Parking braking method, parking braking device and vehicle

Abstract

The invention discloses a parking braking method, a parking braking device and a vehicle. The method comprises the steps that a target braking mode of a target vehicle is determined from a plurality of braking modes on the basis of vehicle information of the target vehicle in response to the condition that the target vehicle meets the parking braking condition, and the vehicle information comprises at least one of load information, pose information, environment information and work task information, the load information is used for representing the load attribute of the target vehicle, the pose information is used for representing the position and / or pose of the target vehicle, the environment information is used for representing the current environment of the target vehicle, and the work task information is used for representing the current work task of the target vehicle; a braking instruction is generated and used for controlling the parking braking system to enter a target braking mode; in the first braking mode, part of axles of the target vehicle are in a braking state, and the other part of axles of the target vehicle are in a braking release state. The problem of vehicle abrasion caused by parking braking in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular, to a parking brake method, a parking brake device, and a vehicle. Background Art

[0002] In traditional parking brake methods, a vehicle usually applies brakes to all axles to ensure that the vehicle remains stationary. However, the undifferentiated braking force distribution method often ignores the actual demand differences of each axle under specific working conditions and cannot adapt to the diverse parking brake requirements in practical applications, resulting in the execution of ineffective braking actions, increasing unnecessary energy consumption. At the same time, the frequent full-bridge braking makes the wear rate of braking components relatively high, affecting the service life of the vehicle.

[0003] Therefore, in the prior art, for vehicles, how to reduce vehicle wear during parking braking has become a key issue at present. For the above problems, no effective solution has been proposed yet. Summary of the Invention

[0004] Embodiments of the present invention provide a parking brake method, a parking brake device, and a vehicle to at least solve the technical problem of vehicle wear caused by parking braking in related technologies.

[0005] According to one aspect of an embodiment of the present invention, a parking brake method is provided. The method includes the following steps: in response to a target vehicle meeting the parking brake condition, based on the vehicle information of the target vehicle, determining a target braking mode of the target vehicle from multiple braking modes, where the vehicle information includes at least one of the following: load information, pose information, environmental information, and work task information, where the load information is used to characterize the load attribute of the target vehicle, the pose information is used to characterize the position and / or attitude of the target vehicle, the environmental information is used to characterize the current environment of the target vehicle, and the work task information is used to characterize the current work task of the target vehicle; generating a braking instruction for controlling the parking brake system of the target vehicle to enter the target braking mode; where the multiple braking modes include a first braking mode, and when the parking brake system is in the first braking mode, some axles of the target vehicle are in a braking state, and some other axles of the target vehicle are in a released braking state.

[0006] Optionally, determining the target braking mode of the target vehicle from multiple braking modes based on the vehicle information of the target vehicle includes: obtaining a load change of the target vehicle based on the vehicle information, where the load change is used to characterize the change of the load attribute of the target vehicle, and the load attribute includes at least one of the following: load weight, load volume, and load center position; and when it is determined that the load change meets a preset load condition, determining the target braking mode as the first braking mode.

[0007] Optionally, based on the vehicle information of the target vehicle, determining a target braking mode of the target vehicle from multiple braking modes includes: determining a pose change of the target vehicle based on the vehicle information; and when it is determined that the pose change meets a preset pose change condition, determining the target braking mode as a first braking mode.

[0008] Optionally, based on the vehicle information of the target vehicle, determining a target braking mode of the target vehicle from multiple braking modes includes: determining a current service node of the target vehicle based on the vehicle information; and when it is determined that the current service node is a loading node or an unloading node, determining the target braking mode as a first braking mode; where the loading node is used to represent a service node where the target vehicle loads goods, and the unloading node is used to represent a service node where the target vehicle unloads goods.

[0009] Optionally, the target vehicle has a first load-bearing area and a second load-bearing area, the load change in the first load-bearing area is greater than the load change in the second load-bearing area, when the parking braking system is in the first braking mode, the axle located in the first load-bearing area is in a braking state, and the axle located in the second load-bearing area is in a released braking state.

[0010] Optionally, when the parking braking system is in the first braking mode, the rear axle of the target vehicle is in a braking state, and at least one of the front axle and the middle axle of the target vehicle is in a released braking state.

[0011] Optionally, the method further includes: in response to the average change rate of the load attribute being greater than a first specified threshold within a specified time period, determining that the load change meets a preset load condition; or in response to the load attribute being within a first threshold range at a specified time point, determining that the load change meets a preset load condition.

[0012] Optionally, the method further includes: in response to the average change rate of the pose of the target vehicle being greater than a second specified threshold within a specified time period, determining that the pose change meets a preset pose change condition; or in response to the pose of the target vehicle being within a second threshold range at a specified time point, determining that the pose change meets a preset pose change condition.

[0013] Optionally, the multiple braking modes further include a second braking mode, when the parking braking system is in the second braking mode, all axles of the target vehicle are in a braking state.

[0014] Optionally, a braking instruction is generated, including: generating a brake instruction in the braking instruction, where the brake instruction is used to control the parking brake of a part to switch to the braking working state and to control the parking brake of another part to switch to the release working state, so that the parking brake system enters the first braking mode; or, generating a brake valve group instruction in the braking instruction, where the brake valve group instruction is used to control the parking brake valve group to switch to the first communication state, so that the parking brake system enters the first braking mode; wherein, in the first communication state, the parking brakes of some axles are communicated with the oil return device through the parking brake valve group, so that some axles are in the braking state, and the parking brakes of the other axles are communicated with the oil supply device through the parking brake valve group, so that the other axles are in the released braking state.

[0015] According to another aspect of the embodiments of the present invention, a parking brake device is further provided, including: a determination module, where the determination module is configured to, in response to the target vehicle meeting the parking brake condition, determine the target braking mode of the target vehicle from multiple braking modes based on the vehicle information of the target vehicle, and the vehicle information includes one of the following: load information, pose information, environment information, work task information, where the load information is used to characterize the load attribute of the target vehicle, the pose information is used to characterize the position and / or attitude of the target vehicle, the environment information is used to characterize the current environment of the target vehicle, and the work task information is used to characterize the current work task of the target vehicle; a generation module, where the generation module is configured to generate a braking instruction, and the braking instruction is used to control the parking brake system of the target vehicle to enter the target braking mode; wherein, the multiple braking modes include a first braking mode, and when the parking brake system is in the first braking mode, some axles of the target vehicle are in the braking state, and some other axles of the target vehicle are in the released braking state.

[0016] According to another aspect of the embodiments of the present invention, a vehicle is further provided, and the vehicle is controlled by using the above parking brake method.

[0017] In an embodiment of the present invention, in response to a target vehicle meeting the parking brake condition, based on the vehicle information of the target vehicle, a target brake mode of the target vehicle is determined from multiple brake modes. The vehicle information includes at least one of the following: load information, pose information, environmental information, and work task information. Among them, the load information is used to characterize the load attribute of the target vehicle, the pose information is used to characterize the position and / or attitude of the target vehicle, the environmental information is used to characterize the current environment of the target vehicle, and the work task information is used to characterize the current work task of the target vehicle. A brake instruction is generated, and the brake instruction is used to control the parking brake system of the target vehicle to enter the target brake mode. Among them, the multiple brake modes include a first brake mode. When the parking brake system is in the first brake mode, some axles of the target vehicle are in the braking state, and another part of the axles of the target vehicle are in the released braking state. Determining a suitable brake mode according to the real-time load, real-time pose, real-time environment, and real-time work task of the vehicle can make the vehicle's parking brake more in line with the actual situation. In the first brake mode, some axles can be flexibly selected for braking, avoiding system wear and additional burden on the suspension system that may be caused by full-bridge braking, improving the adaptability of the braking system to complex working conditions, solving the technical problem of vehicle wear caused by parking braking in the related art, and extending the service life of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the illustrative embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0019] Figure 1 is a hardware structure block diagram of an electronic device of a vehicle according to an embodiment of the present invention;

[0020] Figure 2 is a flowchart of a parking brake method according to an embodiment of the present invention;

[0021] Figure 3 is a structure block diagram of a parking brake device according to an embodiment of the present invention;

[0022] Figure 4 is a flowchart of a parking brake method according to an optional embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] To enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned accompanying drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0025] According to one embodiment of the present invention, an embodiment of a parking brake method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0026] This method embodiment can be executed in an electronic device or a similar computing device that includes a memory and a processor in a vehicle. Taking the operation on the electronic device of the vehicle as an example, as Figure 1 shown, the electronic device of the vehicle can include one or more processors 102 (the processor can include but is not limited to a processing device such as a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microprocessor (MCU), a programmable logic device (FPGA), a neural network processor (NPU), a tensor processor (TPU), an artificial intelligence (AI) type processor, etc.) and a memory 104 for storing data. Optionally, the above-mentioned electronic device of the vehicle may further include a transmission device 106 for communication functions, an input / output device 108, and a display 110. Those of ordinary skill in the art can understand that Figure 1 the structure shown is only schematic and does not limit the structure of the above-mentioned electronic device of the vehicle. For example, the electronic device of the vehicle may further include more or fewer components than the above-described structure, or have a configuration different from the above-described structure.

[0027] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the parking brake method in the embodiments of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above-mentioned parking brake method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely disposed relative to the processor 102, and these remote memories can be connected to the mobile terminal through a network. Examples of the above-mentioned network include but are not limited to the Internet, intranet, local area network, mobile communication network, and combinations thereof.

[0028] The transmission device 106 is used to receive or send data via a network. Specific examples of the above-mentioned network may include a wireless network provided by a communication provider of the mobile terminal. In one instance, the transmission device 106 includes a network adapter (Network Interface Controller, abbreviated as NIC), which can be connected to other network devices through a base station and thus communicate with the Internet. In one instance, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0029] The display 110 can be, for example, a touch-screen liquid crystal display (LCD). The liquid crystal display enables the user to interact with the user interface of the mobile terminal. In some embodiments, the above-mentioned mobile terminal has a graphical user interface (GUI), and the user can perform human-computer interaction with the GUI through finger contacts and / or gestures on the touch-sensitive surface. The human-computer interaction function here optionally includes the following interactions: creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music, and / or web browsing, etc. The executable instructions for performing the above human-computer interaction functions are configured / stored in a computer program product or readable storage medium executable by one or more processors.

[0030] In this embodiment, a parking brake method for an electronic device running on the above-mentioned vehicle is provided. Figure 2 It is a flowchart of the parking brake method according to one embodiment of the present invention, as Figure 2 shown, and the process includes the following steps:

[0031] Step S21: In response to the target vehicle meeting the parking brake condition, based on the vehicle information of the target vehicle, determine the target braking mode of the target vehicle from multiple braking modes. The vehicle information includes at least one of the following: load information, pose information, environmental information, and work task information. The load information is used to characterize the load attribute of the target vehicle, the pose information is used to characterize the position and / or orientation of the target vehicle, the environmental information is used to characterize the current environment of the target vehicle, and the work task information is used to characterize the current work task of the target vehicle.

[0032] It should be noted that the vehicle information can be either the information collected in real time by the sensors (such as temperature sensors, humidity sensors, light sensors, pressure sensors, etc.) on the target vehicle, or the information provided by external devices, or the data information pre-stored in the database. Among them, the external devices can be a host computer, a remote control terminal (such as a mobile phone, a tablet, etc.), the sensors arranged in the working environment (such as the image collector in the workstation), the cooperating vehicle that interacts with the target vehicle during operation (such as an excavator used for loading goods onto the target vehicle), etc. The database can be a cloud database, the local database of the target vehicle, etc.

[0033] Specifically, in step S21, the parking brake condition can include at least one of the following: the target vehicle receives a parking instruction, the target vehicle automatically recognizes the need to stop (such as reaching the destination of this trip, in case of an emergency stop, etc.). The load attribute includes load weight, load distribution, load type, etc. The load information is used to characterize the load attribute. The load information can include a part of the load attribute or all of the load attributes. Among them, information such as the load type can be pre-stored, and the load weight and load distribution can be obtained through real-time detection. The load information can be used to determine the vehicle's center of gravity position and predict the braking force required for each axle of the vehicle. The pose information includes at least one of the vehicle's position and orientation. Specifically, the pose information can include the position and orientation of the vehicle relative to its own reference point, the position and orientation of the vehicle relative to an external reference point, the tilt angle of the vehicle, etc. The pose information is usually obtained through real-time detection (for example, the real-time position of the vehicle is obtained through a positioning system, and the pitch angle, roll angle, yaw angle, etc. of the vehicle are obtained through an inertial measurement unit, lidar, camera, and various vehicle sensors). The pose information can be used to evaluate the current position and orientation of the vehicle to determine whether the vehicle is on a slope or other positions that require a special braking scheme. The environmental information is used to describe the conditions of the vehicle's environment, such as the wetness of the ground, wind speed, terrain, etc., which can help determine the magnitude of the braking force required for the vehicle. The work task information can reflect the current task nature of the vehicle, such as whether it is in the process of loading, unloading, or transporting. This will determine the best vehicle braking mode under different working conditions. The work task information can be determined by the target vehicle itself or sent by external devices.

[0034] It should be understood that in step S21, the "multiple braking modes" refer to various preset braking strategies, such as full-bridge braking, rear-axle-only braking, mid-axle-only braking, etc. In different types of vehicles, the braking modes available may vary. For example, for a vehicle with front, middle, and rear axles, braking modes such as rear-axle-only braking, mid-axle-only braking, and front-axle-only braking are possible. For a vehicle with only front and rear axles, it may only have braking modes such as full-bridge braking, front-axle-only braking, and rear-axle-only braking. The "target braking mode" is the best braking strategy selected based on the current vehicle information. When determining the braking mode based on vehicle information, either only the real-time collected vehicle information can be used, or it can be determined comprehensively in combination with the pre-stored vehicle information. For example, by combining the real-time attitude of the vehicle and the preset standard attitude, the attitude deviation is determined. When the attitude deviation is within the deviation range, the target braking mode is determined to be the full-bridge braking mode.

[0035] Step S22: Generate a braking instruction, which is used to control the parking braking system of the target vehicle to enter the target braking mode; among them, the multiple braking modes include a first braking mode. When the parking braking system is in the first braking mode, some axles of the target vehicle are in a braking state, and another part of the axles of the target vehicle are in a released braking state.

[0036] It should be noted that the braking instruction is used to guide how the parking braking system operates to execute the selected target braking mode. Under different braking modes, the generated braking instructions are different, and the controlled objects may also be different components within the parking braking system. As one of the multiple braking modes, the first braking mode enables only a part of the axles to be braked during parking braking, while the remaining axles are in a released state. This mode is applicable to situations where the vehicle load is uneven, the ground conditions are complex, or it is necessary to protect some axles from additional stress.

[0037] Specifically, in step S22, the parking brake system refers to the sum of the components used to implement wheel parking brake in a vehicle. In different vehicle models, the components included in the parking brake system may vary. Taking a hydraulically driven parking brake system as an example, the parking brake system generally includes components such as a parking brake, a parking brake valve group, a hydraulic pump, a fuel tank, an accumulator, a pressure sensor, etc. Among them, the parking brake directly acts on the wheels to generate frictional force to stop their rotation. In the hydraulic system, the parking brake is in a released state when connected to the accumulator, and when the parking brake is disconnected from the accumulator, the brake enters the braking state. The parking brake can be disc type or drum type, depending specifically on the overall design of the vehicle and the configuration of the braking system. The parking brake valve group consists of a series of hydraulic valves, which are used to control the flow direction and pressure of the hydraulic oil to achieve braking or release of a specific axle. Generally, the parking brake valve group includes various valve components such as solenoid valves, check valves, and relief valves. They work together to ensure that the hydraulic oil is guided to the corresponding parking brake when needed, and when braking is not required, the hydraulic oil can be isolated or returned to avoid unnecessary pressure loss. In another type of parking brake system (such as an electronic parking brake system), the parking brake can directly brake and release based on the received control signal.

[0038] Through the above steps, in response to the target vehicle meeting the parking brake condition, based on the vehicle information of the target vehicle, the target braking mode of the target vehicle is determined from multiple braking modes. The vehicle information includes at least one of the following: load information, pose information, environmental information, and work task information. Among them, the load information is used to characterize the load attribute of the target vehicle, the pose information is used to characterize the position and / or attitude of the target vehicle, the environmental information is used to characterize the current environment of the target vehicle, and the work task information is used to characterize the current work task of the target vehicle. A braking instruction is generated, and the braking instruction is used to control the parking brake system of the target vehicle to enter the target braking mode. Among them, the multiple braking modes include a first braking mode. When the parking brake system is in the first braking mode, some axles of the target vehicle are in the braking state, and some other axles of the target vehicle are in the released braking state. Determining a suitable braking mode according to the real-time load, real-time pose, real-time environment, and real-time work task of the vehicle can make the vehicle parking brake more in line with the actual situation. In the first braking mode, some axles can be flexibly selected for braking, avoiding system wear and additional burden on the suspension system that may be caused by full-bridge braking, improving the adaptability of the braking system to complex working conditions, solving the technical problem of vehicle wear caused by parking brake in the related art, and extending the service life of the vehicle.

[0039] Optionally, as Figure 4 shown, in step S21, based on the vehicle information of the target vehicle, determining the target braking mode of the target vehicle from multiple braking modes includes:

[0040] Step S211: Based on the vehicle information, obtain the load change of the target vehicle, where the load change is used to characterize the change in the load attributes of the target vehicle, and the load attributes include at least one of the following: load weight, load volume, and load center of gravity position.

[0041] Specifically, in step S211, the load change of the target vehicle can be obtained based on the load information in the vehicle information, and the load change can include one of the following: increase or decrease in load weight, movement of the load center of gravity position, and change in load volume.

[0042] Step S212: When it is determined that the load change meets the preset load conditions, determine the target braking mode as the first braking mode.

[0043] In step S212, the preset load conditions can be restrictions on the moving distance, moving direction, moving speed, moving duration, moving time, etc. of the load center of gravity position, or restrictions on the increase or decrease rate, increase or decrease duration, increase or decrease time, etc. of the load weight and load volume.

[0044] Through steps S211 and S212, based on the vehicle information, determine the change in the load attributes of the vehicle, and automatically adjust the braking mode according to the load change, which can effectively meet the parking requirements under different load conditions, adapt to the vehicle attitude adjustment caused by the load change, reduce unnecessary frictional damage to the vehicle, while ensuring the stable parking of the vehicle and improving the safety and operation efficiency of the vehicle.

[0045] Optionally, as Figure 4 shown, in step S21, based on the vehicle information of the target vehicle, determine the target braking mode of the target vehicle from multiple braking modes, including:

[0046] Step S213: Based on the vehicle information, determine the pose change of the target vehicle.

[0047] Specifically, in step S213, the pose change of the target vehicle can be obtained based on the pose information in the vehicle information. The pose change can include changes in position coordinates, changes in the forward direction, and changes in the tilt angle of the vehicle relative to the ground, etc.

[0048] Step S214: When it is determined that the pose change meets the preset pose change conditions, determine the target braking mode as the first braking mode.

[0049] In step S214, the preset pose change conditions can be restrictions on the tilt angle threshold, displacement change range, direction offset, etc.

[0050] Through steps S213 and S214, the vehicle's pose changes are monitored and analyzed in real time, enabling the vehicle to quickly respond to dynamic changes in terrain, load, and attitude, ensuring optimal parking stability in complex operating environments. When selecting some axles for parking braking, the load during parking is effectively dispersed, significantly reducing damage to the braking system and suspension structure and extending the service life of the vehicle.

[0051] Optionally, as Figure 4 shown, in step S21, based on the vehicle information of the target vehicle, the target braking mode of the target vehicle is determined from multiple braking modes, including:

[0052] Step S215, based on the vehicle information, determine the current service node of the target vehicle;

[0053] Optionally, in step S211, the current service node of the target vehicle can be determined based on the environmental information in the vehicle information. Specifically, it can be determined according to terrain recognition and obstacle detection. For example, the terrain perception system installed on the vehicle can identify specific terrain features that are approaching or already in the loading area or unloading area, such as the inclined plane of the loading and unloading dock, the change in the threshold height of the warehouse entrance, etc. When these features are detected, the system may automatically determine that the vehicle is approaching or entering the loading node or unloading node. Or, the vehicle's radar, lidar, and camera can capture the positions of static and dynamic obstacles. When the vehicle approaches the fixed loading and unloading equipment on the loading or unloading platform, or when there are workers moving nearby, the system can identify these environmental clues and determine the vehicle's current service node.

[0054] Optionally, in step S211, the current service node of the target vehicle can be determined based on the work task information in the vehicle information. Specifically, the work task information can include information such as the vehicle's schedule, destination, and task type. For example, the vehicle's schedule may clearly list the time periods and locations for loading and unloading, and the system can directly determine the vehicle's service node at a certain time point by reading the vehicle's task schedule. Or, when the vehicle receives a task instruction sent by an external device, and the task instruction contains keywords such as "loading" or "unloading", or has a corresponding code, the vehicle can immediately identify the upcoming service node. Or, by learning the vehicle's past behavior patterns to predict future tasks. For example, if the vehicle has unloaded at the same location every afternoon in the past, it can be predicted that the service node this afternoon is very likely to be the "unloading node".

[0055] Optionally, in step S211, the current service node of the target vehicle can be determined based on the pose information in the vehicle information. The pose information includes the vehicle's position coordinates, orientation, tilt angle, etc. For example, when the vehicle's position coordinates match the preset loading or unloading area, it can be confirmed that the vehicle is at or about to enter the corresponding service node. Or, if the vehicle continuously faces a fixed direction for a period of time, and this direction exactly corresponds to the position of the loading and unloading platform, the system can determine the vehicle's service node accordingly.

[0056] It should be noted that the environmental information, work task information, and pose information can also be used in combination to determine the current service node of the vehicle. For example, if the vehicle's schedule shows that it should go to the loading area in the afternoon, and the current pose information shows that the vehicle is gradually tilting, and the environmental information shows that the vehicle is approaching a platform with goods, it can be determined that the vehicle is at the loading node. Comprehensive use of different information can improve the accuracy of service node judgment.

[0057] Step S216, in the case where the current service node is determined to be a loading node or an unloading node, determine the target braking mode as the first braking mode; where the loading node is used to represent the service node where the target vehicle loads goods, and the unloading node is used to represent the service node where the target vehicle unloads goods.

[0058] Through steps S215 and S216, when the vehicle loads and unloads goods, the load of the vehicle will change significantly, and the body posture will change accordingly. At this time, using the first braking mode for vehicle parking braking can make the vehicle maintain a certain degree of freedom while staying parked, so that the body posture can adapt to the load change, avoid vehicle wear caused by full-bridge braking during loading and unloading, and improve the stability of vehicle parking.

[0059] Optionally, the target vehicle has a first load-bearing area and a second load-bearing area. The load change in the first load-bearing area is greater than that in the second load-bearing area. When the parking brake system is in the first braking mode, the axle located in the first load-bearing area is in the braking state, and the axle located in the second load-bearing area is in the released braking state.

[0060] In this embodiment, the first load-bearing area generally refers to the part of the vehicle that bears the main load, such as the bottom of the carriage of a mining truck. When loading or unloading goods, the load in the first load-bearing area fluctuates greatly, directly affecting the stability of the vehicle. Compared with the first load-bearing area, the load change in the second load-bearing area is relatively slight. In most cases, the second load-bearing area may involve the weight of the fixed parts of the vehicle or the storage location of lightweight goods, and its load change has less impact on the overall stability of the vehicle. In the first braking mode, the axle located in the first load-bearing area is braked to prevent the vehicle from sliding or tipping due to rapid load changes, ensuring the static stability of the vehicle under dynamic load conditions. The axle located in the second load-bearing area is in a released braking state, which means that this part of the axle is not affected by the braking force and can roll freely, reducing the energy consumption and mechanical wear caused by full vehicle braking, reducing the stress concentration during the loading or unloading process of the vehicle, thereby protecting the vehicle structure. At the same time, it balances the parking and moving requirements of the vehicle under different load conditions and improves the overall operation efficiency.

[0061] For example, when an unmanned mining truck enters the loading or unloading node, the system will identify the load change that is about to occur or is occurring in the carriage (i.e., the first load-bearing area) based on the vehicle's pose information, environmental information, and work task information. Subsequently, the system quickly adjusts the braking state of the parking brake system to ensure that the axle where the carriage is located (usually the rear axle) is braked, while the axles in the chassis or other relatively stable areas (i.e., the second load-bearing area), such as the middle axle, are released from braking and allowed to roll naturally. This dynamic adjustment not only improves the safety of the vehicle during the loading and unloading process but also reduces unnecessary braking, saves energy, and reduces maintenance costs, thereby enhancing the overall performance and economic benefits of the unmanned mining truck in complex operating environments.

[0062] Optionally, when the parking brake system is in the first braking mode, the rear axle of the target vehicle is in a braking state, and at least one of the front axle and the middle axle of the target vehicle is in a released braking state.

[0063] In this embodiment, the rear axle is usually the main part directly bearing the weight of the goods. During the loading or unloading stage, the increase or decrease of the goods will cause a significant change in the load borne by the rear axle. Therefore, braking the rear axle can effectively control the stability of the vehicle when the load changes and prevent accidents such as sliding or tipping caused by the movement of the center of gravity. At the same time, at least one of the front axle and the middle axle of the vehicle will be placed in a released braking state. The front axle is mainly responsible for steering, while the middle axle is usually used for support or auxiliary drive. Releasing the brakes of these two axles or one of them can provide the vehicle with the necessary flexibility and reduce unnecessary friction.

[0064] Optionally, as Figure 4 shown, in step S212, the method further includes:

[0065] Step S2121: Determine that the load change meets the preset load condition in response to the average change rate of the load attribute being greater than the first specified threshold within a specified time period.

[0066] In step S2121, the average change rate refers to the ratio of the change amount of the load attribute to the time within a certain specified time period. For example, if during the loading or unloading process, the load of a vehicle increases from 10 tons to 20 tons within 10 seconds, then the average change rate of the load is 1 ton / second. The first specified threshold is used to determine whether the load change has reached the level where the braking mode needs to be adjusted. If the average change rate exceeds the first specified threshold, it is determined that the load change is significant and may cause vehicle stability problems. At this time, corresponding braking measures need to be taken, such as starting the first braking mode.

[0067] Through step S2121, when the change rate of the load attribute within the specified time period exceeds the preset first specified threshold, it indicates that the load is changing at a relatively fast speed and may pose a threat to vehicle stability. At this time, the system will automatically determine that the load change meets the preset load condition, and then trigger the first braking mode to achieve vehicle parking braking while reducing vehicle wear.

[0068] Optionally, as Figure 4 shown, in step S212, the method further includes:

[0069] Step S2122: Determine that the load change meets the preset load condition in response to the load attribute being within the first threshold range at a specified time point.

[0070] In step S2122, the specified time point can be preset or determined temporarily during actual application. The first threshold range is used to determine whether the load is in a state that requires special braking treatment at the specified time point. For example, if during the unloading process, the cargo weight drops instantaneously below a certain weight value (i.e., the lower limit of the first threshold range), the system will consider that the load change meets the preset load condition and may need to apply emergency braking or adjust the braking state to maintain vehicle stability.

[0071] Through step S2122, if at the specified time point, the load attribute (such as weight) falls within the preset first threshold range, it is determined that the load change meets the preset load condition. This usually occurs at the moment of sudden increase or decrease of the load, such as when goods are suddenly loaded or unloaded, and the braking state needs to be adjusted immediately to deal with it. At this time, entering the first braking mode can achieve vehicle parking braking while reducing vehicle wear.

[0072] It should be noted that step S2121 and step S2122 can be used alternatively or in combination to determine whether the load change meets the preset load condition.

[0073] Optionally, as Figure 4 shown, in step S214, the method further includes:

[0074] Step S2141, in response to the average change rate of the pose of the target vehicle within a specified time period being greater than a second specified threshold, determining that the pose change meets a preset pose change condition.

[0075] Through step S2141, when the average change rate of the vehicle pose exceeds a preset second specified threshold within a specified time period, it is considered that the vehicle is undergoing a significant pose change, which means that the vehicle is performing loading, unloading, or other activities that may cause a large change in the vehicle body pose. At this time, activating the first braking mode can achieve vehicle parking braking while reducing vehicle wear.

[0076] Optionally, in step S214, the method further includes:

[0077] Step S2142, in response to the pose of the target vehicle being within a second threshold range at a specified time point, determining that the pose change meets a preset pose change condition.

[0078] Through step S2142, it is detected whether the pose of the vehicle at a certain specified moment falls within the second threshold range. The second threshold range may refer to a special pose of the vehicle, such as extreme inclination or an ideal position for loading and unloading operations. If it is detected that the pose of the vehicle meets this standard, it is determined that the vehicle has entered a business node that requires special attention, such as a loading or unloading node, and then the first braking mode is activated to ensure the smooth progress of the operation while reducing vehicle wear.

[0079] Optionally, the multiple braking modes further include a second braking mode. When the parking braking system is in the second braking mode, all axles of the target vehicle are in a braking state.

[0080] In this embodiment, the second braking mode is applicable to situations where the vehicle needs to maintain maximum static stability. For example, in extreme weather conditions, such as strong winds or ice-covered roads, or in emergency stop situations, putting all axles in a braking state can provide additional safety protection to prevent any movement of the vehicle due to external factors or accidents and ensure that the vehicle remains stable. In addition, the second braking mode is also an ideal choice during vehicle maintenance. During repair or inspection, it is crucial to ensure that the entire vehicle does not move due to improper operation or mechanical failure.

[0081] Optionally, as Figure 4 shown, in step S22, generating a braking instruction, including:

[0082] Step S221, generate the brake instruction for the brake in the braking instruction, where the brake instruction is used to control the parking brake of a part to switch to the braking working state and to control the parking brake of another part to switch to the released working state, so that the parking brake system enters the first braking mode.

[0083] Through step S221, a command is directly issued to the parking brakes of a part of the target vehicle to switch them to the braking working state, and at the same time, an opposite command is issued to the parking brakes of another part, that is, to switch them to the released working state. It can be applied to a parking brake system where the parking brakes have independent control capabilities and can respond to specific instructions for state switching.

[0084] Optionally, as Figure 4 shown, in step S22, generate the braking instruction, including:

[0085] Step S222, generate the brake valve group instruction in the braking instruction, where the brake valve group instruction is used to control the parking brake valve group to switch to the first connected state, so that the parking brake system enters the first braking mode;

[0086] Among them, in the first connected state, the parking brakes of some axles are connected to the oil return device through the parking brake valve group, so that some axles are in the braking state, and the parking brakes of the other axles are connected to the oil supply device through the parking brake valve group, so that the other axles are in the released braking state.

[0087] Through step S222, the parking brake valve group is manipulated to change its connected state, so that the parking brakes of some axles are connected to the oil return device and thus enter the braking state; the parking brakes of the other axles are connected to the oil supply device, so that these axles are in the released braking state. It can be used in a hydraulic braking system that controls the braking through the parking brake valve group, that is, by controlling the connection direction of the oil circuit, indirectly affecting the working state of the parking brakes.

[0088] It should be noted that when controlling the parking brake system to enter the first braking mode, instructions can also be sent to the parking brakes and the parking brake valve group simultaneously. Moreover, in addition to the parking brakes and the parking brake valve group, instructions can also be sent to the remaining components of the parking brake system to adapt to the first braking mode.

[0089] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases, the former is a better implementation. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc) and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0090] In this embodiment, a parking brake device is further provided. This device is used to implement the above embodiments and preferred embodiments, and those that have been described will not be repeated. As used hereinafter, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the device described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0091] Figure 3 is a structural block diagram of a parking brake device according to one embodiment of the present invention. As Figure 3 shown, the device includes: a determination module 30, the determination module 30 is configured to, in response to the target vehicle meeting the parking brake condition, determine a target braking mode of the target vehicle from multiple braking modes based on the vehicle information of the target vehicle. The vehicle information includes one of the following: load information, pose information, environment information, work task information. Among them, the load information is used to characterize the load attribute of the target vehicle, the pose information is used to characterize the position and / or attitude of the target vehicle, the environment information is used to characterize the current environment of the target vehicle, and the work task information is used to characterize the current work task of the target vehicle; a generation module 32, the generation module 32 is configured to generate a braking instruction, and the braking instruction is used to control the parking brake system of the target vehicle to enter the target braking mode; among them, the multiple braking modes include a first braking mode. When the parking brake system is in the first braking mode, some axles of the target vehicle are in a braking state, and some other axles of the target vehicle are in a released braking state.

[0092] Through the above device, in response to the target vehicle meeting the parking brake condition, based on the vehicle information of the target vehicle, a target braking mode of the target vehicle is determined from multiple braking modes. The vehicle information includes at least one of the following: load information, pose information, environmental information, and work task information. Among them, the load information is used to characterize the load attribute of the target vehicle, the pose information is used to characterize the position and / or attitude of the target vehicle, the environmental information is used to characterize the current environment of the target vehicle, and the work task information is used to characterize the current work task of the target vehicle. A braking instruction is generated, and the braking instruction is used to control the parking brake system of the target vehicle to enter the target braking mode. Among them, the multiple braking modes include a first braking mode. When the parking brake system is in the first braking mode, some axles of the target vehicle are in the braking state, and some other axles of the target vehicle are in the released braking state. Determining a suitable braking mode according to the real-time load, real-time pose, real-time environment and real-time work task of the vehicle can make the vehicle parking brake more in line with the actual situation. In the first braking mode, some axles are flexibly selected for braking, avoiding the system wear and additional burden on the suspension system that may be caused by full-bridge braking, improving the adaptability of the braking system to complex working conditions, solving the technical problem of vehicle wear caused by the parking brake in the related technology, and extending the service life of the vehicle.

[0093] It should be noted that the above-mentioned modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to this: the above-mentioned modules are all located in the same processor; or, the above-mentioned modules are respectively located in different processors in any combination form.

[0094] An embodiment of the present invention also provides a storage medium, in which a computer program is stored. Among them, the computer program is set to execute the steps in any one of the above method embodiments when running.

[0095] Optionally, in this embodiment, the above storage medium can be set to store a computer program for executing the following steps:

[0096] Step S1, in response to the target vehicle meeting the parking brake condition, based on the vehicle information of the target vehicle, a target braking mode of the target vehicle is determined from multiple braking modes. The vehicle information includes at least one of the following: load information, pose information, environmental information, and work task information. Among them, the load information is used to characterize the load attribute of the target vehicle, the pose information is used to characterize the position and / or attitude of the target vehicle, the environmental information is used to characterize the current environment of the target vehicle, and the work task information is used to characterize the current work task of the target vehicle;

[0097] Step S2, generate a braking instruction, and the braking instruction is used to control the parking brake system of the target vehicle to enter the target braking mode;

[0098] Among them, the multiple braking modes include a first braking mode. When the parking brake system is in the first braking mode, some axles of the target vehicle are in a braking state, and some other axles of the target vehicle are in a released braking state.

[0099] Optionally, in this embodiment, the above storage medium may include, but is not limited to: various media such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disc that can store computer programs.

[0100] An embodiment of the present invention also provides a processor, which is configured to run a computer program to execute the steps in any one of the above method embodiments.

[0101] Optionally, in this embodiment, the above processor may be configured to execute the following steps through a computer program:

[0102] Step S1, in response to the target vehicle meeting the parking brake condition, based on the vehicle information of the target vehicle, determine the target braking mode of the target vehicle from multiple braking modes, where the vehicle information includes at least one of the following: load information, pose information, environmental information, and work task information. Among them, the load information is used to characterize the load attribute of the target vehicle, the pose information is used to characterize the position and / or attitude of the target vehicle, the environmental information is used to characterize the current environment of the target vehicle, and the work task information is used to characterize the current work task of the target vehicle;

[0103] Step S2, generate a braking instruction, where the braking instruction is used to control the parking brake system of the target vehicle to enter the target braking mode;

[0104] Among them, the multiple braking modes include a first braking mode. When the parking brake system is in the first braking mode, some axles of the target vehicle are in a braking state, and some other axles of the target vehicle are in a released braking state.

[0105] An embodiment of the present invention also provides a vehicle, and the vehicle is controlled by using the above parking brake method.

[0106] Preferably, the vehicle is a 6×4 (i.e., six wheels, four drive wheels) mining truck, which includes: a perception system, including a variety of sensors such as lidar, cameras, and millimeter-wave radars, for real-time monitoring of the environment around the vehicle, including information such as obstacles, road conditions, and load changes; a vehicle control unit (VCU, Vehicle Control Unit), which integrates various sensor data, performs complex data analysis and intelligent decision-making to control various actions of the vehicle, including the braking system; a hydraulic braking system, which consists of a hydraulic oil tank, a pump, a filling valve, an accumulator, a pressure sensor, a parking valve group, an oil return and oil supply device, etc., to achieve precise braking control of different axles; a communication module, for receiving remote commands and uploading the vehicle status to ensure smooth communication with the central dispatching system; an energy management unit, which monitors the energy usage of the entire vehicle, including the energy consumption of the braking system in different modes, to ensure efficient use of energy.

[0107] Among them, the vehicle control unit can control the hydraulic braking system to enter the corresponding braking mode according to the information collected by the perception system and the external instructions obtained by the communication module.

[0108] In the above embodiments of the present invention, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0109] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of units or modules can be in an electrical or other form.

[0110] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0111] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0112] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0113] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A parking brake method, characterized in that, The method includes the following steps: In response to the target vehicle meeting the parking brake condition, based on the vehicle information of the target vehicle, determine the target braking mode of the target vehicle from multiple braking modes, where the vehicle information includes at least one of the following: load information, pose information, environmental information, and work task information. Among them, the load information is used to characterize the load attribute of the target vehicle, the pose information is used to characterize the position and / or attitude of the target vehicle, the environmental information is used to characterize the current environment of the target vehicle, and the work task information is used to characterize the current work task of the target vehicle; Generate a braking instruction, where the braking instruction is used to control the parking brake system of the target vehicle to enter the target braking mode; Among them, the multiple braking modes include a first braking mode. When the parking brake system is in the first braking mode, a part of the axles of the target vehicle are in a braking state, and another part of the axles of the target vehicle are in a released braking state.

2. The method according to claim 1, characterized in that, Determining the target braking mode of the target vehicle from multiple braking modes based on the vehicle information of the target vehicle includes: Based on the vehicle information, obtain the load change of the target vehicle, where the load change is used to characterize the change of the load attribute of the target vehicle, and the load attribute includes at least one of the following: Load weight, load volume, load center of gravity position; When it is determined that the load change meets the preset load condition, determine the target braking mode as the first braking mode.

3. The method according to claim 1, characterized in that Determining the target braking mode of the target vehicle from multiple braking modes based on the vehicle information of the target vehicle includes: Based on the vehicle information, determine the pose change of the target vehicle; When it is determined that the pose change meets the preset pose change condition, determine the target braking mode as the first braking mode.

4. The method according to claim 1, wherein Determining the target braking mode of the target vehicle from multiple braking modes based on the vehicle information of the target vehicle includes: Based on the vehicle information, determine the current service node of the target vehicle; When it is determined that the current service node is a loading node or an unloading node, determine the target braking mode as the first braking mode; Among them, the loading node is used to represent the service node where the target vehicle loads goods, and the unloading node is used to represent the service node where the target vehicle unloads goods.

5. The method according to claim 1, wherein The target vehicle has a first load-bearing area and a second load-bearing area, and the load change in the first load-bearing area is greater than the load change in the second load-bearing area. When the parking brake system is in the first braking mode, the axles located in the first load-bearing area are in a braking state, and the axles located in the second load-bearing area are in a released braking state.

6. The method according to claim 5, wherein When the parking brake system is in the first braking mode, the rear axle of the target vehicle is in the braking state, and at least one of the front axle and the middle axle of the target vehicle is in the released braking state.

7. The method according to claim 2, characterized in that The method further includes: Determine that the load change meets the preset load condition in response to the average change rate of the load attribute being greater than a first specified threshold within a specified time period; Alternatively, determine that the load change meets the preset load condition in response to the load attribute being within a first threshold range at a specified time point.

8. The method according to claim 3, characterized in that The method further includes: Determine that the pose change meets the preset pose change condition in response to the average change rate of the pose of the target vehicle being greater than a second specified threshold within a specified time period; Alternatively, determine that the pose change meets the preset pose change condition in response to the pose of the target vehicle being within a second threshold range at a specified time point.

9. The method according to claim 1, wherein The plurality of braking modes further includes a second braking mode. When the parking brake system is in the second braking mode, all axles of the target vehicle are in a braking state.

10. The method according to any one of claims 1 to 9, characterized in that, Generating a braking instruction includes: Generating a brake instruction in the braking instruction, where the brake instruction is used to control a part of the parking brakes to switch to a braking working state and to control another part of the parking brakes to switch to a released working state, so that the parking brake system enters the first braking mode; or Generating a brake valve group instruction in the braking instruction, where the brake valve group instruction is used to control the parking brake valve group to switch to a first connected state, so that the parking brake system enters the first braking mode; Wherein, in the first connected state, the parking brakes of some of the axles are connected to an oil return device through the parking brake valve group, so that some of the axles are in a braking state, and the parking brakes of another part of the axles are connected to an oil supply device through the parking brake valve group, so that another part of the axles are in a released braking state.

11. A parking brake device, characterized in that, Includes: A determination module, where the determination module is used to determine the target braking mode of the target vehicle from a plurality of braking modes based on the vehicle information of the target vehicle in response to the target vehicle meeting the parking brake condition. The vehicle information includes one of the following: load information, pose information, environment information, work task information. Wherein, the load information is used to characterize the load attribute of the target vehicle, the pose information is used to characterize the position and / or pose of the target vehicle, the environment information is used to characterize the current environment of the target vehicle, and the work task information is used to characterize the current work task of the target vehicle; A generation module, where the generation module is used to generate a braking instruction, and the braking instruction is used to control the parking brake system of the target vehicle to enter the target braking mode; Wherein, the plurality of braking modes includes a first braking mode. When the parking brake system is in the first braking mode, some axles of the target vehicle are in a braking state, and another part of the axles of the target vehicle are in a released braking state.

12. A vehicle, characterized in that, The vehicle is controlled using the parking brake method according to any one of claims 1-10.

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