Braking control method, device, equipment and medium for unmanned vehicle

Abstract

The present invention discloses a braking control method, device, equipment, and medium for an unmanned vehicle. The braking control method includes obtaining the unmanned vehicle's empty and full load status, transmission gear position information, and brake position information; and controlling a first braking state of the unmanned vehicle based on the empty and full load status, transmission gear position information, and brake position information. The first braking state includes either full electric braking or electric hybrid braking. This braking control method can simplify the braking control method, improve energy recovery, and reduce vehicle energy consumption.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicles, and in particular to a braking control method, device, equipment and medium for an unmanned vehicle. Background Art

[0002] The braking control of existing unmanned vehicles is controlled by the unmanned driving system, which cannot guarantee the maximum energy recovery rate and is more complicated to control. Summary of the Invention

[0003] The present invention provides a braking control method, device, equipment and medium for an unmanned vehicle, so as to solve the problem that the existing braking control method for unmanned vehicles is complicated and cannot ensure the maximum energy recovery rate.

[0004] In a first aspect, an embodiment of the present invention provides a braking control method for an unmanned vehicle, the braking control method comprising:

[0005] Obtaining the empty and full load status, gearbox position information, and brake opening information of the unmanned vehicle;

[0006] The first braking state of the unmanned vehicle is controlled according to the empty and full load states, the transmission gear information, and the brake opening information, wherein the first braking state includes full electric braking or electric hybrid braking.

[0007] Optionally, controlling the first braking state of the unmanned vehicle according to the empty and full load states, the transmission gear information, and the brake opening information includes:

[0008] Determine, according to the empty and full-load states and the gearbox gear information, preset brake opening thresholds corresponding to different gearbox gear information in the empty and full-load states;

[0009] The first braking state is controlled according to the brake opening information and the preset brake opening threshold.

[0010] Optionally, controlling the first braking state according to the brake opening information and the preset brake opening threshold includes:

[0011] If the brake opening information is less than or equal to the preset brake opening threshold, and the preset brake opening threshold is greater than zero, controlling the first braking state to be full electric braking;

[0012] If the brake opening information is greater than the preset brake opening threshold, and the preset brake opening threshold is greater than zero, the first braking state is controlled to be electric hybrid braking.

[0013] Optionally, after controlling the first braking state according to the brake opening information and the preset brake opening threshold, the brake control method further includes:

[0014] Obtaining a braking torque of the unmanned vehicle;

[0015] The preset brake opening threshold is adjusted according to the first braking state, the braking torque and a preset braking torque.

[0016] Optionally, adjusting the preset brake opening threshold according to the first braking state, the braking torque, and a preset braking torque includes:

[0017] If the first braking state includes full electric braking, the difference between the braking torque and the preset braking torque is greater than or equal to the preset difference, and lasts for a preset time, the preset brake opening threshold is reduced until the difference between the braking torque and the preset braking torque is less than the preset difference.

[0018] Optionally, after adjusting the preset brake opening threshold according to the first braking state, the braking torque, and the preset braking torque, the braking control method further includes:

[0019] The braking state of the unmanned vehicle is controlled according to the brake opening information and the adjusted preset brake opening threshold, where the braking state includes the first braking state and the second braking state, and the second braking state includes full air braking.

[0020] Optionally, controlling the braking state of the unmanned vehicle according to the brake opening information and the adjusted preset brake opening threshold includes:

[0021] If the brake opening information is less than or equal to the adjusted preset brake opening threshold, and the adjusted preset brake opening threshold is greater than zero, controlling the braking state to be full electric braking;

[0022] If the brake opening information is greater than the adjusted preset brake opening threshold, and the adjusted preset brake opening threshold is greater than zero, controlling the braking state to be electric hybrid braking;

[0023] If the brake opening information is greater than the adjusted preset brake opening threshold, and the adjusted preset brake opening threshold is equal to zero, the braking state is controlled to be full air braking.

[0024] In a second aspect, an embodiment of the present invention provides a braking control device for an unmanned vehicle, the braking control device comprising:

[0025] An information acquisition unit, configured to acquire the empty and full load status, gearbox position information, and brake opening information of the unmanned vehicle;

[0026] A braking state control unit is used to control a first braking state of the unmanned vehicle according to the empty and full load states, the transmission gear information and the brake opening information, wherein the first braking state includes full electric braking or electric hybrid braking.

[0027] In a third aspect, an embodiment of the present invention provides a braking control device for an unmanned vehicle, the braking control device comprising:

[0028] one or more processors;

[0029] a storage device for storing one or more programs,

[0030] When the one or more programs are executed by the one or more processors, the one or more processors implement the braking control method as described in the first aspect.

[0031] In a fourth aspect, an embodiment of the present invention provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the braking control method as described in the first aspect.

[0032] The technical solution of the embodiment of the present invention, by setting a first braking state that can control the unmanned vehicle to adopt full electric braking or electric hybrid braking based on the acquired empty and full load states, transmission gear information and brake opening information, can not only simplify the braking control method, but also improve the energy recovery rate and reduce the energy consumption of the entire vehicle when adopting the first braking state of full electric braking.

[0033] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 A flowchart of a braking control method for an unmanned vehicle provided by an embodiment of the present invention;

[0036] Figure 2A flowchart of another braking control method for an unmanned vehicle provided by an embodiment of the present invention;

[0037] Figure 3 A flowchart of another unmanned vehicle braking control method provided by an embodiment of the present invention;

[0038] Figure 4 A flowchart of another unmanned vehicle braking control method provided by an embodiment of the present invention;

[0039] Figure 5 A schematic structural diagram of a brake control device for an unmanned vehicle provided by an embodiment of the present invention;

[0040] Figure 6 A schematic structural diagram of a brake control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0042] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0043] Figure 1 This is a flow chart of a braking control method for an unmanned vehicle provided in an embodiment of the present invention. The braking control method for an unmanned vehicle in an embodiment of the present invention is applicable to situations where the braking of an unmanned vehicle needs to be controlled. The braking control method for an unmanned vehicle can be executed by a braking control device for an unmanned vehicle. The device can be implemented using software and / or hardware and specifically configured in a braking control device. Figure 1The braking control method of an unmanned vehicle in an embodiment of the present invention includes:

[0044] S110: Obtain the empty and full load status, transmission gear position information, and brake opening information of the unmanned vehicle.

[0045] Exemplarily, the brake control device of an unmanned vehicle can be a vehicle control unit (VCU) within the unmanned vehicle. The VCU can obtain the unmanned vehicle's empty or full load status, transmission gear position information, and brake position information. Specifically, the unmanned vehicle is equipped with a gravity sensor that can sense the vehicle's weight and an empty or full load status determination unit that can determine the unmanned vehicle's empty or full load status based on the sensed vehicle weight. This empty or full load status determination unit can be integrated into the VCU or provided separately. The unmanned vehicle's transmission is equipped with a gear position sensor that can sense the gear position. The unmanned vehicle's unmanned driving system can transmit brake position information. The empty or full load status determination unit (or gravity sensor), gear position sensor, and unmanned driving system are all communicatively connected to the VCU and can provide feedback to the VCU on the unmanned vehicle's empty or full load status, transmission gear position information, and brake position information.

[0046] S120. Control a first braking state of the unmanned vehicle according to the empty and full load states, the transmission gear information, and the brake opening information, wherein the first braking state includes full electric braking or electric hybrid braking.

[0047] Compared with the unmanned driving system controlling the braking status of the unmanned vehicle, the braking control method implemented in the present invention only requires the unmanned driving system to send brake opening information, and then the vehicle controller can control whether the unmanned vehicle adopts full electric braking or electric hybrid braking according to the acquired empty and full load status, transmission gear information and brake opening information. This not only simplifies the braking control method, but also improves the energy recovery rate when adopting full electric braking, thereby reducing the energy consumption of the entire vehicle.

[0048] The embodiment of the present invention is configured to control the unmanned vehicle to adopt full electric braking or electric hybrid braking based on the acquired empty and full load status, transmission gear information and brake opening information. This not only simplifies the braking control method, but also improves the energy recovery rate and reduces the energy consumption of the entire vehicle when adopting full electric braking.

[0049] Based on the above embodiments, Figure 2 A flowchart of another braking control method for an unmanned vehicle provided by an embodiment of the present invention, Figure 2 The embodiment shown in the figure describes in detail how to control the first braking state of the unmanned vehicle according to the empty and full load states, the gear position information of the transmission and the brake opening information. Figure 2 The braking control method of an unmanned vehicle in an embodiment of the present invention includes:

[0050] S210: Obtain the empty and full load status, transmission gear position information, and brake opening information of the unmanned vehicle.

[0051] S220: Determine preset brake opening thresholds corresponding to different transmission gear information under the empty and full-load states according to the empty and full-load states and the transmission gear information.

[0052] It should be noted that the empty and full-load states include the empty state or the fully-loaded state, and the gear information includes 1st gear, 2nd gear or 3rd gear. From 1st gear to 3rd gear, the traction force gradually decreases and the vehicle speed gradually increases. The brake opening information N sent by the unmanned driving system to the vehicle controller satisfies 0≤N≤100%.

[0053] For example, when the unmanned vehicle's empty or full-load state is an empty state and the transmission gear is in gear 1, the corresponding preset brake opening threshold is K1. When the unmanned vehicle's empty or full-load state is an empty state and the transmission gear is in gear 2, the corresponding preset brake opening threshold is K2. When the unmanned vehicle's empty or full-load state is an empty state and the transmission gear is in gear 3, the corresponding preset brake opening threshold is K3.

[0054] When the unmanned vehicle's empty or full-load state becomes a fully-loaded state, and the transmission gear is in gear 1, the corresponding preset brake opening threshold is W1. When the unmanned vehicle's empty or full-load state becomes a fully-loaded state, and the transmission gear is in gear 2, the corresponding preset brake opening threshold is W2. When the unmanned vehicle's empty or full-load state becomes a fully-loaded state, and the transmission gear is in gear 3, the corresponding preset brake opening threshold is W3.

[0055] It is understandable that, under the same no-load or full-load conditions, the higher the gear position in the transmission and the greater the vehicle speed, the greater the required braking force. The braking force of the air brake is greater than that of the electric brake. Therefore, to ensure that different gear positions can achieve a good braking effect under no-load conditions, it can be set that when the vehicle is no-load, the higher the gear position in the transmission, the smaller the preset brake opening threshold, i.e., K1>K2>K3. Similarly, to ensure that different gear positions can achieve a good braking effect under full-load conditions, it can be set that when the vehicle is fully loaded, the higher the gear position in the transmission, the smaller the preset brake opening threshold, i.e., W1>W2>W3.

[0056] It can be understood that, under the same gear, the braking force required for full load is greater than the braking force required for no load, and the braking force of air brake is greater than the braking force of electric brake. Therefore, in order to ensure that a better braking effect can be achieved in different no-load and full-load states under the same gear, it can be set that under the same gear, the preset brake opening threshold corresponding to full load is smaller than the preset brake opening threshold corresponding to no load, that is, W1<K1, W2<K2, W2<K2.

[0057] S230 : Control the first braking state according to the brake opening information and a preset brake opening threshold.

[0058] As a feasible implementation manner, controlling the first braking state according to the brake opening information and a preset brake opening threshold includes:

[0059] If the brake opening information is less than or equal to a preset brake opening threshold, and the preset brake opening threshold is greater than zero, the first braking state is controlled to be full electric braking.

[0060] For example, when the unmanned vehicle's empty or full-load state is an empty state, and the transmission gear is in 1st gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies 0≤N≤K1%, and K1>0, the vehicle controller will control the unmanned vehicle to use full electric braking. When the unmanned vehicle's empty or full-load state is an empty state, and the transmission gear is in 2nd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies 0≤N≤K2%, and K2>0, the vehicle controller will control the unmanned vehicle to use full electric braking. When the unmanned vehicle's empty or full-load state is an empty state, and the transmission gear is in 3rd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies 0≤N≤K3%, and K3>0, the vehicle controller will control the unmanned vehicle to use full electric braking.

[0061] When the unmanned vehicle's empty or full-load state becomes a fully-loaded state, and the transmission gear is in 1st gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies 0≤N≤W1%, and W1>0, the vehicle controller will control the unmanned vehicle to use full electric braking. When the unmanned vehicle's empty or full-load state becomes a fully-loaded state, and the transmission gear is in 2nd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies 0≤N≤W2%, and W2>0, the vehicle controller will control the unmanned vehicle to use full electric braking. When the unmanned vehicle's empty or full-load state becomes a fully-loaded state, and the transmission gear is in 3rd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies 0≤N≤W3%, and W3>0, the vehicle controller will control the unmanned vehicle to use full electric braking.

[0062] If the brake opening information is greater than a preset brake opening threshold, and the preset brake opening threshold is greater than zero, the first braking state is controlled to be electric hybrid braking.

[0063] For example, when the unmanned vehicle's empty or full-load state is an unloaded state, and the transmission gear is in 1st gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>K1% and K1>0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking. When the unmanned vehicle's empty or full-load state is an unloaded state, and the transmission gear is in 2nd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>K2% and K2>0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking. When the unmanned vehicle's empty or full-load state is an unloaded state, and the transmission gear is in 3rd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>K3% and K3>0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking.

[0064] When the unmanned vehicle's empty or full-load state becomes a fully-loaded state, and the transmission gear is in 1st gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>W1% and W1>0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking. When the unmanned vehicle's empty or full-load state becomes a fully-loaded state, and the transmission gear is in 2nd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>W2% and W2>0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking. When the unmanned vehicle's empty or full-load state becomes a fully-loaded state, and the transmission gear is in 3rd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>W3% and W3>0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking.

[0065] The embodiment of the present invention is configured to determine preset brake opening thresholds corresponding to different transmission gear information in the empty and full load states according to the empty and full load states and the transmission gear information, and then control whether the unmanned vehicle adopts full electric braking or electric hybrid braking according to the brake opening information and the preset brake opening thresholds. Different brake switching conditions can be adopted for different transmission gear information in the empty and full load states, which is conducive to achieving refined control of braking.

[0066] Based on the above embodiments, Figure 3 A flowchart of another braking control method for an unmanned vehicle provided in an embodiment of the present invention is provided. Figure 3 The embodiment shown enriches the process of the braking control method of the unmanned vehicle, referring to Figure 3 The braking control method of an unmanned vehicle in an embodiment of the present invention includes:

[0067] S310: Obtain the empty and full load status, transmission gear position information, and brake opening information of the unmanned vehicle.

[0068] S320: Determine preset brake opening thresholds corresponding to different transmission gear information under the empty and full-load states according to the empty and full-load states and the transmission gear information.

[0069] S330: Control the first braking state according to the brake opening information and a preset brake opening threshold.

[0070] S340: Obtain the braking torque of the unmanned vehicle.

[0071] Exemplarily, the unmanned vehicle is provided with a braking torque detection device capable of detecting the braking torque of the brake. The braking torque detection device is communicatively connected to the vehicle controller and can feed back the detected braking torque to the vehicle controller.

[0072] S350: Adjust the preset brake opening threshold according to the first braking state, the braking torque, and the preset braking torque.

[0073] As a feasible implementation manner, adjusting the preset brake opening threshold according to the first braking state, the braking torque and the preset braking torque includes:

[0074] If the first braking state includes full electric braking, the difference between the braking torque and the preset braking torque is greater than or equal to the preset difference, and lasts for a preset time, the preset brake opening threshold is lowered until the difference between the braking torque and the preset braking torque is less than the preset difference.

[0075] For example, during electric braking, if the difference between the detected braking torque and the preset braking torque is excessive and persists for a certain period, it indicates that full electric braking cannot meet the braking requirements and air braking needs to be added. In this case, the vehicle controller can control the preset brake opening threshold to gradually decrease to switch from full electric braking to electric hybrid braking, and continue until the difference between the detected braking torque and the preset braking torque is less than the preset difference.

[0076] The embodiment of the present invention is configured to adjust the preset brake opening threshold according to the braking torque and the preset braking torque under full electric braking, thereby ensuring that the braking torque is close to the preset braking torque, thereby avoiding braking inefficiency or even failure, and is beneficial to improving the consistency and safety of vehicle braking.

[0077] Based on the above embodiments, Figure 4 A flowchart of another braking control method for an unmanned vehicle provided in an embodiment of the present invention is provided. Figure 4 The embodiment shown enriches the process of the braking control method of the unmanned vehicle, referring to Figure 4The braking control method of an unmanned vehicle in an embodiment of the present invention includes:

[0078] S410: Obtain the empty and full load status, transmission gear position information, and brake opening information of the unmanned vehicle.

[0079] S420: Determine preset brake opening thresholds corresponding to different transmission gear information under the empty and full-load states according to the empty and full-load states and the transmission gear information.

[0080] S430: Control the first braking state according to the brake opening information and a preset brake opening threshold.

[0081] S440: Obtain the braking torque of the unmanned vehicle.

[0082] S450: Adjust the preset brake opening threshold according to the first braking state, the braking torque, and the preset braking torque.

[0083] S460. Control the braking state of the unmanned vehicle according to the brake opening information and the adjusted preset brake opening threshold, where the braking state includes a first braking state and a second braking state, and the second braking state includes full air braking.

[0084] As a feasible implementation method, controlling the braking state of the unmanned vehicle according to the brake opening information and the adjusted preset brake opening threshold includes:

[0085] If the brake opening information is less than or equal to the adjusted preset brake opening threshold, and the adjusted preset brake opening threshold is greater than zero, the braking state is controlled to be full electric braking.

[0086] For example, when the unmanned vehicle's empty or full-load state is an unloaded state, and the transmission gear is in 1st gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies 0≤N≤K1'%, and K1'>0, the vehicle controller will control the unmanned vehicle to use full electric braking. When the unmanned vehicle's empty or full-load state is an unloaded state, and the transmission gear is in 2nd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies 0≤N≤K2'%, and K2'>0, the vehicle controller will control the unmanned vehicle to use full electric braking. When the unmanned vehicle's empty or full-load state is an unloaded state, and the transmission gear is in 3rd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies 0≤N≤K3'%, and K3'>0, the vehicle controller will control the unmanned vehicle to use full electric braking.

[0087] When the unmanned vehicle's empty or full-load state becomes a fully-loaded state, and the transmission gear is in 1st gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies 0≤N≤W1'%, and W1'>0, the vehicle controller will control the unmanned vehicle to use full electric braking. When the unmanned vehicle's empty or full-load state becomes a fully-loaded state, and the transmission gear is in 2nd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies 0≤N≤W2'%, and W2'>0, the vehicle controller will control the unmanned vehicle to use full electric braking. When the unmanned vehicle's empty or full-load state becomes a fully-loaded state, and the transmission gear is in 3rd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies 0≤N≤W3'%, and W3'>0, the vehicle controller will control the unmanned vehicle to use full electric braking.

[0088] It should be noted that K1', K2', K3', W1', W2' and W3' represent the preset brake opening thresholds after adjustment.

[0089] If the brake opening information is greater than the adjusted preset brake opening threshold, and the adjusted preset brake opening threshold is greater than zero, the braking state is controlled to be electric hybrid braking.

[0090] For example, when the unmanned vehicle's empty or full-load state is no-load and the transmission gear is in 1st gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>K1'% and K1'>0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking. When the unmanned vehicle's empty or full-load state is no-load and the transmission gear is in 2nd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>K2'% and K2'>0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking. When the unmanned vehicle's empty or full-load state is no-load and the transmission gear is in 3rd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>K3'% and K3'>0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking.

[0091] When the unmanned vehicle's empty or full-load state becomes a fully-loaded state, and the transmission gear is in 1st gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>W1'% and W1'>0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking. When the unmanned vehicle's empty or full-load state becomes a fully-loaded state, and the transmission gear is in 2nd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>W2'% and W2'>0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking. When the unmanned vehicle's empty or full-load state becomes a fully-loaded state, and the transmission gear is in 3rd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>W3'% and W3'>0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking.

[0092] If the brake opening information is greater than the adjusted preset brake opening threshold, and the adjusted preset brake opening threshold is equal to zero, the brake state is controlled to be full air brake.

[0093] For example, if the preset brake opening threshold after adjustment is equal to zero, it means that the electric brake does not respond at all. At this time, the implementation of the brake opening information sent by the unmanned vehicle must rely entirely on the air brake.

[0094] When the unmanned vehicle's empty or full-load state is no-load and the transmission gear is in 1st gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>K1'% and K1'=0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking. When the unmanned vehicle's empty or full-load state is no-load and the transmission gear is in 2nd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>K2'% and K2'=0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking. When the unmanned vehicle's empty or full-load state is no-load and the transmission gear is in 3rd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>K3'% and K3'=0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking.

[0095] When the unmanned vehicle's empty or full-load state becomes a full-load state, and the transmission gear is in 1st gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>W1'% and W1'=0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking. When the unmanned vehicle's empty or full-load state becomes a full-load state, and the transmission gear is in 2nd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>W2'% and W2'=0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking. When the unmanned vehicle's empty or full-load state becomes a full-load state, and the transmission gear is in 3rd gear, if the brake opening information N sent by the unmanned driving system to the vehicle controller satisfies N>W3'% and W3'=0, the vehicle controller will control the unmanned vehicle to use electric hybrid braking.

[0096] Based on the same inventive concept, an embodiment of the present invention further provides a braking control device for an unmanned vehicle. Figure 5 A schematic diagram of a brake control device for an unmanned vehicle according to an embodiment of the present invention is provided. Figure 5 The braking control device of the unmanned vehicle in the embodiment of the present invention includes:

[0097] The information acquisition unit 510 is used to obtain the empty and full load status of the unmanned vehicle, the gear position information of the transmission, and the brake opening information.

[0098] The braking state control unit 520 is used to control the first braking state of the unmanned vehicle according to the empty and full load states, the transmission gear information and the brake opening information, wherein the first braking state includes full electric braking or electric hybrid braking.

[0099] The braking control device for an unmanned vehicle provided in an embodiment of the present invention can execute the braking control method for an unmanned vehicle provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0100] Figure 6 A schematic diagram of a brake control device 600 that can be used to implement an embodiment of the present invention is shown. The brake control device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The brake control device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are provided for example only and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0101] like Figure 6 As shown, brake control device 600 includes at least one processor 610 and memory, such as a read-only memory (ROM) 620 and a random access memory (RAM) 630, communicatively connected to the at least one processor 610. The memory stores computer programs executable by the at least one processor. Processor 610 can perform various appropriate actions and processes based on the computer programs stored in ROM 620 or loaded from storage unit 680 into RAM 630. RAM 630 may also store various programs and data required for the operation of brake control device 600. Processor 610, ROM 620, and RAM 630 are interconnected via a bus 640. An input / output (I / O) interface 650 is also connected to bus 640.

[0102] Several components in the brake control device 600 are connected to the I / O interface 650, including an input unit 660, such as a keyboard and mouse; an output unit 670, such as various types of displays and speakers; a storage unit 680, such as a magnetic disk and optical disk; and a communication unit 690, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 690 allows the brake control device 600 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0103] Processor 610 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 610 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. Processor 610 executes the various methods and processes described above, such as the brake control method for an autonomous vehicle.

[0104] In some embodiments, the brake control method for an unmanned vehicle can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 680. In some embodiments, part or all of the computer program can be loaded and / or installed into the brake control device 600 via ROM 620 and / or communication unit 690. When the computer program is loaded into RAM 630 and executed by processor 610, one or more steps of the brake control method for an unmanned vehicle described above can be performed. Alternatively, in other embodiments, processor 610 can be configured to execute the brake control method for an unmanned vehicle in any other suitable manner (e.g., via firmware).

[0105] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0106] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0107] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or apparatus. A computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0108] To provide interaction with a user, the systems and techniques described herein can be implemented on a brake control device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the brake control device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0109] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0110] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0111] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0112] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A braking control method for an unmanned vehicle, characterized in that: include: Obtaining the empty and full load status, gearbox position information, and brake opening information of the unmanned vehicle; controlling a first braking state of the unmanned vehicle according to the empty and full load states, the transmission gear information, and the brake opening information, wherein the first braking state includes full electric braking or electric hybrid braking; Controlling a first braking state of the unmanned vehicle according to the empty and full load states, the transmission gear information, and the brake opening information includes: Determine, according to the empty and full-load states and the gearbox gear information, preset brake opening thresholds corresponding to different gearbox gear information in the empty and full-load states; controlling the first braking state according to the brake opening information and the preset brake opening threshold; After controlling the first braking state according to the brake opening information and the preset brake opening threshold, the brake control method further includes: Obtaining a braking torque of the unmanned vehicle; adjusting the preset brake opening threshold according to the first braking state, the braking torque and the preset braking torque; Adjusting the preset brake opening threshold according to the first braking state, the braking torque, and the preset braking torque includes: If the first braking state includes full electric braking, and the difference between the braking torque and the preset braking torque is greater than or equal to the preset difference and lasts for a preset time, then reducing the preset brake opening threshold until the difference between the braking torque and the preset braking torque is less than the preset difference; After adjusting the preset brake opening threshold according to the first braking state, the braking torque, and the preset braking torque, the braking control method further includes: The braking state of the unmanned vehicle is controlled according to the brake opening information and the adjusted preset brake opening threshold, where the braking state includes the first braking state and the second braking state, and the second braking state includes full air braking.

2. The braking control method according to claim 1, wherein: Controlling the first braking state according to the brake opening information and the preset brake opening threshold includes: If the brake opening information is less than or equal to the preset brake opening threshold, and the preset brake opening threshold is greater than zero, controlling the first braking state to be full electric braking; If the brake opening information is greater than the preset brake opening threshold, and the preset brake opening threshold is greater than zero, the first braking state is controlled to be electric hybrid braking.

3. The braking control method according to claim 1, wherein: Controlling the braking state of the unmanned vehicle according to the brake opening information and the adjusted preset brake opening threshold includes: If the brake opening information is less than or equal to the adjusted preset brake opening threshold, and the adjusted preset brake opening threshold is greater than zero, controlling the braking state to be full electric braking; If the brake opening information is greater than the adjusted preset brake opening threshold, and the adjusted preset brake opening threshold is greater than zero, controlling the braking state to be electric hybrid braking; If the brake opening information is greater than the adjusted preset brake opening threshold, and the adjusted preset brake opening threshold is equal to zero, the braking state is controlled to be full air braking.

4. A braking control device for an unmanned vehicle, characterized in that: The brake control device comprises: An information acquisition unit, configured to acquire the empty and full load status, gearbox position information, and brake opening information of the unmanned vehicle; a braking state control unit, configured to control a first braking state of the unmanned vehicle according to the empty and full load states, the transmission gear information, and the brake opening information, wherein the first braking state includes full electric braking or electric hybrid braking; Controlling a first braking state of the unmanned vehicle according to the empty and full load states, the transmission gear information, and the brake opening information includes: Determine, according to the empty and full-load states and the gearbox gear information, preset brake opening thresholds corresponding to different gearbox gear information in the empty and full-load states; controlling the first braking state according to the brake opening information and the preset brake opening threshold; After controlling the first braking state according to the brake opening information and the preset brake opening threshold, the brake control device is further configured to obtain a braking torque of the unmanned vehicle and adjust the preset brake opening threshold according to the first braking state, the braking torque, and the preset braking torque; Adjusting the preset brake opening threshold according to the first braking state, the braking torque, and the preset braking torque includes: If the first braking state includes full electric braking, and the difference between the braking torque and the preset braking torque is greater than or equal to the preset difference and lasts for a preset time, then reducing the preset brake opening threshold until the difference between the braking torque and the preset braking torque is less than the preset difference; After adjusting the preset brake opening threshold according to the first braking state, the braking torque and the preset braking torque, the braking control device is also used to control the braking state of the unmanned vehicle according to the brake opening information and the adjusted preset brake opening threshold, the braking state including the first braking state and the second braking state, and the second braking state includes full air braking.

5. A brake control device, characterized in that: The brake control device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the braking control method according to any one of claims 1 to 3.

6. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the brake control method according to any one of claims 1 to 3 is implemented.

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