Hybrid brake control method, device, equipment and medium

Abstract

The application discloses a hybrid braking control method, device, equipment and medium, which is applied to the field of rail transit. If the battery engineering vehicle is in a normal running state or a heavy coupling state, all types of brakes in the hybrid braking corresponding to the battery engineering vehicle are effective, and the hybrid braking includes electric braking, air braking and air-electric braking. It is judged whether handle signals corresponding to all types of brakes in any two or more hybrid brakes are received. According to the type corresponding to the handle signal, the priority of all types of brakes and the corresponding relationship between the braking force corresponding to all types of brakes and the maximum available electric braking force, the braking force corresponding to all types of brakes is adjusted. As can be seen, the hybrid braking control method provided by the application is suitable for the control method of the battery engineering vehicle with two or more types of brakes. According to the control logic, the braking force and the deceleration of the whole vehicle are guaranteed, and the superposition of the braking force when several brakes act simultaneously is prevented, so that the requirements of users on the braking force under different conditions are met.

Description

Technical Field

[0001] This application relates to the field of rail transit, and in particular to a hybrid braking control method, device, equipment and medium. Background Technology

[0002] In recent years, with the popularization and development of subway vehicles, battery-powered engineering vehicles, as traction vehicles for rail trains, mainly realize shunting operations and rescue of trains in accidents.

[0003] Currently, battery-powered engineering vehicles employ hybrid braking via automatic brake controllers, pure air braking via individual brake controllers, or electric braking via driver controllers. When all three or two are applied simultaneously, a reasonable control logic is required to meet the vehicle's braking force and deceleration requirements, as well as its braking force needs under special conditions.

[0004] In view of the above-mentioned technologies, finding a method to achieve hybrid braking control of battery-powered engineering vehicles is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a hybrid braking control method, device, equipment, and medium. This can solve the problem in the prior art where, when three or two of the braking forces are applied simultaneously, a clear control logic cannot be used to meet the requirements of the vehicle's braking force and deceleration, as well as the braking force requirements of the vehicle under special conditions.

[0006] To address the aforementioned technical problems, this application provides a hybrid braking control method, comprising:

[0007] If the battery-powered engineering vehicle is in normal operation or in a coupled state, all types of braking in the hybrid braking system corresponding to the battery-powered engineering vehicle are effective. The hybrid braking system includes electric braking, air braking, and air-electric braking.

[0008] Determine whether handle signals corresponding to various types of braking in any two or more mixed braking systems have been received;

[0009] If so, adjust the braking force corresponding to each type of brake according to the type of handle signal, the priority of each type of brake, and the correspondence between the braking force of each type of brake and the maximum available electric braking force.

[0010] Preferably, it further includes:

[0011] If the battery-powered engineering vehicle is in an emergency braking state, the air brake in the hybrid braking system is effective, while the electric brake and the air-electric brake are ineffective.

[0012] Preferably, the braking force corresponding to each type of brake is adjusted according to the type of handle signal, the priority of each type of brake, and the correspondence between the braking force of each type of brake and the maximum available electric braking force, including:

[0013] When the type of the handle signal is either the electric braking signal corresponding to electric braking or the air braking signal corresponding to air braking, the air braking has a higher priority than the electric braking.

[0014] If the electric braking force is not greater than the air braking force, then apply the air braking force.

[0015] If the electric braking force is greater than the air braking force, and the maximum available electric braking force is not greater than the difference between the electric braking force and the air braking force, then the air braking force and the first target electric braking force are applied, wherein the first target electric braking force is the maximum available electric braking force.

[0016] If the electric braking force is greater than the air braking force, and the maximum available electric braking force is greater than the difference between the electric braking force and the air braking force, then the air braking force and the second target electric braking force are applied, wherein the second target electric braking force is the difference between the electric braking force and the air braking force.

[0017] Preferably, the applied braking force for each type of braking is adjusted according to the type of handle signal, the priority of each type of braking, and the correspondence between the braking force of each type of braking and the maximum available electric braking force, including:

[0018] When the type of the handle signal is the electric braking signal corresponding to electric braking and the air-electric braking signal corresponding to air-electric braking, the priority of electric braking is higher than that of air-electric braking.

[0019] If the electric braking force corresponding to electric braking is not greater than the air-electric braking force corresponding to air-electric braking, and the maximum available electric braking force is not greater than the air-electric braking force, then a third target electric braking force and a first target air braking force are applied, wherein the third target electric braking force is the maximum available electric braking force, and the first target air braking force is the difference between the air-electric braking force and the maximum available electric braking force.

[0020] If the electric braking force is not greater than the air-fired braking force, and the maximum available electric braking force is greater than the air-fired braking force, then a fourth target electric braking force is applied, wherein the fourth target electric braking force is an electric braking force equal to the air-fired braking force.

[0021] If the electric braking force is greater than the air-operated electric braking force, and the electric braking force is not greater than the maximum available electric braking force, then apply the electric braking force.

[0022] If the electric braking force is greater than the air-operated electric braking force and the maximum available electric braking force, and the maximum available electric braking force is greater than the air-operated electric braking force, then the maximum available electric braking force shall be applied.

[0023] If the electric braking force is greater than the air-electric braking force and the maximum available electric braking force, and the maximum available electric braking force is not greater than the air-electric braking force, then the maximum available electric braking force and the second target air braking force are applied, wherein the second target air braking force is the difference between the air-electric braking force and the maximum available electric braking force.

[0024] Preferably, the applied braking force for each type of braking is adjusted according to the type of handle signal, the priority of each type of braking, and the correspondence between the braking force of each type of braking and the maximum available electric braking force, including:

[0025] When the type of the handle signal is the air brake signal corresponding to the air brake and the air-electric brake signal corresponding to the air-electric brake, the air brake has a higher priority than the air-electric brake.

[0026] If the air-electric braking force corresponding to the air-electric braking is greater than the air braking force corresponding to the air braking, and the maximum available electric braking force is greater than the difference between the air-electric braking force and the air braking force, then the air braking force and the fifth target electric braking force are applied, wherein the fifth target electric braking force is the difference between the air-electric braking force and the air braking force.

[0027] If the air-electric braking force is greater than the air braking force, and the maximum available electric braking force is not greater than the difference between the air-electric braking force and the air braking force, then a third target air braking force and the maximum available electric braking force are applied, wherein the third target air braking force is the difference between the air-electric braking force and the maximum available electric braking force.

[0028] If the air braking force is not greater than the air braking force, then apply the air braking force.

[0029] Preferably, the applied braking force for each type of braking is adjusted according to the type of handle signal, the priority of each type of braking, and the correspondence between the braking force of each type of braking and the maximum available electric braking force, including:

[0030] When the type of the handle signal is electric braking signal corresponding to electric braking, air braking signal corresponding to air braking, and air-electric braking signal corresponding to air-electric braking, the priority of air braking is higher than that of electric braking and air-electric braking, respectively.

[0031] When the air braking force is greater than the electric braking force and the air-electric braking force, then air braking force is applied.

[0032] When the electric braking force is greater than both the air braking force and the air-electric braking force, the air-electric braking force is greater than the air braking force, and the difference between the electric braking force and the air braking force is not greater than the maximum available electric braking force, then the air braking force and the sixth target electric braking force are applied, where the sixth target electric braking force is the difference between the electric braking force and the air braking force.

[0033] When the electric braking force is greater than both the air braking force and the air-electric braking force, the air-electric braking force is greater than the air braking force, and the difference between the electric braking force and the air braking force is greater than the maximum available electric braking force, and the difference between the air-electric braking force and the air braking force is not greater than the maximum available electric braking force, then the air braking force and the seventh target electric braking force are applied, where the seventh target electric braking force is the maximum available electric braking force.

[0034] When the electric braking force is greater than both the air braking force and the air-electric braking force, the air-electric braking force is greater than the air braking force, and the difference between the electric braking force and the air braking force is greater than the maximum available electric braking force, and the difference between the air-electric braking force and the air braking force is greater than the maximum available electric braking force, then the fourth target air braking force and the eighth target electric braking force are applied. The fourth target air braking force is the difference between the air-electric braking force and the maximum available electric braking force, and the eighth target electric braking force is the maximum available electric braking force.

[0035] When the electric braking force is greater than both the air braking force and the air-electric braking force, the air braking force is greater than the air-electric braking force, and the difference between the electric braking force and the air braking force is not greater than the maximum available electric braking force, then the air braking force and the ninth target electric braking force are applied, where the ninth target electric braking force is the difference between the electric braking force and the air braking force.

[0036] When the electric braking force is greater than both the air braking force and the air-electric braking force, the air braking force is greater than the air-electric braking force, and the difference between the electric braking force and the air braking force is greater than the maximum available electric braking force, then the air braking force and the tenth target electric braking force are applied, where the tenth target electric braking force is the maximum available electric braking force.

[0037] Preferably, adjusting the applied braking force for each type of braking according to the type of handle signal, the priority of each type of braking, and the correspondence between the braking force of each type of braking and the maximum available electric braking force further includes:

[0038] When both the air braking force and the electric braking force are greater than the air braking force and the electric braking force, and the air braking force is not greater than the maximum available electric braking force, then the air braking force and the eleventh target electric braking force are applied, where the eleventh target electric braking force is the difference between the air braking force and the air braking force.

[0039] When both the air-to-electric braking force and the air braking force are greater than the air braking force and the electric braking force, and the air-to-electric braking force is greater than the maximum available electric braking force, then the fifth target air braking force and the twelfth target electric braking force are applied. The fifth target air braking force is the difference between the air-to-electric braking force and the maximum available electric braking force, and the twelfth target electric braking force is the maximum available electric braking force.

[0040] On the other hand, this application also provides a hybrid braking control device, comprising:

[0041] The hybrid braking effective module is used so that when the battery engineering vehicle is in normal operation or in a reconnected state, all types of braking in the hybrid braking of the battery engineering vehicle are effective. The hybrid braking includes electric braking, air braking and air-electric braking.

[0042] The judgment module is used to determine whether handle signals corresponding to various types of braking in any two or more mixed braking systems have been received.

[0043] The logic control module is used to adjust the braking force of each type of brake according to the type of handle signal, the priority of each type of brake, and the correspondence between the braking force of each type of brake and the maximum available electric braking force.

[0044] On the other hand, this application also provides an electronic device, including a memory for storing computer programs;

[0045] A processor is used to implement the steps of the hybrid braking control method described above when executing a computer program.

[0046] On the other hand, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described hybrid braking control method.

[0047] This application provides a hybrid braking control method, comprising: if the battery-powered engineering vehicle is in normal operation or in a coupled state, all types of braking in the hybrid braking system corresponding to the battery-powered engineering vehicle are effective, wherein the hybrid braking includes electric braking, air braking, and pneumatic-electric braking; determining whether any two or more lever signals corresponding to various types of braking in the hybrid braking are received; and adjusting the braking force corresponding to each type of braking according to the type of lever signal, the priority of each type of braking, and the correspondence between the braking force of each type of braking and the maximum available electric braking force. Therefore, the hybrid braking control method provided in this application is applicable to the control of battery-powered engineering vehicles with two or more types of braking. Its control logic ensures both the braking force and deceleration of the entire vehicle, and prevents the superposition of braking forces when several brakes are applied simultaneously, thus meeting the user's braking force requirements under different conditions. Attached Figure Description

[0048] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 A flowchart of a hybrid braking control method provided in an embodiment of this application;

[0050] Figure 2 A first logic control diagram provided for embodiments of this application;

[0051] Figure 3 The second logic control diagram provided in the embodiments of this application;

[0052] Figure 4 The third logic control diagram provided for embodiments of this application;

[0053] Figure 5 The fourth logic control diagram provided in the embodiments of this application;

[0054] Figure 6 A block diagram of a hybrid braking control device provided in an embodiment of this application;

[0055] Figure 7 A structural diagram of an electronic device provided in another embodiment of this application. Detailed Implementation

[0056] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0057] The core of this application is to provide a hybrid braking control method, device, equipment, and medium.

[0058] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0059] Figure 1 A flowchart of a hybrid braking control method provided in an embodiment of this application is shown below. Figure 1 As shown, it includes:

[0060] S10: If the battery-powered engineering vehicle is in normal operation or in a coupled state, all types of braking in the hybrid braking system corresponding to the battery-powered engineering vehicle are effective. The hybrid braking system includes electric braking, air braking, and air-electric braking.

[0061] S11: Determine whether the handle signals corresponding to various types of braking in any two or more mixed braking systems have been received.

[0062] S12: If so, adjust the braking force corresponding to each type of brake according to the type of handle signal, the priority of each type of brake, and the correspondence between the braking force of each type of brake and the maximum available electric braking force.

[0063] In a specific embodiment, the individual brake controller handle applies air braking force. The driver's control handle applies electric braking force. The automatic brake controller handle applies an off-electric braking force. Maximum available electric braking force When the battery-powered engineering vehicle is in normal operation or in a coupled state, any type of braking or mixed braking is effective, allowing for simultaneous or individual braking. Since braking is achieved through corresponding levers, the current braking type can be determined based on the acquired lever signals. If lever signals corresponding to any two or more types of mixed braking are acquired, it indicates that the current braking is a combination of two or three types. However, when the battery-powered engineering vehicle is in an emergency braking state, only the air braking is effective in the mixed braking; the electric braking and the air-electric braking are ineffective. The mechanical and electronic distribution valves simultaneously generate pre-control pressure in the brake cylinders.

[0064] like Figure 2 As shown, when the type of the handle signal corresponds to both electric braking and air braking, it indicates that the current braking is a mixture of electric and air braking. The braking control logic is as follows: air braking has a higher priority than electric braking; if the electric braking force... Not greater than the air braking force corresponding to air braking Then apply air braking force. If electric braking force Greater than air braking force And the maximum available electric braking force Not greater than electric braking force With air braking force The difference ( - Then apply air braking force. and the first target electric braking force, wherein the first target electric braking force is the maximum available electric braking force. If electric braking force Greater than air braking force And the maximum available electric braking force Greater than electric braking force With air braking force The difference ( - Then apply air braking force. The second target electric braking force, wherein the second target electric braking force is an electric braking force. With air braking force The difference ( - ).

[0065] like Figure 3 As shown, when the type of the handle signal corresponds to both electric braking and idle electric braking, it indicates that the current braking is a mixture of electric braking and idle electric braking. The braking control logic is that electric braking has a higher priority than idle electric braking; if the electric braking force... Not greater than the air-electric braking force corresponding to air-electric braking And the maximum available electric braking force Not greater than the air-electric braking force Then, a third target electric braking force and a first target air braking force are applied, wherein the third target electric braking force is the maximum available electric braking force. The primary target air braking force is the pneumatic-electric braking force. With maximum available electric braking force The difference ( - If electric braking force Not greater than the air-electric braking force And the maximum available electric braking force Greater than the air-electric braking force Then, a fourth target electric braking force is applied, wherein the fourth target electric braking force is the same as the air electric braking force. Equal electric braking force; if electric braking force Greater than the air-electric braking force And electric braking force Not greater than the maximum available electric braking force Then apply electric braking force. If electric braking force Greater than the air-electric braking force and maximum available electric braking force And the maximum available electric braking force Greater than the air-electric braking force Then apply the maximum available electric braking force. If electric braking force Greater than the air-electric braking force and maximum available electric braking force And the maximum available electric braking force Not greater than the air-electric braking force Then apply the maximum available electric braking force. The second target air braking force, wherein the second target air braking force is an air-electric braking force. With maximum available electric braking force The difference ( - ).

[0066] like Figure 4As shown, when the type of the handle signal corresponds to both air braking and pneumatic braking, it indicates that the current braking is a mixture of air braking and pneumatic braking. In its braking control logic, air braking has a higher priority than pneumatic braking; if the pneumatic braking force... Greater than the air braking force corresponding to air braking And the maximum available electric braking force Greater than the air-electric braking force With air braking force The difference ( - Then apply air braking force. And the fifth target electric braking force, wherein the fifth target electric braking force is the air-electric braking force. With air braking force The difference ( - ); if the air-electric braking force Greater than air braking force And the maximum available electric braking force Not greater than the air-electric braking force With air braking force The difference ( - Then apply the third target air braking force and the maximum available electric braking force. Among them, the third target air braking force is the pneumatic-electric braking force. With maximum available electric braking force The difference ( - ); if the air-electric braking force No greater than air braking force Then apply air braking force. .

[0067] like Figure 5 As shown, when the type of the handle signal is electric braking signal (for electric braking), air braking signal (for air braking), or air-electric braking signal (for air-electric braking), it indicates that the current braking is a hybrid of electric braking, air braking, and air-electric braking. The braking control logic is that the priority of air braking is higher than that of electric braking and then air-electric braking; when the air braking force... All are greater than the electric braking force corresponding to electric braking. pneumatic braking force corresponding to pneumatic braking Then apply air braking force. When electric braking force Both are greater than air braking force and air-electric braking force pneumatic braking force Greater than air braking force And electric braking force With air braking force The difference ( - Not greater than the maximum available electric braking force Then apply air braking force. And the sixth target electric braking force, wherein the sixth target electric braking force is an electric braking force. With air braking force The difference ( - When electric braking force Both are greater than air braking force and air-electric braking force pneumatic braking force Greater than air braking force And electric braking force With air braking force The difference ( - (Greater than the maximum available electric braking force) pneumatic braking force With air braking force The difference ( - Not greater than the maximum available electric braking force Then apply air braking force. And the seventh target electric braking force, wherein the seventh target electric braking force is the maximum available electric braking force. When electric braking force Both are greater than air braking force and air-electric braking force pneumatic braking force Greater than air braking force And electric braking force With air braking force The difference ( - (Greater than the maximum available electric braking force) pneumatic braking force With air braking force The difference ( - (Greater than the maximum available electric braking force) Then, the fourth target air braking force and the eighth target electric braking force are applied, wherein the fourth target air braking force is an air-electric braking force. With maximum available electric braking force The difference ( - The eighth target electric braking force is the maximum available electric braking force. When electric braking force Both are greater than air braking force and air-electric braking force Air braking force Greater than the air-electric braking force And electric braking force With air braking force The difference ( - Not greater than the maximum available electric braking force Then apply air braking force. And the ninth target electric braking force, wherein the ninth target electric braking force is an electric braking force. With air braking force The difference ( - When electric braking force Both are greater than air braking force and air-electric braking force Air braking force Greater than the air-electric braking force And electric braking force With air braking force The difference ( - (Greater than the maximum available electric braking force) Then apply air braking force. And the tenth target electric braking force, wherein the tenth target electric braking force is the maximum available electric braking force. When the air-to-electric braking force Both are greater than air braking force and electric braking force And the air-electric braking force Not greater than the maximum available electric braking force Then apply air braking force. And the eleventh target electric braking force, wherein the eleventh target electric braking force is an air-electric braking force. With air braking force The difference ( - ); when the air-to-electric braking force Both are greater than air braking force and electric braking force And the air-electric braking force Greater than the maximum available electric braking force Then, the fifth target's air braking force and the twelfth target's electric braking force are applied, wherein the fifth target's air braking force is an air-electric braking force. With maximum available electric braking force The difference ( - The twelfth target electric braking force is the maximum available electric braking force. .

[0068] at the same time, Figure 2 , Figure 3 , Figure 4 , Figure 5 The paper also presents the relationship between individual electric braking, air braking, and pneumatic-electric braking and the maximum available electric braking force under different conditions, as well as the applied braking force.

[0069] It should be noted that the air braking force is determined by the train pipe pressure reduction, and electric braking is applied first. If the maximum applicable electric braking force is greater than the air braking force, no additional air braking is required. If the maximum applicable electric braking force is less than the air braking force, air braking must be supplemented through the electronic distribution valve.

[0070] It should be noted that during mixed braking, each bogie operates independently. If the electric braking function of a single bogie fails during mixed braking, air braking will be applied to the corresponding bogie based on the train pipe decompression. The individual brake controller handle has the highest priority, and the locomotive must apply the air braking requested by the individual brake controller.

[0071] This application provides a hybrid braking control method, comprising: if the battery-powered engineering vehicle is in normal operation or in a coupled state, all types of braking in the hybrid braking system corresponding to the battery-powered engineering vehicle are effective, wherein the hybrid braking includes electric braking, air braking, and pneumatic-electric braking; determining whether any two or more lever signals corresponding to various types of braking in the hybrid braking are received; and adjusting the braking force corresponding to each type of braking according to the type of lever signal, the priority of each type of braking, and the correspondence between the braking force of each type of braking and the maximum available electric braking force. Therefore, the hybrid braking control method provided in this application is applicable to the control of battery-powered engineering vehicles with two or more types of braking. Its control logic ensures both the braking force and deceleration of the entire vehicle, and prevents the superposition of braking forces when several brakes are applied simultaneously, thus meeting the user's braking force requirements under different conditions.

[0072] In the above embodiments, the hybrid braking control method has been described in detail. This application also provides embodiments corresponding to the hybrid braking control device. It should be noted that this application describes the embodiments of the device from two perspectives: one is based on the functional modules, and the other is based on the hardware.

[0073] Figure 6 A block diagram of a hybrid braking control device provided in an embodiment of this application, such as... Figure 6 As shown, it includes:

[0074] The hybrid braking effective module 11 is used so that when the battery engineering vehicle is in normal operation or reconnection state, all types of braking in the hybrid braking corresponding to the battery engineering vehicle are effective. The hybrid braking includes electric braking, air braking and air-electric braking.

[0075] The judgment module 12 is used to determine whether it receives handle signals corresponding to various types of braking in any two or more mixed braking systems;

[0076] The logic control module 13 is used to adjust the braking force of each type of brake according to the type of handle signal, the priority of each type of brake, and the correspondence between the braking force of each type of brake and the maximum available electric braking force.

[0077] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0078] Figure 7 A structural diagram of an electronic device provided in another embodiment of this application, such as... Figure 7 As shown, the electronic device includes: a memory 20 for storing computer programs;

[0079] The processor 21 is used to execute a computer program to implement the steps of the hybrid braking control method mentioned in the above embodiments.

[0080] The electronic devices provided in this embodiment may include, but are not limited to, smartphones, tablets, laptops, or desktop computers.

[0081] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which is used to handle computational operations related to machine learning.

[0082] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the hybrid braking control method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary storage or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc.

[0083] In some embodiments, the electronic device may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0084] Those skilled in the art will understand that Figure 7 The structures shown do not constitute a limitation on electronic devices and may include more or fewer components than those shown.

[0085] The electronic device provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the steps of the above-described hybrid braking control method and has the same beneficial effects.

[0086] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiments.

[0087] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0088] The above provides a detailed description of a hybrid braking control method, apparatus, device, and medium provided in this application. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0089] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A hybrid braking control method, characterized in that, include: If the battery-powered engineering vehicle is in normal operation or in a coupled state, all types of braking in the hybrid braking system corresponding to the battery-powered engineering vehicle are effective. The hybrid braking system includes electric braking, air braking, and air-electric braking. Determine whether any two or more handle signals corresponding to various types of braking in the hybrid braking are received; If so, adjust the braking force corresponding to each type of brake according to the type of handle signal, the priority of each type of brake, and the correspondence between the braking force of each type of brake and the maximum available electric braking force, including: When the type corresponding to the handle signal is the electric braking signal corresponding to the electric braking, the air braking signal corresponding to the air braking, and the air-electric braking signal corresponding to the air-electric braking, the priority of the air braking is higher than the priority of the electric braking and the priority of the air-electric braking in that order. When the air braking force corresponding to the air brake is greater than the electric braking force corresponding to the electric brake and the air-electric braking force corresponding to the air-electric brake, the air braking force is applied. When the electric braking force is greater than both the air braking force and the air-electric braking force, the air-electric braking force is greater than the air braking force, and the difference between the electric braking force and the air braking force is not greater than the maximum available electric braking force, then the air braking force and the sixth target electric braking force are applied, wherein the sixth target electric braking force is the difference between the electric braking force and the air braking force; When the electric braking force is greater than both the air braking force and the air-electric braking force, the air-electric braking force is greater than the air braking force, and the difference between the electric braking force and the air braking force is greater than the maximum available electric braking force, and the difference between the air-electric braking force and the air braking force is not greater than the maximum available electric braking force, then the air braking force and the seventh target electric braking force are applied, wherein the seventh target electric braking force is the maximum available electric braking force; When the electric braking force is greater than both the air braking force and the air-electric braking force, the air-electric braking force is greater than the air braking force, and the difference between the electric braking force and the air braking force is greater than the maximum available electric braking force, and the difference between the air-electric braking force and the air braking force is greater than the maximum available electric braking force, then a fourth target air braking force and an eighth target electric braking force are applied, wherein the fourth target air braking force is the difference between the air-electric braking force and the maximum available electric braking force, and the eighth target electric braking force is the maximum available electric braking force; When the electric braking force is greater than both the air braking force and the air-electric braking force, the air braking force is greater than the air-electric braking force, and the difference between the electric braking force and the air braking force is not greater than the maximum available electric braking force, then the air braking force and the ninth target electric braking force are applied, wherein the ninth target electric braking force is the difference between the electric braking force and the air braking force; When the electric braking force is greater than both the air braking force and the air-electric braking force, the air braking force is greater than the air-electric braking force, and the difference between the electric braking force and the air braking force is greater than the maximum available electric braking force, then the air braking force and the tenth target electric braking force are applied, wherein the tenth target electric braking force is the maximum available electric braking force.

2. The hybrid braking control method according to claim 1, characterized in that, Also includes: If the battery-powered engineering vehicle is in an emergency braking state, the air brake in the hybrid braking is effective, while the electric brake and the air-electric brake are ineffective.

3. The hybrid braking control method according to claim 1, characterized in that, The step of adjusting the braking force corresponding to each type of braking according to the type of the handle signal, the priority of each type of braking, and the correspondence between the braking force of each type of braking and the maximum available electric braking force includes: When the type corresponding to the handle signal is the electric braking signal corresponding to the electric braking and the air braking signal corresponding to the air braking, the priority of the air braking is higher than the priority of the electric braking. If the electric braking force corresponding to the electric braking is not greater than the air braking force corresponding to the air braking, then the air braking force is applied; If the electric braking force is greater than the air braking force, and the maximum available electric braking force is not greater than the difference between the electric braking force and the air braking force, then the air braking force and the first target electric braking force are applied, wherein the first target electric braking force is the maximum available electric braking force; If the electric braking force is greater than the air braking force, and the maximum available electric braking force is greater than the difference between the electric braking force and the air braking force, then the air braking force and the second target electric braking force are applied, wherein the second target electric braking force is the difference between the electric braking force and the air braking force.

4. The hybrid braking control method according to claim 1, characterized in that, The step of adjusting the applied braking force for each type of braking based on the type of the handle signal, the priority of each type of braking, and the correspondence between the braking force of each type of braking and the maximum available electric braking force includes: When the type corresponding to the handle signal is the electric braking signal corresponding to the electric braking and the idle electric braking signal corresponding to the idle electric braking, the priority of the electric braking is higher than the priority of the idle electric braking. If the electric braking force corresponding to the electric braking is not greater than the air-electric braking force corresponding to the air-electric braking, and the maximum available electric braking force is not greater than the air-electric braking force, then a third target electric braking force and a first target air braking force are applied, wherein the third target electric braking force is the maximum available electric braking force, and the first target air braking force is the difference between the air-electric braking force and the maximum available electric braking force; If the electric braking force is not greater than the empty electric braking force, and the maximum available electric braking force is greater than the empty electric braking force, then a fourth target electric braking force is applied, wherein the fourth target electric braking force is an electric braking force equal to the empty electric braking force; If the electric braking force is greater than the no-load electric braking force, and the electric braking force is not greater than the maximum available electric braking force, then the electric braking force is applied; If the electric braking force is greater than the air-operated electric braking force and the maximum available electric braking force, and the maximum available electric braking force is greater than the air-operated electric braking force, then the maximum available electric braking force is applied. If the electric braking force is greater than the air-to-electric braking force and the maximum available electric braking force, and the maximum available electric braking force is not greater than the air-to-electric braking force, then the maximum available electric braking force and the second target air braking force are applied, wherein the second target air braking force is the difference between the air-to-electric braking force and the maximum available electric braking force.

5. The hybrid braking control method according to claim 1, characterized in that, The step of adjusting the applied braking force for each type of braking based on the type of the handle signal, the priority of each type of braking, and the correspondence between the braking force of each type of braking and the maximum available electric braking force includes: When the type corresponding to the handle signal is the air brake signal corresponding to the air brake and the air-electric brake signal corresponding to the air-electric brake, the priority of the air brake is higher than the priority of the air-electric brake. If the air-electric braking force corresponding to the air-electric braking is greater than the air braking force corresponding to the air braking, and the maximum available electric braking force is greater than the difference between the air-electric braking force and the air braking force, then the air braking force and the fifth target electric braking force are applied, wherein the fifth target electric braking force is the difference between the air-electric braking force and the air braking force; If the pneumatic braking force is greater than the air braking force, and the maximum available electric braking force is not greater than the difference between the pneumatic braking force and the air braking force, then a third target air braking force and the maximum available electric braking force are applied, wherein the third target air braking force is the difference between the pneumatic braking force and the maximum available electric braking force. If the pneumatic braking force is not greater than the air braking force, then the air braking force is applied.

6. The hybrid braking control method according to claim 1, characterized in that, The step of adjusting the applied braking force for each type of braking according to the type of the handle signal, the priority of each type of braking, and the correspondence between the braking force of each type of braking and the maximum available electric braking force further includes: When the air-electric braking force is greater than both the air braking force and the electric braking force, and the air-electric braking force is not greater than the maximum available electric braking force, then the air braking force and the eleventh target electric braking force are applied, wherein the eleventh target electric braking force is the difference between the air-electric braking force and the air braking force. When the air-electric braking force is greater than both the air braking force and the electric braking force, and the air-electric braking force is greater than the maximum available electric braking force, then a fifth target air braking force and a twelfth target electric braking force are applied, wherein the fifth target air braking force is the difference between the air-electric braking force and the maximum available electric braking force, and the twelfth target electric braking force is the maximum available electric braking force.

7. A hybrid braking control device, characterized in that, Applied to the hybrid braking control method described in claim 1.

8. An electronic device, characterized in that, Includes memory used to store computer programs; A processor for executing the computer program to implement the steps of the hybrid braking control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the hybrid braking control method as described in any one of claims 1 to 6.

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