance of the drive system main1 , the time interval t between the last maintenance of the drive system and the next maintenance of the drive system cyc1 , the time interval t since the last maintenance of the brake system main2 The time interval t between the last maintenance of the brake system and the next maintenance of the brake system cyc2 , the road resistance F of the i-th vehicle in each sub-formation ψ,i , the air resistance F of the i-th vehicle in each sub-formation w,i , the acceleration resistance F of the i-th vehicle in each sub-formation j,i , the ground longitudinal force F of the i-th vehicle in each sub-formation X驱,i , the ground longitudinal force F on the driven wheel of the i-th vehicle in each sub-formation X从,i , the slope resistance F of the i-th vehicle in each sub-formation θ,i ;

[0009] The driving and braking index analysis module is used to collect and calculate various index parameters related to the status of each platoon vehicle, including:

[0010] S1. Establish the motion model of each vehicle in the sub-formation

[0011] S1.1 Establish the driving force model of each vehicle in the sub-formation. The vehicle driving force F drive Satisfies the formula:

[0012] F drive =F ψ +F w +F j

[0013] Among them, F ψ F represents the road resistance of each vehicle, including rolling resistance and slope resistance. w represents the air resistance of each vehicle, F jIndicates the acceleration resistance of each vehicle;

[0014] S1.2 Establish a braking deceleration model for each vehicle in the sub-platoon. The vehicle braking deceleration a brake Satisfies the formula:

[0015]

[0016] Among them, m represents the vehicle mass, F X驱 The longitudinal ground force on each vehicle's driving wheel, F X从 represents the longitudinal ground force on each vehicle's driven wheel, F w represents the air resistance of each vehicle, F θ represents the slope resistance of each vehicle;

[0017] S2. Calculate the status indicators of each vehicle in the sub-platoon according to the following formula, including:

[0018] S2.1 Calculate the load index K of each vehicle based on the actual situation of the i-th vehicle in the sub-formation 1,i ,

[0019]

[0020] Among them, w1 and w2 represent weight coefficients;

[0021] k 11 Indicates the load uniformity coefficient, its value depends on the load distribution coefficient of each wheel Among them F Zmax It represents the maximum value of the vertical force of each tire on the ground, m represents the mass of the vehicle, g represents the local acceleration of gravity, n represents the number of tires per commercial vehicle, when δ≤1.1, k 11 =1.0, when 1.1<δ≤1.3, k 11 =1.2, when δ>1.3, k 11 =1.5;

[0022] k 12 Indicates the cargo hazard factor. When a commercial vehicle carries hazardous chemicals, k 12 =0.8, when the commercial vehicle carries glass products, k 12 =0.9, when the commercial vehicle carries refrigerated and fresh goods, k 12 =1.1, in other cases, k 12 =1.0;

[0023] k 13 Indicates the cargo state coefficient. When the cargo state is liquid, k 13 =0.9, when the cargo is in granular or powdery form, k13 =1.1, in other cases, k 13 =1.0;

[0024] k 14 represents the loading percentage coefficient, whose value depends on the vehicle's loading ratio η, where m e Indicates the actual loading mass of the driver, m a Indicates the rated load mass of the driver. When η≤50%, k 14 =0.8, when 50%<η≤80%, k 14 =1.0, when η>80%, k 14 =1.2;

[0025] k 15 Indicates the cargo packaging coefficient. When the cargo has no outer box packaging, k 15 =0.8, when the goods are packed in outer boxes, k 15 =1.0;

[0026] k 16 Indicates the strict coefficient of the transportation environment. When the goods have strict temperature and humidity requirements for the transportation environment, k 16 =0.8, in other cases, k 16 =1.0;

[0027] k 17 Indicates the tire wear uniformity coefficient, whose value depends on the tire wear uniformity coefficient of each commercial vehicle Among them, d max Indicates the maximum thickness of each tire worn, d min Indicates the minimum thickness value of each tire being worn. Indicates the average thickness of each tire worn. When η<15%, k 17 =1.2, when η≥15%, k 17 =1.6;

[0028] S2.2 Calculate the information synchronization index K of each vehicle based on the actual situation of the i-th vehicle in the sub-formation 2,i ,

[0029]

[0030] Among them, w3 and w4 represent weight coefficients;

[0031] k 21 represents the communication delay coefficient, whose value depends on the average communication delay time t between the vehicles in the formation de , k 21 =10t de ;

[0032] k 22 Represents the network reliability coefficient. When network interruption and communication failure occur, k 22 =1.3, in other cases, k 22 =1.0;

[0033] k 23 It represents the formation size coefficient, and its value depends on the number of sub-formations n in the commercial vehicle formation.

[0034] k 24 represents the driving environment coefficient. When the formation is driving in rainy days, k 24 =1.1, when the formation is traveling in snowy weather, k 24 =1.3, when the formation is traveling in foggy weather, k 24 =1.2, in other cases, k 24 =1.0;

[0035] k 25 represents the driving road condition coefficient. When the formation is driving on mountain roads and rural roads, k 25 =1.2, when the platoon is traveling on the highway, k 25 =1.3, in other cases, k 25 =1.0;

[0036] k 26 It represents the maintenance coefficient of the communication system, and its value depends on the time interval t since the last maintenance of the communication system. main The time interval t between the last maintenance of the communication system and the next maintenance of the communication system cyc ,when When k 26 =1.3, when When k 26 =1.2, when When k 26 =1.1, k 26 =1.0;

[0037] S2.3 Calculate the driving index K of each vehicle based on the actual situation of the i-th vehicle in the sub-formation 3,i ,

[0038]

[0039] Among them, w5 and w6 represent weight coefficients;

[0040] k 31 Indicates the energy recovery coefficient. When the platoon vehicles have a braking energy recovery device to assist in driving, k 31 =0.9, in other cases, k31 =1.0;

[0041] k 32 represents the driving mode coefficient, whose value depends on the driving style of the driver of the sub-platoon leader. When the driver prefers the sports mode, k 32 =1.5, when the driver prefers comfort mode, k 32 =0.8, in other cases, k 32 =1.0;

[0042] k 33 It represents the driving interference coefficient. When an external vehicle enters the platoon, k 33 =1.2, in other cases, k 33 =1.0;

[0043] k 34 Indicates the driving temperature coefficient. When the vehicle engine and battery are in an unsuitable operating temperature range, k 34 =0.8, in other cases, k 34 =1.0;

[0044] k 35 It represents the maintenance factor of the drive system, and its value depends on the time interval t since the last maintenance of the drive system. main1 , the time interval t between the last maintenance of the drive system and the next maintenance of the drive system cyc1 ,when When k 35 =1.3, when When k 35 =1.0;

[0045] k 36 represents the braking response coefficient. When the driving response time of the following vehicle in the sub-platoon is less than that of the leading vehicle, k 36 =2.0, in other cases, k 36 =1.0;

[0046] S2.4 Calculate the braking index K of each vehicle based on the actual situation of the i-th vehicle in the sub-formation 4,i ,

[0047]

[0048] Among them, w7 and w8 represent weight coefficients;

[0049] k 41 represents the driver's braking style coefficient. When the driver has an aggressive braking style, k 41 =1.2, when the driver has a moderate braking style, k41 =1.0, when the driver has a gentle braking style, k 41 =0.8;

[0050] k 42 Indicates the cross-influence coefficient. When the front vehicle brakes in an emergency, k 42 =2.0, in other cases, k 42 =1.0;

[0051] k 43 represents the braking response coefficient. When the braking response time of the following vehicle in the sub-platoon is less than that of the leading vehicle, k 43 =2.0, in other cases, k 43 =1.0;

[0052] k 44 Represents the braking interference coefficient. When there is interference from an external vehicle during the platooning process, for the commercial vehicle traveling behind the external vehicle, k 44 =1.5, in other cases, k 44 =1.0;

[0053] k 45 It represents the maintenance factor of the drive system, and its value depends on the time interval t since the last maintenance of the brake system. main2 , the time interval t between the last maintenance of the brake system and the next maintenance of the brake system cyc2 ,when When k 45 =1.3, when When k 45 =1.0;

[0054] S3, respectively calculating the total evaluation parameters of the driving and braking of the i-th vehicle in the sub-formation;

[0055] S3.1 Calculate the total driving force evaluation parameter K of the i-th vehicle in the sub-formation according to the following formula: drive,i ,

[0056]

[0057] Among them, α1, α2, and α3 are weighted values for calculating individual indicators;

[0058] S3.2 Calculate the total braking deceleration evaluation parameter K of the i-th vehicle in the sub-formation according to the following formula: brake,i ,

[0059]

[0060] Among them, β1, β2, and β3 are weighted values calculated for individual indicators;

[0061] The driving and braking adjustment module is used to adjust the driving force of the platoon vehicles and the braking deceleration during braking, including a driving force adjustment module and a braking deceleration adjustment module;

[0062] The regulation effectiveness determination module includes a driving force regulation effectiveness determination module and a braking deceleration regulation effectiveness determination module.

[0063] The driving force adjustment module starts working when the sub-formation vehicle starts again after braking, and adjusts the driving force so that the vehicle with a larger number i in the sub-formation has a greater driving force. It stops working when the distance between the two vehicles in the sub-formation reaches the distance S1 before braking.

[0064]

[0065] Among them, v1 represents the speed of the vehicle, v r1 Indicates the relative speed between the vehicle and the following vehicle, a1 indicates the braking deceleration of the vehicle, a f1 Indicates the braking deceleration of the following vehicle, t 11 Indicates the driver's reaction time, t 21 Indicates the reaction time of the vehicle's braking system, L 01 Indicates the stopping distance between the vehicle and the following vehicle;

[0066] The driving force of each vehicle in the sub-formation satisfies F drive,1 <F drive,2 <F drive,3 <F drive,4 ;

[0067]

[0068] Among them, i represents the number of vehicles in each sub-formation from 1 to 4 in sequence, F drive,i K represents the driving force of the i-th vehicle in each sub-platoon after braking and starting. drive,i F represents the total driving force evaluation parameter of the i-th vehicle in the sub-formation, ψ,i represents the road resistance of the i-th vehicle in each sub-formation, including rolling resistance and slope resistance, F w,i represents the air resistance of the i-th vehicle in each sub-formation, F j,i represents the acceleration resistance of the i-th vehicle in each sub-formation.

[0069] The braking deceleration adjustment module starts working when the sub-formation vehicle brakes, so that the braking deceleration of the vehicle with a larger number i in the sub-formation is greater, ensuring the safe braking of each vehicle. When the vehicle stops, the braking deceleration adjustment module stops working;

[0070] The braking deceleration of each vehicle in the sub-formation satisfies a brake,1 brake,2 ​brake,3 brake,4

[0071]

[0072] Among them, i represents the vehicles in each sub-formation, which are numbered from 1 to 4 in sequence, and a brake,1 represents the braking deceleration of the i-th vehicle in each sub-platoon after braking, K brake,i represents the total braking deceleration evaluation parameter of the i-th vehicle in the sub-platoon, m i represents the mass of the i-th vehicle in each sub-formation, F X驱,i represents the longitudinal ground force on the i-th vehicle in each sub-formation, F X从,i represents the ground longitudinal force on the driven wheel of the i-th vehicle in each sub-formation, F w,i represents the air resistance of the i-th vehicle in each sub-formation, F θ,i represents the slope resistance of the i-th vehicle in each sub-platoon.

[0073] The driving force adjustment efficiency determination module is used to detect the adjustment effect of the driving force adjustment module, and includes a driving efficiency index calculation module and a driving efficiency determination module;

[0074] The driving efficiency index calculation module is used to calculate the driving efficiency index Ind drive ,

[0075]

[0076] S true Indicates the actual value of the distance between the vehicle and the following vehicle after the driving force adjustment module has finished working;

[0077] S ideal Indicates the ideal distance between the vehicle and the following vehicle when the vehicle does not use the intelligent driving and braking combination system based on commercial vehicle platooning;

[0078] T true Indicates the actual working time of each adjustment of the driving force adjustment module;

[0079] T ideal Indicates the ideal working time of each adjustment of the driving force adjustment module;

[0080] The driving performance determination module is used to determine the driving performance according to Ind drive Determine the adjustment effect of the system:

[0081] When Ind drive When ≤0.12, the intelligent driving and braking combined system based on commercial vehicle platooning is working normally;

[0082] When Ind drive ​​When the value is >0.12, the intelligent drive and brake combination system based on commercial vehicle platooning is in an abnormal working state, and the platoon stops using the intelligent drive and brake combination system based on commercial vehicle platooning.

[0083] The braking deceleration adjustment effectiveness determination module is used to detect the adjustment effect of the braking deceleration adjustment module, and includes a braking effectiveness index calculation module and a braking effectiveness determination module;

[0084] The braking performance index calculation module is used to calculate the braking performance index Ind brake ,

[0085]

[0086] L true Indicates the actual value of the distance between the vehicle and the following vehicle after the brake adjustment module has finished working;

[0087] L ideal Indicates the ideal distance between the vehicle and the following vehicle when the vehicle does not use the intelligent driving and braking combination system based on commercial vehicle platooning;

[0088] t true Indicates the actual working time of each adjustment of the brake deceleration adjustment module;

[0089] t ideal Indicates the ideal working time of each adjustment of the brake deceleration adjustment module;

[0090] The braking performance determination module is used to determine the braking performance according to Ind brake Determine the adjustment effect of the system:

[0091] When Ind brake When ≤0.12, the intelligent driving and braking combined system based on commercial vehicle platooning is working normally;

[0092] When Ind brake When the value is >0.12, the intelligent drive and brake combination system based on commercial vehicle platooning is in an abnormal working state, and the platoon stops using the intelligent drive and brake combination system based on commercial vehicle platooning.

[0093] Compared with the prior art, the present invention has the following beneficial effects:

[0094] 1. Adjust the braking deceleration of the vehicle at the rear of the formation to be greater, thereby shortening its braking distance, improving the safety of commercial vehicles during braking, and ensuring sufficient braking distance for vehicles;

[0095] 2. When starting after braking, the driving force of the vehicles farther back in the platoon is increased, ensuring that the platoon can return to the distance between vehicles before braking, reducing air resistance and ensuring energy efficiency of platooning.

[0096] 3. The present invention considers adjusting the driving condition and the braking condition separately to ensure safety and stability during driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0097] The present invention will be further described below in conjunction with the accompanying drawings:

[0098] Figure 1 This is a framework diagram of an intelligent drive-braking combination system based on commercial vehicle platooning proposed by the present invention. DETAILED DESCRIPTION

[0099] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0100] like Figure 1 As shown, the intelligent driving and braking combination system based on commercial vehicle formation of the present invention includes: a vehicle information collection module, a driving and braking index analysis module, a driving and braking adjustment module, and an adjustment efficiency determination module;

[0101] The intelligent braking system based on commercial vehicle platooning is applicable to commercial vehicle platoons in which the number of vehicles in the platoon is a multiple of 4. The commercial vehicle platoon consists of four commercial vehicles in sequence from the first vehicle to the last vehicle, forming a sub-platoon. The vehicles in each sub-platoon are numbered i in sequence, with i ranging from 1 to 4. The distance S0 between each two sub-platoons must meet the following conditions:

[0102]

[0103] Among them, v represents the speed of the fourth vehicle in the sub-formation, v r represents the relative speed between the fourth vehicle in the sub-formation and the following vehicle, a represents the braking deceleration of the fourth vehicle in the sub-formation, and a l represents the braking deceleration of the vehicle following the fourth vehicle in the sub-platoon, t1 represents the driver's reaction time, t2 represents the braking system's reaction time, and L0 represents the distance between the fourth vehicle in the sub-platoon and the vehicle following it after the vehicle stops;

[0104] The vehicle information collection module is used to collect vehicle driving data, including: vehicle number i in each sub-formation, the maximum value F of each tire ground vertical force value Zmax , vehicle mass m, local acceleration of gravity g, number of tires per commercial vehicle n, actual loaded mass of the vehicle m e , rated load mass of the vehicle m a , the maximum thickness of each tire worn d max , the minimum thickness value d of each tire being wornmin , the average thickness of each tire worn The time interval t since the last maintenance of the communication system main , the time interval t between the last maintenance of the communication system and the next maintenance of the communication system cyc , the time interval t since the last maintenance of the drive system main1 , the time interval t between the last maintenance of the drive system and the next maintenance of the drive system cyc1 , the time interval t since the last maintenance of the brake system main2 The time interval t between the last maintenance of the brake system and the next maintenance of the brake system cyc2 , the road resistance F of the i-th vehicle in each sub-formation ψ,i , the air resistance F of the i-th vehicle in each sub-formation w,i , the acceleration resistance F of the i-th vehicle in each sub-formation j,i , the ground longitudinal force F of the i-th vehicle in each sub-formation X驱,i , the ground longitudinal force F on the driven wheel of the i-th vehicle in each sub-formation X从,i , the slope resistance F of the i-th vehicle in each sub-formation θ,i ;

[0105] The driving and braking index analysis module is used to collect and calculate various index parameters related to the status of each platoon vehicle, including:

[0106] S1. Establish the motion model of each vehicle in the sub-formation

[0107] S1.1 Establish the driving force model of each vehicle in the sub-formation. The vehicle driving force F drive Satisfies the formula:

[0108] F drive =F ψ +F w +F j

[0109] Among them, F ψ F represents the road resistance of each vehicle, including rolling resistance and slope resistance. w represents the air resistance of each vehicle, F j represents the acceleration resistance of each vehicle;

[0110] S1.2 Establish a braking deceleration model for each vehicle in the sub-platoon. The vehicle braking deceleration a brake Satisfies the formula:

[0111]

[0112] Among them, m represents the vehicle mass, F X驱The longitudinal ground force on each vehicle's driving wheel, F X从 represents the longitudinal ground force on each vehicle's driven wheel, F w represents the air resistance of each vehicle, F θ represents the slope resistance of each vehicle;

[0113] S2. Calculate the status indicators of each vehicle in the sub-platoon according to the following formula, including:

[0114] S2.1 Calculate the load index K of each vehicle based on the actual situation of the i-th vehicle in the sub-formation 1,i ,

[0115]

[0116] Among them, w1 and w2 represent weight coefficients;

[0117] k 11 Indicates the load uniformity coefficient, its value depends on the load distribution coefficient of each wheel Among them F Zmax It represents the maximum value of the vertical force of each tire on the ground, m represents the mass of the vehicle, g represents the local acceleration of gravity, n represents the number of tires per commercial vehicle, when δ≤1.1, k 11 =1.0, when 1.1<δ≤1.3, k 11 =1.2, when δ>1.3, k 11 =1.5;

[0118] k 12 Indicates the cargo hazard factor. When a commercial vehicle carries hazardous chemicals, k 12 =0.8, when the commercial vehicle carries glass products, k 12 =0.9, when the commercial vehicle carries refrigerated and fresh goods, k 12 =1.1, in other cases, k 12 =1.0;

[0119] k 13 Indicates the cargo state coefficient. When the cargo state is liquid, k 13 =0.9, when the cargo is in granular or powdery form, k 13 =1.1, in other cases, k 13 =1.0;

[0120] k 14 represents the loading percentage coefficient, whose value depends on the vehicle's loading ratio η, where m e Indicates the actual loading mass of the driver, m a Indicates the rated load mass of the driver. When η≤50%, k14 =0.8, when 50%<η≤80%, k 14 =1.0, when η>80%, k 14 =1.2;

[0121] k 15 Indicates the cargo packaging coefficient. When the cargo has no outer box packaging, k 15 =0.8, when the goods are packed in outer boxes, k 15 =1.0;

[0122] k 16 Indicates the strict coefficient of the transportation environment. When the goods have strict temperature and humidity requirements for the transportation environment, k 16 =0.8, in other cases, k 16 =1.0;

[0123] k 17 Indicates the tire wear uniformity coefficient, whose value depends on the tire wear uniformity coefficient of each commercial vehicle Among them, d max Indicates the maximum thickness of each tire worn, d min Indicates the minimum thickness value of each tire being worn. Indicates the average thickness of each tire worn. When η<15%, k 17 =1.2, when η≥15%, k 17 =1.6;

[0124] S2.2 Calculate the information synchronization index K of each vehicle based on the actual situation of the i-th vehicle in the sub-formation 2,i ,

[0125]

[0126] Among them, w3 and w4 represent weight coefficients;

[0127] k 21 represents the communication delay coefficient, whose value depends on the average communication delay time t between the vehicles in the formation de , k 21 =10t de ;

[0128] k 22 Represents the network reliability coefficient. When network interruption and communication failure occur, k 22 =1.3, in other cases, k 22 =1.0;

[0129] k 23 It represents the formation size coefficient, and its value depends on the number of sub-formations n in the commercial vehicle formation.

[0130] k 24 represents the driving environment coefficient. When the formation is driving in rainy days, k 24 =1.1, when the formation is traveling in snowy weather, k 24 =1.3, when the formation is traveling in foggy weather, k 24 =1.2, in other cases, k 24 =1.0;

[0131] k 25 represents the driving road condition coefficient. When the formation is driving on mountain roads and rural roads, k 25 =1.2, when the platoon is traveling on the highway, k 25 =1.3, in other cases, k 25 =1.0;

[0132] k 26 It represents the maintenance coefficient of the communication system, and its value depends on the time interval t since the last maintenance of the communication system. main The time interval t between the last maintenance of the communication system and the next maintenance of the communication system cyc ,when When k 26 =1.3, when When k 26 =1.2, when When k 26 =1.1, k 26 =1.0;

[0133] S2.3 Calculate the driving index K of each vehicle based on the actual situation of the i-th vehicle in the sub-formation 3,i ,

[0134]

[0135] Among them, w5 and w6 represent weight coefficients;

[0136] k 31 Indicates the energy recovery coefficient. When the platoon vehicles have a braking energy recovery device to assist in driving, k 31 =0.9, in other cases, k 31 =1.0;

[0137] k 32 represents the driving mode coefficient, whose value depends on the driving style of the driver of the sub-platoon leader. When the driver prefers the sports mode, k 32 =1.5, when the driver prefers comfort mode, k 32 =0.8, in other cases, k 32 =1.0;

[0138] k 33 It represents the driving interference coefficient. When an external vehicle enters the platoon, k 33 =1.2, in other cases, k 33 =1.0;

[0139] k 34 Indicates the driving temperature coefficient. When the vehicle engine and battery are in an unsuitable operating temperature range, k 34 =0.8, in other cases, k 34 =1.0;

[0140] k 35 It represents the maintenance factor of the drive system, and its value depends on the time interval t since the last maintenance of the drive system. main1 , the time interval t between the last maintenance of the drive system and the next maintenance of the drive system cyc1 ,when When k 35 =1.3, when When k 35 =1.0;

[0141] k 36 represents the braking response coefficient. When the driving response time of the following vehicle in the sub-platoon is less than that of the leading vehicle, k 36 =2.0, in other cases, k 36 =1.0;

[0142] S2.4 Calculate the braking index K of each vehicle based on the actual situation of the i-th vehicle in the sub-formation 4,i ,

[0143]

[0144] Among them, w7 and w8 represent weight coefficients;

[0145] k 41 represents the driver's braking style coefficient. When the driver has an aggressive braking style, k 41 =1.2, when the driver has a moderate braking style, k 41 =1.0, when the driver has a gentle braking style, k 41 =0.8;

[0146] k 42 Indicates the cross-influence coefficient. When the front vehicle brakes in an emergency, k 42 =2.0, in other cases, k 42 =1.0;

[0147] k 43represents the braking response coefficient. When the braking response time of the following vehicle in the sub-platoon is less than that of the leading vehicle, k 43 =2.0, in other cases, k 43 =1.0;

[0148] k 44 Represents the braking interference coefficient. When there is interference from an external vehicle during the platooning process, for the commercial vehicle traveling behind the external vehicle, k 44 =1.5, in other cases, k 44 =1.0;

[0149] k 45 It represents the maintenance factor of the drive system, and its value depends on the time interval t since the last maintenance of the brake system. main2 , the time interval t between the last maintenance of the brake system and the next maintenance of the brake system cyc2 ,when When k 45 =1.3, when When k 45 =1.0;

[0150] S3, respectively calculating the total evaluation parameters of the driving and braking of the i-th vehicle in the sub-formation;

[0151] S3.1 Calculate the total driving force evaluation parameter K of the i-th vehicle in the sub-formation according to the following formula: drive,i ,

[0152]

[0153] Among them, α1, α2, and α3 are weighted values for calculating individual indicators;

[0154] S3.2 Calculate the total braking deceleration evaluation parameter K of the i-th vehicle in the sub-formation according to the following formula: brake,i ,

[0155]

[0156] Among them, β1, β2, and β3 are weighted values calculated for individual indicators;

[0157] The driving and braking adjustment module is used to adjust the driving force of the platoon vehicles and the braking deceleration during braking, including a driving force adjustment module and a braking deceleration adjustment module;

[0158] The regulation effectiveness determination module includes a driving force regulation effectiveness determination module and a braking deceleration regulation effectiveness determination module.

[0159] The driving force adjustment module starts working when the sub-formation vehicle starts again after braking, and adjusts the driving force so that the vehicle with a larger number i in the sub-formation has a greater driving force. It stops working when the distance between the two vehicles in the sub-formation reaches the distance S1 before braking.

[0160]

[0161] Among them, v1 represents the speed of the vehicle, v r1 Indicates the relative speed between the vehicle and the following vehicle, a1 indicates the braking deceleration of the vehicle, a f1 Indicates the braking deceleration of the following vehicle, t 11 represents the driver's reaction time, t 21 Indicates the reaction time of the vehicle's braking system, L 01 Indicates the stopping distance between the vehicle and the following vehicle;

[0162] The driving force of each vehicle in the sub-formation satisfies F drive,1 <F drive,2 <F drive,3 <F drive,4 ;

[0163]

[0164] Among them, i represents the number of vehicles in each sub-formation from 1 to 4 in sequence, F drive,i K represents the driving force of the i-th vehicle in each sub-platoon after braking and starting. drive,i F represents the total driving force evaluation parameter of the i-th vehicle in the sub-formation, ψ,i represents the road resistance of the i-th vehicle in each sub-formation, including rolling resistance and slope resistance, F w,i represents the air resistance of the i-th vehicle in each sub-formation, F j,i represents the acceleration resistance of the i-th vehicle in each sub-formation.

[0165] The braking deceleration adjustment module starts working when the sub-formation vehicle brakes, so that the braking deceleration of the vehicle with a larger number i in the sub-formation is greater, ensuring the safe braking of each vehicle. When the vehicle stops, the braking deceleration adjustment module stops working;

[0166] The braking deceleration of each vehicle in the sub-formation satisfies a brake,1 brake,2 brake,3 brake,4

[0167]

[0168] Among them, i represents the vehicles in each sub-formation, which are numbered from 1 to 4 in sequence, and a brake,1 ​​​represents the braking deceleration of the i-th vehicle in each sub-platoon after braking, K brake,i represents the total braking deceleration evaluation parameter of the i-th vehicle in the sub-platoon, m i represents the mass of the i-th vehicle in each sub-formation, F X驱,i represents the longitudinal ground force on the i-th vehicle in each sub-formation, F X从,i represents the ground longitudinal force on the driven wheel of the i-th vehicle in each sub-formation, F w,i represents the air resistance of the i-th vehicle in each sub-formation, F θ,i represents the slope resistance of the i-th vehicle in each sub-formation.

[0169] The driving force adjustment efficiency determination module is used to detect the adjustment effect of the driving force adjustment module, and includes a driving efficiency index calculation module and a driving efficiency determination module;

[0170] The driving efficiency index calculation module is used to calculate the driving efficiency index Ind drive ,

[0171]

[0172] S true Indicates the actual value of the distance between the vehicle and the following vehicle after the driving force adjustment module has finished working;

[0173] S ideal Indicates the ideal distance between the vehicle and the following vehicle when the vehicle does not use the intelligent driving and braking combination system based on commercial vehicle platooning;

[0174] T true Indicates the actual working time of each adjustment of the driving force adjustment module;

[0175] T ideal Indicates the ideal working time of each adjustment of the driving force adjustment module;

[0176] The driving performance determination module is used to determine the driving performance according to Ind drive Determine the adjustment effect of the system:

[0177] When Ind drive When ≤0.12, the intelligent driving and braking combined system based on commercial vehicle platooning is working normally;

[0178] When Ind drive When the value is >0.12, the intelligent drive and brake combination system based on commercial vehicle platooning is in an abnormal working state, and the platoon stops using the intelligent drive and brake combination system based on commercial vehicle platooning.

[0179] The braking deceleration adjustment effectiveness determination module is used to detect the adjustment effect of the braking deceleration adjustment module, and includes a braking effectiveness index calculation module and a braking effectiveness determination module;

[0180] The braking performance index calculation module is used to calculate the braking performance index Ind brake ,

[0181]

[0182] L true Indicates the actual value of the distance between the vehicle and the following vehicle after the brake adjustment module has finished working;

[0183] L ideal Indicates the ideal distance between the vehicle and the following vehicle when the vehicle does not use the intelligent driving and braking combination system based on commercial vehicle platooning;

[0184] t true Indicates the actual working time of each adjustment of the brake deceleration adjustment module;

[0185] t ideal Indicates the ideal working time of each adjustment of the brake deceleration adjustment module;

[0186] The braking performance determination module is used to determine the braking performance according to Ind brake Determine the adjustment effect of the system:

[0187] When Ind brake When ≤0.12, the intelligent driving and braking combined system based on commercial vehicle platooning is working normally;

[0188] When Ind brake When the value is >0.12, the intelligent drive and brake combination system based on commercial vehicle platooning is in an abnormal working state, and the platoon stops using the intelligent drive and brake combination system based on commercial vehicle platooning.

Claims

1. An intelligent driving and braking system based on commercial vehicle platooning, characterized in that: Includes the following: Vehicle information collection module, driving and braking index analysis module, driving and braking adjustment module, and adjustment efficiency determination module; The intelligent driving and braking combination system based on commercial vehicle platooning is applicable to commercial vehicle platoons in which the number of vehicles in the platoon is a multiple of 4. The commercial vehicle platoon consists of four commercial vehicles in sequence from the head vehicle to the tail vehicle, and the vehicles in each sub-platoon are numbered i in sequence, with i ranging from 1 to 4. The distance between each two sub-platoons is The following conditions must be met: ， in, Indicates the speed of the fourth vehicle in the sub-formation, Indicates the relative speed between the fourth vehicle in the sub-platoon and the following vehicle, represents the braking deceleration of the fourth vehicle in the sub-formation, Indicates the braking deceleration of the vehicle following the fourth vehicle in the sub-formation. Indicates the driver's reaction time, Indicates the braking system reaction time, Indicates the distance between the fourth vehicle in the formation and the following vehicle after the vehicles stop; The vehicle information collection module is used to collect vehicle driving data, including: vehicle number i in each sub-formation, the maximum value of each tire ground vertical force value , vehicle mass m, local gravity acceleration g, number of tires per commercial vehicle n, actual loading mass of the vehicle , the rated load mass of the vehicle , the maximum thickness of each tire worn , the minimum thickness value of each tire being worn , the average thickness of each tire worn , the time interval since the last maintenance of the communication system , the time interval between the last maintenance of the communication system and the next maintenance of the communication system , the time interval since the last maintenance of the drive system The time interval between the last maintenance of the drive system and the next maintenance of the drive system , the time interval since the last maintenance of the brake system , the time interval between the last maintenance of the brake system and the next maintenance of the brake system , the road resistance of the i-th vehicle in each sub-formation , the air resistance of the i-th vehicle in each sub-formation , the acceleration resistance of the i-th vehicle in each sub-formation , the ground longitudinal force of the i-th vehicle in each sub-formation , the ground longitudinal force on the driven wheel of the i-th vehicle in each sub-formation , the slope resistance of the i-th vehicle in each sub-formation ; The driving and braking index analysis module is used to collect and calculate various index parameters related to the status of the platoon vehicles, including: S1. Establish the motion model of each vehicle in the sub-formation S1.1 Establish the driving force model of each vehicle in the sub-formation. Satisfies the formula: ， in, represents the road resistance of each vehicle, including rolling resistance and slope resistance, represents the air resistance of each vehicle, represents the acceleration resistance of each vehicle; S1.2 Establish a braking deceleration model for each vehicle in the sub-platoon. Satisfies the formula: ， Among them, m represents the vehicle mass, represents the longitudinal ground force on each vehicle's respective driving wheel, represents the longitudinal ground force on each vehicle's respective driven wheel, represents the air resistance of each vehicle, represents the slope resistance of each vehicle; S2. Calculate the status indicators of each vehicle in the sub-platoon according to the following formula, including: S2.1 Calculate the load index of each vehicle based on the actual situation of the i-th vehicle in the sub-formation , ， in, represents the weight coefficient; Indicates the load uniformity coefficient, its value depends on the load distribution coefficient of each wheel ,in It represents the maximum value of the vertical force of each tire on the ground, m represents the mass of the vehicle, g represents the local acceleration of gravity, and n represents the number of tires on each commercial vehicle. hour, ,when hour, ,when hour, ; Indicates the cargo risk factor. When a commercial vehicle carries dangerous chemicals, When a commercial vehicle carries glass products, When the commercial vehicle carries refrigerated and fresh goods, , in other cases, ; Indicates the cargo status coefficient. When the cargo is in liquid state, , when the cargo is in granular or powdery form, , in other cases, ; Indicates the loading percentage factor, its value depends on the loading ratio of the vehicle ,in , Indicates the actual loading mass of the driver, Indicates the driver's rated load mass. hour, ,when hour, ; Indicates the cargo packaging coefficient. When the cargo has no outer box packaging measures, , when the goods are packed in outer boxes, ; Indicates the strict coefficient of the transportation environment. When the goods have strict temperature and humidity requirements for the transportation environment, , in other cases, ; Indicates the tire wear uniformity coefficient, whose value depends on the tire wear uniformity coefficient of each commercial vehicle ,in, Indicates the maximum thickness of each tire worn. Indicates the minimum thickness value of each tire being worn. Indicates the average thickness of each tire worn. hour, ,when hour, ; S2.2 Calculate the information synchronization index of each vehicle based on the actual situation of the i-th vehicle in the sub-formation , ， in, represents the weight coefficient; Represents the communication delay coefficient, whose value depends on the average communication delay time between vehicles in the formation ; Indicates the network reliability coefficient. When network interruption and communication failure occur , other cases ; Represents the platoon size coefficient, whose value depends on the number of sub-platoons in the commercial vehicle platoon ; Indicates the driving environment coefficient. When the formation is driving in rainy weather , when the formation is traveling in snowy weather, When the formation is traveling in foggy weather, In other cases, ; Indicates the driving road condition coefficient. When the formation is driving on mountain roads and rural roads, When the convoy is traveling on the highway, In other cases, ; Indicates the maintenance factor of the communication system, whose value depends on the time interval since the last maintenance of the communication system The time interval between the last maintenance of the communication system and the next maintenance of the communication system when hour, when hour, when hour, ; S2.3 Calculate the driving index of each vehicle based on the actual situation of the i-th vehicle in the sub-formation , ， in, represents the weight coefficient; Indicates the energy recovery coefficient. When the platoon vehicles have a braking energy recovery device to assist in driving, In other cases, ; represents the driving mode coefficient, whose value depends on the driving style of the driver of the sub-platoon leader. When the driver prefers the sports mode, When the driver prefers comfort mode, In other cases, ; Indicates the driving interference coefficient. When an external vehicle enters the platoon during driving, the commercial vehicle in front of the external vehicle will be disturbed. In other cases, ; Indicates the driving temperature coefficient. When the vehicle engine and battery are in an unsuitable operating temperature range, In other cases, ; Indicates the drive system maintenance factor, whose value depends on the time interval since the last maintenance of the drive system , the time interval between the last maintenance of the drive system and the next maintenance of the drive system ,when hour, ,when hour, ； Represents the braking response coefficient. When the driving response time of the following vehicle in the sub-platoon is less than that of the leading vehicle, Other cases ; S2.4 Calculate the braking index of each vehicle based on the actual situation of the i-th vehicle in the sub-formation , ， in, represents the weight coefficient; Indicates the driver's braking style coefficient. When the driver has an aggressive braking style, When the driver has a moderate braking style, When the driver has a gentle braking style, ; Indicates the cross-influence coefficient. When the front vehicle brakes in an emergency, In other cases, ; Represents the braking response coefficient. When the braking response time of the following vehicle in the sub-platoon is less than that of the leading vehicle, In other cases, ; Indicates the braking interference coefficient. When there is interference from an external vehicle during the platooning process, for the commercial vehicle traveling behind the external vehicle, In other cases, ; Indicates the drive system maintenance factor, whose value depends on the time interval since the last maintenance of the brake system , the time interval between the last maintenance of the brake system and the next maintenance of the brake system ,when hour, ,when hour, ; S3, respectively calculating the total evaluation parameters of the driving and braking of the i-th vehicle in the sub-formation; S3.1 Calculate the total driving force evaluation parameter of the i-th vehicle in the sub-formation according to the following formula: , ， in, Calculate weighted values for individual indicators; S3.2 Calculate the total braking deceleration evaluation parameter of the i-th vehicle in the sub-formation according to the following formula: , ， in, Calculate weighted values for individual indicators; The driving and braking adjustment module is used to adjust the driving force of the platoon vehicles and the braking deceleration during braking, including a driving force adjustment module and a braking deceleration adjustment module; The regulation effectiveness determination module includes a driving force regulation effectiveness determination module and a braking deceleration regulation effectiveness determination module.

2. The intelligent drive-brake combination system based on commercial vehicle platooning according to claim 1, characterized in that: The driving force adjustment module starts working when the sub-formation vehicle starts again after braking, and adjusts the driving force so that the vehicle with a larger number i in the sub-formation has a larger driving force. When the distance between the two vehicles in the sub-formation reaches the distance before braking, After that, it stopped working. ， in, , Indicates the relative speed between the vehicle and the following vehicle. Indicates the braking deceleration of the vehicle. Indicates the braking deceleration of the following vehicle. Indicates the driver's reaction time. Indicates the response time of the vehicle's braking system. Indicates the stopping distance between the vehicle and the following vehicle; The driving force of each vehicle in the sub-formation meets ; ， Where i represents the number of vehicles in each sub-formation from 1 to 4 in sequence. represents the driving force of the i-th vehicle in each sub-platoon after braking and starting, represents the total driving force evaluation parameter of the i-th vehicle in the sub-formation, represents the road resistance of the i-th vehicle in each sub-formation, including rolling resistance and slope resistance, represents the air resistance of the i-th vehicle in each sub-formation, represents the acceleration resistance of the i-th vehicle in each sub-formation.

3. The intelligent drive-brake combination system based on commercial vehicle platooning according to claim 1, characterized in that: The braking deceleration adjustment module starts working when the sub-formation vehicle brakes, so that the braking deceleration of the vehicle with a larger number i in the sub-formation is greater, ensuring the safe braking of each vehicle. When the vehicle stops, the braking deceleration adjustment module stops working; The braking deceleration of each vehicle in the sub-formation meets ; ， Among them, i represents the vehicles in each sub-formation, which are numbered from 1 to 4 in sequence. represents the braking deceleration of the i-th vehicle in each sub-platoon after braking, represents the total braking deceleration evaluation parameter of the i-th vehicle in the sub-platoon, represents the mass of the i-th vehicle in each sub-formation, represents the longitudinal ground force on the i-th vehicle in each sub-formation, represents the ground longitudinal force on the driven wheel of the i-th vehicle in each sub-formation, represents the air resistance of the i-th vehicle in each sub-formation, represents the slope resistance of the i-th vehicle in each sub-formation.

4. The intelligent drive-brake combination system based on commercial vehicle platooning according to claim 1, characterized in that: The driving force adjustment efficiency determination module is used to detect the adjustment effect of the driving force adjustment module, and includes a driving efficiency index calculation module and a driving efficiency determination module; The driving performance index calculation module is used to calculate the driving performance index , ， Indicates the actual value of the distance between the vehicle and the following vehicle after the driving force adjustment module has finished working; Indicates the ideal distance between the vehicle and the following vehicle when the vehicle does not use the intelligent driving and braking combination system based on commercial vehicle platooning; Indicates the actual working time of each adjustment of the driving force adjustment module; Indicates the ideal working time of each adjustment of the driving force adjustment module; The driving performance determination module is used to Determine the adjustment effect of the system: when When the intelligent driving and braking combination system based on commercial vehicle platooning is in normal working condition; when When the intelligent drive and brake combination system based on commercial vehicle formation is in an abnormal working state, the formation stops using the intelligent drive and brake combination system based on commercial vehicle formation.

5. The intelligent drive-brake combination system based on commercial vehicle platooning according to claim 1, characterized in that: The braking deceleration adjustment effectiveness determination module is used to detect the adjustment effect of the braking deceleration adjustment module, and includes a braking effectiveness index calculation module and a braking effectiveness determination module; The braking performance index calculation module is used to calculate the braking performance index , ， Indicates the actual value of the distance between the vehicle and the following vehicle after the brake adjustment module has finished working; Indicates the ideal distance between the vehicle and the following vehicle when the vehicle does not use the intelligent driving and braking combination system based on commercial vehicle platooning; Indicates the actual working time of each adjustment of the brake deceleration adjustment module; Indicates the ideal working time of each adjustment of the brake deceleration adjustment module; The braking performance determination module is used to Determine the adjustment effect of the system: when When the intelligent driving and braking combination system based on commercial vehicle platooning is in normal working condition; when When the intelligent drive and brake combination system based on commercial vehicle formation is in an abnormal working state, the formation stops using the intelligent drive and brake combination system based on commercial vehicle formation.

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