Optimal vehicle speed control method and system based on working conditions of mining area and vehicle

Abstract

The invention discloses an optimal vehicle speed control method and system based on mining area working conditions and a vehicle, and the method comprises the steps that an ECU calculates the optimal vehicle speed under the current working condition according to the load, the gradient, the road surface friction coefficient and an optimal vehicle speed model corresponding to the current weather; the ECU sends a control instruction containing the optimal vehicle speed to the VCU, and the VCU controls the engine to output the rotating speed and the torque; the ECU compares the current load and slope with the mapping table data, determines the highest gear allowed by the gearbox under the current working condition, sends a limiting instruction containing the highest gear to the TCM, and the TCM executes the limiting instruction and locks the highest gear of the gearbox; the vehicle speed sensor collects the real-time speed of the vehicle and transmits the real-time speed to the ECU, the ECU compares the real-time speed of the vehicle with the optimal vehicle speed, the engine output and the gear of the gearbox are dynamically adjusted through a double-closed-loop feedback strategy, and it is ensured that the vehicle speed is the optimal vehicle speed. According to the invention, the engine works in the optimal economic zone, and the oil consumption under complex working conditions is reduced.

Description

Technical Field

[0001] The present invention relates to an optimal vehicle speed control method, system and vehicle based on mining area working conditions, and belongs to the technical field of vehicle control. Background Art

[0002] The mining operating environment is characterized by high loads and harsh road conditions: the roads are mostly unpaved, with dense curves, significant road undulations, and dramatic uphill and downhill gradients (especially on flat and uphill slopes). Off-highway wide-body dump trucks (mine trucks) operating in this environment require a high-strength frame system to support the ore load and the cab, while also relying on a stable drivetrain to provide continuous driving force, placing stringent demands on equipment reliability.

[0003] During current operations, workers and drivers, in pursuit of short-term economic gains, ignore road conditions and safety operating procedures, frequently employing sudden acceleration by slamming on the accelerator, which can easily lead to the following multiple risks:

[0004] (1) Mechanical structure overload loss: Rapid acceleration causes the power transmission system to instantly bear excessive torque, which increases the wear of core components such as the gearbox and drive shaft; the frame and cab are repeatedly subjected to impact loads, resulting in frequent problems such as loose bolted joints and fatigue cracks in the metal structure, which directly shortens the service life of the equipment.

[0005] (2) Deterioration of fuel economy performance: Pressing the accelerator hard causes the engine to deviate from the optimal economic speed range for a long time, increasing fuel consumption and accompanied by a surge in emissions of pollutants such as nitrogen oxides; the non-steady-state operation of the power system further accelerates oil aging and increases maintenance costs. Summary of the Invention

[0006] In response to the above problems in the prior art, the present invention provides an optimal vehicle speed control method, system and vehicle based on mining working conditions, which enables the engine to operate in the optimal economic zone and saves fuel consumption under complex working conditions.

[0007] To achieve the above objectives, the present invention adopts an optimal vehicle speed control method based on mining conditions, comprising the following steps:

[0008] S1. Collect the load, slope, and road friction coefficient. The ECU calculates the optimal speed under the current working conditions based on the load, slope, road friction coefficient, and the optimal speed model corresponding to the current weather conditions.

[0009] S2: The ECU sends a control command containing the optimal vehicle speed to the VCU. The VCU controls the engine output speed and torque based on the received optimal vehicle speed.

[0010] S3. Pre-store a mapping table of the transmission's highest gear based on load and slope in the ECU storage medium. The ECU compares the current load and slope with the mapping table data to determine the highest gear allowed by the transmission under the current operating conditions. The ECU sends a limit instruction containing the highest gear to the TCM. The TCM executes the limit instruction and locks the transmission's highest gear.

[0011] S4. The speed sensor collects the vehicle's real-time speed and transmits it to the ECU. The ECU compares the vehicle's real-time speed with the optimal speed and dynamically adjusts the engine output and transmission gear position through a dual closed-loop feedback strategy to ensure the optimal speed.

[0012] As an improvement, in step S1, a load sensor, a slope sensor and a road condition sensor are used to collect the load, slope and road friction coefficient.

[0013] As an improvement, in step S1, when there is no rain or snow, the optimal vehicle speed model is:

[0014]

[0015] Among them, V L It is the optimal speed under different loads and different slopes, V 空 is the maximum vehicle speed on a flat slope with no load, T1 is the full load of the mine car, T2 is the empty load of the mine car (can be 0), T is the actual load of the mine car, V L11 is the optimal speed for a fully loaded vehicle on a flat slope, S1 is the highest slope, S2 is the lowest slope (flat slope, can be 0), S is the actual slope, V L22 It is the optimal vehicle speed when fully loaded and at the highest slope.

[0016] As an improvement, in step S1, in rainy and snowy weather, the optimal vehicle speed model is:

[0017]

[0018] f=f 空 -k1·x

[0019] Among them, V L It is the optimal speed under different loads and different slopes, V 空 is the maximum vehicle speed on a flat slope with no load, T1 is the full load of the mine car, T2 is the empty load of the mine car (can be 0), T is the actual load of the mine car, V L11 is the optimal speed for a fully loaded vehicle on a flat slope, S1 is the highest slope, S2 is the lowest slope (flat slope, can be 0), S is the actual slope, V L22 is the optimal vehicle speed at the highest slope with full load, f 空 is the friction coefficient in rainless and snowless weather, k1 is the proportional coefficient, x is the road slip coefficient, fmax is the maximum friction coefficient in rainless and snowless weather, f min is the minimum friction coefficient under rainy and snowy weather conditions, V L33 It is the optimal speed when fully loaded, going uphill, and in rainy and snowy weather.

[0020] As an improvement, in step S2, the ECU sends a control message containing the optimal vehicle speed to the VCU. The VCU adjusts the injector or throttle through a control algorithm based on the received optimal vehicle speed, thereby adjusting the engine output speed and torque to keep the engine in the optimal economic zone; the expected input of the control algorithm is determined by the accelerator pedal opening.

[0021] As an improvement, in step S4, when the optimal vehicle speed is incorrect due to problems with any of the parameters including load, slope, and road friction coefficient, a preset optimal vehicle speed revision value is used to replace the real-time optimal vehicle speed, and a control instruction containing the optimal vehicle speed revision value is sent to the VCU to adjust the engine speed and achieve optimal vehicle speed control.

[0022] As an improvement, the calculation formula of the optimal vehicle speed revision value is as follows:

[0023] V c =(1+k l +k s+ k f )×V L

[0024] Among them, V c is the revised value of optimal vehicle speed, k l k is the load correction factor, ranging from [-0.3, +0.3], corresponding to different loads; s is the slope correction coefficient, ranging from [-0.45, +0.45], corresponding to different slopes; k f is the road condition correction coefficient, ranging from [-0.25, +0.25], corresponding to different road conditions.

[0025] A second aspect of the present invention further provides an optimal vehicle speed control system based on mining conditions, for implementing the optimal vehicle speed control method based on mining conditions, comprising:

[0026] Load sensor, installed in the vehicle suspension system, is used to collect vehicle load data in real time and transmit it to the ECU;

[0027] Slope sensor, integrated into the ECU or independently installed on the vehicle chassis, is used to measure the road slope and transmit it to the ECU;

[0028] Road condition sensor, which uses an optical or ultrasonic sensor and is installed on the front or bottom of the vehicle to detect the road friction coefficient and transmit it to the ECU;

[0029] Vehicle speed sensor, installed on the wheel or gearbox output shaft, is used to monitor the vehicle speed in real time and transmit it to the ECU;

[0030] An ECU having a built-in processor and storage medium, wherein the storage medium stores an optimal vehicle speed model, a transmission maximum gear mapping table, and an optimal vehicle speed revision value. The ECU calculates the optimal vehicle speed under the current operating conditions based on received load, slope, road friction coefficient, and real-time vehicle speed information, determines the highest gear allowed by the transmission under the current operating conditions, compares the real-time vehicle speed with the optimal speed, and sends corresponding control instructions to the VCU and TCM;

[0031] VCU receives the optimal vehicle speed command from the ECU and controls the engine injector or throttle actuator;

[0032] TCM receives the highest gear limit command from the ECU and controls the gear shift of the transmission to realize the gear lock function.

[0033] A third aspect of the present invention further provides a vehicle, on which the optimal vehicle speed control system based on mining area working conditions is installed.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] (1) Existing mining vehicles mostly use fixed speeds or simple empirical control, which makes it difficult to adapt to complex road conditions. The present invention uses slope sensors and load sensors to collect data in real time, combined with an optimal speed model, to achieve dynamic matching of vehicle speed and working conditions. Compared with traditional control methods, the present invention can reduce vehicle fuel consumption and effectively reduce operating costs. At the same time, precise speed control avoids power waste caused by excessively high or low speeds, thereby improving energy efficiency.

[0036] (2) Traditional vehicle speed control systems lack the ability to perceive weather and road conditions, posing safety risks in severe weather conditions such as rain and snow. The present invention introduces a road condition sensor to monitor the friction coefficient in real time, and automatically reduces the vehicle speed based on the optimal vehicle speed model for rainy and snowy weather. When rainy and snowy weather is detected, the system can shorten the vehicle's braking distance, significantly improving braking safety. In addition, adaptive vehicle speed regulation not only ensures driving safety, but also further reduces fuel consumption by avoiding sudden acceleration and braking, allowing the vehicle to achieve both safety and energy saving in complex scenarios.

[0037] (3) Existing solutions often rely on a single engine speed regulation, which makes it difficult to effectively limit vehicle speed. The present invention adopts a dual-control strategy of "engine optimal economic speed regulation + transmission highest gear lock": the VCU maintains the engine in the optimal economic range according to the ECU instructions and reduces the maximum vehicle speed; at the same time, the TCM locks the transmission highest gear according to the load-slope mapping table to limit the output shaft speed. Under heavy-load uphill conditions, this strategy can reduce the risk of vehicle overspeeding, reduce the impact on the transmission system, extend the service life of core components such as the engine and transmission, and reduce maintenance costs.

[0038] (4) Traditional single closed-loop control is prone to failure when the sensor fails. The present invention constructs a dual closed-loop feedback mechanism of "vehicle speed-engine-transmission": the outer loop dynamically adjusts the target vehicle speed based on the optimal vehicle speed model, and the inner loop monitors and corrects the deviation in real time through the vehicle speed sensor to ensure that the vehicle speed control error is small. When the slope, load or road condition sensor fails, the system automatically switches to the preset optimal vehicle speed revision value and continuously optimizes through the inner loop feedback, so that the vehicle can still maintain safe operation in the fault state. The system reliability is significantly improved, ensuring the continuity of mining operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 Schematic diagram of vehicle driving conditions under different slopes and loads;

[0041] Figure 2 Schematic diagram of the system structure of the present invention;

[0042] Figure 3 Schematic diagram of the method of the present invention. DETAILED DESCRIPTION

[0043] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present application are described in detail below through specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, rather than limitations on the technical solutions of the present application. Unless there is a conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0044] Example 1

[0045] This invention proposes an optimal vehicle speed control method based on mining conditions, designed to achieve efficient, energy-efficient, and safe vehicle operation in complex environments. Specifically, this method uses load sensors, slope sensors, and road condition sensors to collect real-time information about vehicle load, road slope, and road friction coefficient. Using an adaptive model, the method accurately calculates the optimal vehicle speed based on load, slope, and road friction coefficient in different weather conditions. This speed can be dynamically adjusted based on operating conditions, ensuring the engine always operates in the optimal economic zone and significantly reducing fuel consumption in complex conditions.

[0046] At the control strategy level, this invention employs a dual closed-loop feedback mechanism. On the one hand, it monitors vehicle speed in real time and provides feedback to the system, ensuring the engine remains in the optimal economic operating range. On the other hand, by linking vehicle speed and engine status, it further enhances the stability and reliability of the optimal speed control function.

[0047] During implementation, the ECU (electronic control unit) calculates the optimal speed command for the current operating conditions based on collected data on load, slope, and road friction coefficient, and sends it to the VCU (vehicle control unit). The VCU precisely controls engine output speed and torque by adjusting the injector fuel injection rate and throttle opening to achieve vehicle speed regulation. Furthermore, the system pre-designs and stores a transmission maximum gear table based on load and slope. The ECU collects vehicle operating status data in real time, compares it with the gear table, and dynamically determines the transmission maximum gear for the current operating conditions, thereby limiting the transmission output speed. This method can effectively limit the vehicle's maximum speed, increase safe braking distance, and significantly improve driving safety, especially in abnormal weather conditions such as rain and snow.

[0048] like Figure 3 As shown, the optimal vehicle speed control method based on mining conditions of the present invention specifically includes the following steps:

[0049] Step 1: Real-time acquisition of multiple parameters and calculation of optimal vehicle speed

[0050] Using pressure sensors, slope sensors and road condition sensors, the vehicle load (T), road slope (S) and road friction coefficient (f) are collected in real time. The collected data is transmitted to the electronic control unit (ECU) via CAN communication. The ECU calculates the optimal vehicle speed under the current working conditions based on the load (T), slope (S) and friction coefficient (f), combined with the built-in optimal vehicle speed model. This optimal vehicle speed model fully considers the complex road conditions in the mining area and realizes accurate calculation of the vehicle speed.

[0051] The calculation process of the optimal vehicle speed model is as follows:

[0052] like Figure 1As shown in the figure, the speed of the mine car at different loads (points A and B) and different slopes (points B and C). When the mine car is at points A and B (flat slope), as the load increases, the optimal speed V L1 The changes are as follows:

[0053]

[0054] Among them, T1 is the full load of the mine car, T2 is the empty load of the mine car (which can be 0), T is the actual load of the mine car, ΔT is the load change from T1 to T2, ΔV1 is the optimal speed change under the load from T1 to T2, V 空 is the maximum vehicle speed on a flat slope with no load, V L11 It is the optimal speed when fully loaded on a flat slope.

[0055] According to the “linear superposition principle”, when the mine car is at point C (fully loaded with a slope), as the slope increases, the optimal speed V L for:

[0056]

[0057] Among them, ΔV2 is the optimal speed change from S1 to S2, ΔS is the slope change from S1 to S2, S is the actual slope, V L It is the optimal vehicle speed under different loads and different slopes.

[0058] Expanding the load change ΔT, the slope change ΔS, the optimal speed change ΔV1 from load T1 to T2, and the optimal speed change ΔV2 from slope S1 to S2, we get the optimal speed model for the mine car:

[0059]

[0060] Among them, V L22 It is the optimal vehicle speed under the fully loaded and highest slope conditions, S1 is the highest slope, S2 is the lowest slope (flat slope, which can be 0), and S is the actual slope.

[0061] In rainy and snowy weather conditions, the road surface is slippery, resulting in reduced friction. To ensure driving safety and the optimal vehicle speed, the road surface friction coefficient in rainy and snowy weather should be considered as one of the vehicle operating conditions:

[0062] f=f 空 -k1·x (4)

[0063] Among them, f 空 is the friction coefficient in rainless and snowless weather, k1 is the proportional coefficient, and x is the road slip coefficient;

[0064] The optimal vehicle speed model considering rainy and snowy weather conditions is:

[0065]

[0066] Among them, f max is the maximum friction coefficient in rainless and snowless weather, f min Minimum friction coefficient under rainy and snowy weather conditions, V L33 It is the optimal speed when fully loaded, going uphill, and in rainy and snowy weather.

[0067] Step 2: Engine output control

[0068] The ECU sends a message containing the optimal vehicle speed and execution instructions to the vehicle control unit (VCU) via CAN communication. Upon receiving the instructions, the VCU uses a control algorithm such as PID to precisely control engine output speed and torque by adjusting injector fuel injection or throttle opening, ensuring stable engine operation within the optimal economic range. The accelerator pedal opening (0-100%) serves as the desired input for the control algorithm. By varying the accelerator pedal opening, the engine output power can be dynamically adjusted, thereby adjusting the engine speed.

[0069] Step 3: Determine the highest gear position of the gearbox

[0070] A transmission maximum gear table is pre-designed based on load and slope, and stored in the ECU's storage medium. Real-time collected load and slope data is sent to the ECU via CAN communication. The ECU compares and analyzes this real-time data with the stored transmission maximum gear table to determine the highest gear allowed by the transmission under the current vehicle and road conditions.

[0071] Step 4: Transmission gear lock execution

[0072] Based on the gear table comparison results, the ECU sends a message containing the highest gear and execution instructions to the transmission control module (TCM) via CAN communication. Upon receiving the instructions, the TCM's speed limiter module executes the highest gear command, locking the transmission in the highest gear. When the ECU receives a command to adjust the accelerator pedal position, it simultaneously sends an engine speed adjustment command to the VCU and a speed limit command to the TCM's speed limiter module. This coordinated combination of engine speed regulation and transmission gear limiting effectively controls vehicle speed and limits the vehicle's maximum speed.

[0073] Step 5: Vehicle speed closed-loop feedback and dynamic adjustment

[0074] The speed sensor collects the vehicle's actual speed in real time and transmits this data to the ECU via CAN communication. The ECU compares the actual speed with the optimal speed range for the current operating conditions. Using a dual closed-loop feedback strategy, it monitors and dynamically adjusts the vehicle's speed limit effectiveness. If the actual speed deviates from the optimal speed range, the ECU promptly adjusts control commands to the VCU and TCM to ensure the vehicle's speed remains within the appropriate range.

[0075] Step 6: Troubleshooting

[0076] If any of the load sensor, slope sensor, or road condition sensor is damaged, resulting in an error in the optimal speed calculation and consequently a failure of speed control, the system will automatically activate an emergency mechanism. The ECU replaces the real-time calculated optimal speed with a preset revised optimal speed value and sends a command containing this revised optimal speed value to the VCU. This command adjusts the engine speed to maintain the optimal speed control function and ensures safe operation of the vehicle even in the event of a fault.

[0077] The calculation formula of the optimal vehicle speed revision value is as follows:

[0078] V c =(1+k l +k s+ k f )×V L (6)

[0079] Among them, V c is the revised value of optimal vehicle speed, k l k is the load correction factor, ranging from [-0.3, +0.3], corresponding to different loads; s is the slope correction coefficient, ranging from [-0.45, +0.45], corresponding to different slopes; k f is the road condition correction coefficient, ranging from [-0.25, +0.25], corresponding to different road conditions.

[0080] Example 2

[0081] like Figure 3 As shown, an optimal vehicle speed control system based on mining conditions is used to implement the optimal vehicle speed control method based on mining conditions described in Example 1, including:

[0082] Load sensor, installed in the vehicle suspension system, is used to collect vehicle load data in real time and transmit it to the ECU;

[0083] Slope sensor, integrated into the ECU or independently installed on the vehicle chassis, is used to measure the road slope and transmit it to the ECU;

[0084] Road condition sensor, which uses an optical or ultrasonic sensor and is installed on the front or bottom of the vehicle to detect the road friction coefficient and transmit it to the ECU;

[0085] Vehicle speed sensor, installed on the wheel or gearbox output shaft, is used to monitor the vehicle speed in real time and transmit it to the ECU;

[0086] An ECU having a built-in processor and storage medium, wherein the storage medium stores an optimal vehicle speed model, a transmission maximum gear mapping table, and an optimal vehicle speed revision value. The ECU calculates the optimal vehicle speed under the current operating conditions based on received load, slope, road friction coefficient, and real-time vehicle speed information, determines the highest gear allowed by the transmission under the current operating conditions, compares the real-time vehicle speed with the optimal speed, and sends corresponding control instructions to the VCU and TCM;

[0087] VCU receives the optimal vehicle speed command from the ECU and controls the engine injector or throttle actuator;

[0088] TCM receives the highest gear limit command from the ECU and controls the gear shift of the transmission to realize the gear lock function.

[0089] Specifically, the load sensor adopts a high-precision strain gauge pressure sensor, which is installed at the key stress points of the vehicle suspension system (such as leaf spring supports and shock absorber connections) to collect vehicle load data in real time and send the data to the ECU via the CAN bus.

[0090] The slope sensor uses a MEMS accelerometer slope sensor, which can be integrated into the ECU or independently installed at the center of gravity of the vehicle chassis. It is used to measure the road slope in real time and transmit the slope data to the ECU via SPI or CAN communication protocol.

[0091] The road condition sensor is configured as an optical or ultrasonic sensor, installed under the front bumper of the vehicle or in the middle of the chassis. It detects road conditions by emitting / receiving light or sound wave signals, calculates the road friction coefficient, and transmits the data to the ECU in real time. It can identify various road conditions such as dry, wet, and snowy.

[0092] The vehicle speed sensor adopts a Hall effect or magnetoelectric sensor, which is installed on the wheel hub or the gearbox output shaft. It generates a pulse signal by sensing the rotation of the ring gear. The ECU calculates the real-time vehicle speed based on the pulse frequency.

[0093] The ECU (Electronic Control Unit) has a built-in high-performance ARM processor and is equipped with a large-capacity storage medium (EEPROM / Flash). The storage content includes:

[0094] An optimal vehicle speed model for calculating the optimal vehicle speed (e.g., formula (5) described in Example 1);

[0095] Table 1 shows a mapping table for the maximum gear of the transmission based on load and slope (stored in a two-dimensional array, covering the maximum gear data corresponding to different load and slope combinations). The ECU uses revised optimal vehicle speed values ​​(pre-calibrated safety speed thresholds based on factors such as vehicle type and load rating) for emergency response. As the core of the system, the ECU receives data from various sensors and performs operations such as optimal speed calculation, transmission maximum gear determination, and speed comparison analysis. Based on these calculations, it sends control commands to the VCU and TCM via the CAN bus.

[0096] Table 1 Transmission highest gear table

[0097]

[0098] The VCU (Vehicle Control Unit) communicates with the ECU via the CAN bus and receives the optimal vehicle speed command from the ECU. The VCU has a built-in PID control algorithm module. Based on the received command, it outputs a PWM signal to control the injection amount of the engine injector, or adjusts the throttle opening actuator through the drive motor, thereby accurately controlling the engine output speed and torque, so that the engine operates in the optimal economic zone.

[0099] The TCM (transmission control module) receives the highest gear limit command sent by the ECU through the CAN bus. It has a built-in gear control logic circuit and controls the on and off of the transmission solenoid valve group according to the command, changes the internal hydraulic oil circuit of the transmission, realizes the switching and locking functions of the transmission gear, and ensures the speed control requirements of the vehicle under different working conditions.

[0100] Example 3

[0101] A vehicle is provided, on which is installed the optimal vehicle speed control system based on mining conditions as described in Example 2.

[0102] Furthermore, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are also intended to fall within the scope of protection of the present invention and form different embodiments. For example, in the above embodiments, those skilled in the art will be able to use them in combination based on the known technical solutions and the technical problems to be solved by this application.

[0103] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any technician familiar with this patent can make slight changes or modifications to equivalent embodiments using the above-mentioned technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the solution of the present invention.

Claims

1. An optimal vehicle speed control method based on mining conditions, characterized in that: The following steps are involved: S1. Collect the load, slope, and road friction coefficient. The ECU calculates the optimal speed under the current working conditions based on the load, slope, road friction coefficient, and the optimal speed model corresponding to the current weather conditions. S2: The ECU sends a control command containing the optimal vehicle speed to the VCU. The VCU controls the engine output speed and torque based on the received optimal vehicle speed. S3. Pre-store a mapping table of the transmission's highest gear based on load and slope in the ECU storage medium. The ECU compares the current load and slope with the mapping table data to determine the highest gear allowed by the transmission under the current operating conditions. The ECU sends a limit instruction containing the highest gear to the TCM. The TCM executes the limit instruction and locks the transmission's highest gear. S4. The speed sensor collects the vehicle's real-time speed and transmits it to the ECU. The ECU compares the vehicle's real-time speed with the optimal speed and dynamically adjusts the engine output and transmission gear position through a dual closed-loop feedback strategy to ensure the optimal speed.

2. The optimal vehicle speed control method based on mining conditions according to claim 1 is characterized in that: In step S1, a load sensor, a slope sensor, and a road surface condition sensor are used to collect load, slope, and road surface friction coefficient.

3. The optimal vehicle speed control method based on mining conditions according to claim 1 is characterized in that: In step S1, when there is no rain or snow, the optimal vehicle speed model is: Among them, V L It is the optimal speed under different loads and different slopes, V 空 is the maximum vehicle speed on a flat slope with no load, T1 is the full load of the mine car, T2 is the empty load of the mine car (can be 0), T is the actual load of the mine car, V L11 is the optimal speed for a fully loaded vehicle on a flat slope, S1 is the highest slope, S2 is the lowest slope (flat slope, can be 0), S is the actual slope, V L22 It is the optimal vehicle speed when fully loaded and at the highest slope.

4. The optimal vehicle speed control method based on mining conditions according to claim 1 is characterized in that: In step S1, in rainy and snowy weather, the optimal vehicle speed model is: f=f 空 -k1·x Among them, V L It is the optimal speed under different loads and different slopes, V 空 is the maximum vehicle speed on a flat slope with no load, T1 is the full load of the mine car, T2 is the empty load of the mine car (can be 0), T is the actual load of the mine car, V L11 is the optimal speed for a fully loaded vehicle on a flat slope, S1 is the highest slope, S2 is the lowest slope (flat slope, can be 0), S is the actual slope, V L22 is the optimal vehicle speed at the highest slope with full load, f 空 is the friction coefficient in rainless and snowless weather, k1 is the proportional coefficient, x is the road slip coefficient, f max is the maximum friction coefficient in rainless and snowless weather, f min is the minimum friction coefficient under rainy and snowy weather conditions, V L33 It is the optimal speed when fully loaded, going uphill, and in rainy and snowy weather.

5. The optimal vehicle speed control method based on mining conditions according to claim 1 is characterized in that: In step S2, the ECU sends a control message containing the optimal vehicle speed to the VCU. The VCU adjusts the injector or throttle according to the received optimal vehicle speed through a control algorithm to adjust the engine output speed and torque so that the engine is in the optimal economic zone; the expected input of the control algorithm is determined by the accelerator pedal opening.

6. The optimal vehicle speed control method based on mining conditions according to claim 1 is characterized in that: In step S4, when the optimal vehicle speed is incorrect due to a problem with any of the parameters including load, slope, and road friction coefficient, the preset optimal vehicle speed revision value is used to replace the real-time optimal vehicle speed, and a control instruction containing the optimal vehicle speed revision value is sent to the VCU to adjust the engine speed and achieve optimal vehicle speed control.

7. The optimal vehicle speed control method based on mining conditions according to claim 6 is characterized in that: The calculation formula of the optimal vehicle speed revision value is as follows: In c =(1+k l +k s+ to f )×V L Among them, V c is the revised value of optimal vehicle speed, k l k is the load correction factor, ranging from [-0.3, +0.3], corresponding to different loads; s is the slope correction coefficient, ranging from [-0.45, +0.45], corresponding to different slopes; k f is the road condition correction coefficient, ranging from [-0.25, +0.25], corresponding to different road conditions.

8. An optimal vehicle speed control system based on mining conditions, characterized in that: The method for achieving the optimal vehicle speed control based on mining conditions as described in any one of claims 1 to 7 comprises: Load sensor, installed in the vehicle suspension system, is used to collect vehicle load data in real time and transmit it to the ECU; Slope sensor, integrated into the ECU or independently installed on the vehicle chassis, is used to measure the road slope and transmit it to the ECU; Road condition sensor, which uses an optical or ultrasonic sensor and is installed on the front or bottom of the vehicle to detect the road friction coefficient and transmit it to the ECU; Vehicle speed sensor, installed on the wheel or gearbox output shaft, is used to monitor the vehicle speed in real time and transmit it to the ECU; An ECU having a built-in processor and storage medium, wherein the storage medium stores an optimal vehicle speed model, a transmission maximum gear mapping table, and an optimal vehicle speed revision value. The ECU calculates the optimal vehicle speed under the current operating conditions based on received load, slope, road friction coefficient, and real-time vehicle speed information, determines the highest gear allowed by the transmission under the current operating conditions, compares the real-time vehicle speed with the optimal speed, and sends corresponding control instructions to the VCU and TCM; VCU receives the optimal vehicle speed command from the ECU and controls the engine injector or throttle actuator; TCM receives the highest gear limit command from the ECU and controls the gear shift of the transmission to realize the gear lock function.

9. A vehicle, characterized in that: The vehicle is equipped with the optimal vehicle speed control system based on mining conditions as claimed in claim 8.

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