Vehicle single-side braking control method and system and tractor

Abstract

The invention discloses a vehicle single-side braking control method and system and a tractor. The vehicle single-side braking control method comprises the steps that a single-side braking pressure value is obtained; obtaining a front axle steering angle value; a first gearbox speed ratio adjusting value and a first engine rotating speed adjusting value are obtained according to the single-side braking pressure value and the front axle steering angle value; a plunger pump pressure difference value in the gearbox is obtained according to the first gearbox speed ratio adjusting value and the first engine rotating speed adjusting value; acquiring a second gearbox speed ratio adjusting value and a second engine rotating speed adjusting value or keeping a first gearbox adjusting value and a first engine rotating speed adjusting value according to the pressure difference value of the plunger pump in the gearbox; wherein the first gearbox speed ratio adjusting value is smaller than the second gearbox speed ratio adjusting value, and the first engine rotating speed adjusting value is smaller than the second engine rotating speed adjusting value, so that single-side braking control is completed. Stable single-side braking control is achieved, and flameout of an engine in the single-side braking process is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle single-side braking control method, system and tractor. BACKGROUND

[0002] In the process of plowing and rotary tillage, when the tractor needs to turn at the edge of the field or turn in a narrow road, the extreme turning is carried out, as the horsepower of the tractor increases, the wheel track and wheel base of the tractor become larger and larger, and it becomes more and more difficult to turn on the current road and at the field head, in order to reduce the turning radius, the driver usually needs to step on the brake pedal on the same side as the turning direction, but there are problems of stalling and unstable braking, therefore, it is urgent to provide a technical solution to solve the above problems. SUMMARY

[0003] The present application provides a vehicle single-side braking control method, system and tractor, to realize smooth single-side braking control and avoid engine stall during single-side braking.

[0004] In a first aspect, the present application provides a vehicle single-side braking control method, comprising:

[0005] obtaining a single-side braking pressure value;

[0006] obtaining a front axle turning angle value;

[0007] obtaining a first gearbox speed ratio adjustment value and a first engine speed adjustment value according to the single-side braking pressure value and the front axle turning angle value;

[0008] obtaining a gearbox inner plunger pump pressure difference value according to the first gearbox speed ratio adjustment value and the first engine speed adjustment value;

[0009] obtaining a second gearbox speed ratio adjustment value and a second engine speed adjustment value according to the gearbox inner plunger pump pressure difference value, or keeping the first gearbox adjustment value and the first engine speed adjustment value, to complete single-side braking control; wherein the first gearbox speed ratio adjustment value is less than the second gearbox speed ratio adjustment value, and the first engine speed adjustment value is less than the second engine speed adjustment value.

[0010] Optionally, obtaining a single-side braking pressure value comprises:

[0011] obtaining brake pedal information;

[0012] obtaining a single-side braking pressure value according to the brake pedal information.

[0013] Optionally, before obtaining a first gearbox speed ratio adjustment value and a first engine speed adjustment value according to the single-side braking pressure value and the front axle turning angle value, the method further comprises:

[0014] obtaining a preset brake pressure value;

[0015] obtaining a preset front axle steering angle value.

[0016] Optionally, the first gearbox speed ratio adjustment value and the first engine speed adjustment value are obtained according to the single-side brake pressure value and the front axle steering angle value, comprising:

[0017] the first gearbox adjustment value and the first engine speed adjustment value are obtained when the single-side brake pressure value is greater than the preset brake pressure value and the front axle steering angle value is greater than the preset front axle steering angle value.

[0018] Optionally, the method further comprises:

[0019] the single-side brake control is ended when the single-side brake pressure value is less than or equal to the preset brake pressure value, or when the front axle steering angle value is less than or equal to the preset front axle steering angle value.

[0020] Optionally, after the first gearbox speed ratio adjustment value and the first engine speed adjustment value are obtained according to the single-side brake pressure value and the front axle steering angle value, the method further comprises:

[0021] outputting differential lock closing information.

[0022] Optionally, before the second gearbox speed ratio adjustment value and the second engine speed adjustment value are obtained according to the plunger pump pressure difference value in the gearbox or the first gearbox adjustment value and the first engine speed adjustment value are maintained, the method further comprises:

[0023] obtaining a preset plunger pump pressure difference value in the gearbox.

[0024] Optionally, the second gearbox speed ratio adjustment value is obtained according to the plunger pump pressure difference value in the gearbox, comprising:

[0025] the second gearbox speed ratio adjustment value and the second engine speed adjustment value are obtained when the plunger pump pressure difference value in the gearbox is greater than the preset plunger pump pressure difference value in the gearbox;

[0026] the first gearbox speed ratio adjustment value and the first engine speed adjustment value are maintained when the plunger pump pressure difference value in the gearbox is less than or equal to the preset plunger pump pressure difference value in the gearbox.

[0027] In a second aspect, the present application provides a vehicle single-side brake control system for executing the vehicle single-side brake control method according to any one of the first aspect, comprising:

[0028] A single-side braking pressure value acquisition module is configured to acquire a single-side braking pressure value.

[0029] A front axle steering angle value acquisition module is configured to acquire a front axle steering angle value.

[0030] A first gearbox speed ratio adjustment value and first engine speed adjustment value acquisition module is configured to acquire a first gearbox speed ratio adjustment value and a first engine speed adjustment value according to the single-side braking pressure value and the front axle steering angle value.

[0031] A first gearbox speed ratio adjustment value acquisition module is configured to acquire a gearbox inner plunger pump pressure difference value according to the first gearbox speed ratio adjustment value and the first engine speed adjustment value.

[0032] An adjustment value output or retention module is configured to acquire a second gearbox speed ratio adjustment value and a second engine speed adjustment value or retain the first gearbox adjustment value and the first engine speed adjustment value according to the gearbox inner plunger pump pressure difference value, so as to complete single-side braking control; wherein the first gearbox speed ratio adjustment value is smaller than the second gearbox speed ratio adjustment value, and the first engine speed adjustment value is smaller than the second engine speed adjustment value.

[0033] In a third aspect, the present application provides a tractor, which comprises the vehicle single-side braking control system according to the second aspect.

[0034] The technical scheme of the embodiment of the present application provides a vehicle single-side braking control method, which comprises: acquiring a single-side braking pressure value; acquiring a front axle steering angle value; acquiring a first gearbox speed ratio adjustment value and a first engine speed adjustment value according to the single-side braking pressure value and the front axle steering angle value; acquiring a gearbox inner plunger pump pressure difference value according to the first gearbox speed ratio adjustment value and the first engine speed adjustment value; acquiring a second gearbox speed ratio adjustment value and a second engine speed adjustment value or retaining the first gearbox adjustment value and the first engine speed adjustment value according to the gearbox inner plunger pump pressure difference value, so as to complete single-side braking control; wherein the first gearbox speed ratio adjustment value is smaller than the second gearbox speed ratio adjustment value, and the first engine speed adjustment value is smaller than the second engine speed adjustment value. Thus, the single-side braking control is smoothly implemented, and the engine is prevented from being shut down during the single-side braking process.

[0035] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description only need to be some embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without any creative work based on the embodiments of the present application should also belong to the protection scope of the present application.

[0037] Figure 1 A flowchart of a vehicle unilateral braking control method provided by an embodiment of the present application is shown in FIG. 1.

[0038] Figure 2 A structural diagram of a vehicle unilateral braking control system provided by an embodiment of the present application is shown in FIG. 2.

[0039] Figure 3 A flowchart of another vehicle unilateral braking control method provided by an embodiment of the present application is shown in FIG. 3.

[0040] Figure 4 A flowchart of another vehicle unilateral braking control method provided by an embodiment of the present application is shown in FIG. 4.

[0041] Figure 5 A flowchart of another vehicle unilateral braking control method provided by an embodiment of the present application is shown in FIG. 5.

[0042] Figure 6 A flowchart of another vehicle unilateral braking control method provided by an embodiment of the present application is shown in FIG. 6.

[0043] Figure 7 A flowchart of another vehicle unilateral braking control method provided by an embodiment of the present application is shown in FIG. 7.

[0044] Figure 8 A structural diagram of another vehicle unilateral braking control system provided by an embodiment of the present application is shown in FIG. 8. DETAILED DESCRIPTION

[0045] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description only need to be some embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without any creative work based on the embodiments of the present application should also belong to the protection scope of the present application.

[0046] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and in the above drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0047] Figure 1 A flowchart of a vehicle single-side braking control method provided by an embodiment of the present application is shown in Figure 1 The embodiment can be applied to single-side braking control, and the method can be executed by a vehicle single-side braking control system which can be realized in the form of hardware and / or software and can be configured in a tractor. Figure 2 A structural diagram of a vehicle single-side braking control system provided by an embodiment of the present application is shown in Figure 2 The vehicle single-side braking control system at least includes a left-side wheel edge brake 101, a right-side wheel edge brake 102, a hand brake valve 103, an automatic parking valve 104, a control unit 105, a front axle angle sensor 106, a left-side brake pressure sensor 107, a right-side brake pressure sensor 108, an oil pump 109 and an oil tank 110. The control unit 105 is connected to the front axle angle sensor 106, the left-side brake pressure sensor 107 and the right-side brake pressure sensor 108. The oil outlet of the oil pump 109 is connected to the oil inlet of the automatic parking valve 104 through a pipeline, the oil outlet of the automatic parking valve 104 is connected to the oil inlet of the hand brake valve 103 through a pipeline, the oil outlet of the hand brake valve 103 is connected to the parking brake oil channel of the brake through a pipeline, the oil inlet of the oil pump 109 can be connected to the oil tank 110 through a pipeline, the oil return outlets of the automatic parking valve 104 and the hand brake valve 103 are respectively connected to the oil tank 110 through pipelines, the left-side wheel edge brake 101 is connected to a left-side brake pedal, the left-side brake pedal is connected to the left-side brake pressure sensor 107, the right-side wheel edge brake 102 is connected to a right-side brake pedal, and the right-side brake pedal is connected to the right-side brake pressure sensor 108. Figure 1 The method includes:

[0048] S101, acquiring a single-side braking pressure value.

[0049] Wherein, for the tractor generally includes left brake pedal and right brake pedal, during the vehicle operation, the user can according to the turning needs of the same direction of the brake pedal to step down, to realize the corresponding tractor rear effect of the double side wheel edge brake brake, and then realize the minimum turning radius. When the brake pedal is stepped down, the pressure can be collected by the brake pressure sensor and collected by the control unit, and then the single side brake pressure value is obtained.

[0050] S102, obtain the front axle steering angle value.

[0051] Wherein, the front axle angle sensor collects the steering angle of the vehicle steering wheel and outputs the value control unit, and the control unit obtains the front axle steering angle value.

[0052] S103, according to the single side brake pressure value and the front axle steering angle value, obtain the first gearbox speed ratio adjustment value and the first engine speed adjustment value.

[0053] Wherein, when the control unit simultaneously obtains the single side brake pressure value and the front axle steering angle value, at this time, it is considered that the vehicle has the demand of single side brake, the single side brake function is triggered, and then the first gearbox speed ratio adjustment value and the first engine speed adjustment value can be obtained, the first gearbox speed ratio adjustment value and the first engine speed adjustment value can realize the reduction of the stepless adjustable gearbox speed ratio, reduce the engine load, also reduce the engine speed, further adjust the engine speed, to realize the single side brake effect and play a certain oil saving effect.

[0054] S104, according to the first gearbox speed ratio adjustment value and the first engine speed adjustment value, obtain the plunger pump pressure difference value in the gearbox.

[0055] Wherein, after adjusting the engine speed by using the first gearbox speed ratio adjustment value and the first engine speed adjustment value, in order to avoid the plunger pump in the stepless adjustable gearbox from being blocked, which affects the single side brake effect. It is necessary to obtain the plunger pump pressure difference value in the gearbox, that is, to obtain the pressure difference value between the inlet pressure and the outlet pressure of the plunger pump.

[0056] S105, according to the plunger pump pressure difference value in the gearbox, obtain the second gearbox speed ratio adjustment value and the second engine speed adjustment value or keep the first gearbox adjustment value and the first engine speed adjustment value, to complete the single side brake control; wherein, the first gearbox speed ratio adjustment value is less than the second gearbox speed ratio adjustment value, and the first engine speed adjustment value is less than the second engine speed adjustment value.

[0057] When the pressure difference of the plunger pump in the gearbox is large, it is considered that the plunger pump is under pressure, and the second gearbox speed ratio adjustment value and the second engine speed adjustment value need to be obtained to further adjust the gearbox speed ratio and the engine speed, that is, to increase the engine speed reduction rate to ensure the unilateral braking effect and avoid engine stall caused by pressure. The first gearbox speed ratio adjustment value is less than the second gearbox speed ratio adjustment value, and the first engine speed adjustment value is less than the second engine speed adjustment value, that is, the gearbox speed ratio reduction rate adjusted by the second gearbox speed ratio adjustment value is greater than the gearbox speed ratio reduction rate adjusted by the first gearbox speed ratio adjustment value; and the engine speed reduction rate adjusted by the second engine speed adjustment value is greater than the engine speed reduction rate adjusted by the first engine speed adjustment value. When the pressure difference of the plunger pump in the gearbox is small, it is considered that the plunger pump is not under pressure, and the first gearbox adjustment value and the first engine speed adjustment value can be used to adjust the engine speed without the need for a reduction rate adjustment until the unilateral braking pressure is less than the preset pressure threshold, the unilateral braking control is completed, and the vehicle steering is successful.

[0058] The embodiment of the present application obtains the unilateral braking pressure value, obtains the front axle steering angle value, obtains the first gearbox speed ratio adjustment value and the first engine speed adjustment value according to the unilateral braking pressure value and the front axle steering angle value, obtains the pressure difference of the plunger pump in the gearbox according to the first gearbox speed ratio adjustment value and the first engine speed adjustment value, and obtains the second gearbox speed ratio adjustment value and the second engine speed adjustment value or keeps the first gearbox adjustment value and the first engine speed adjustment value, to realize smooth unilateral braking control and avoid engine stall during unilateral braking.

[0059] Optionally, Figure 3 Another flowchart of a unilateral braking control method for a vehicle is provided in the embodiment of the present application, as shown in Figure 3 The method comprises the following steps:

[0060] S201, obtaining brake pedal information.

[0061] When any one of the left brake pedal or the right brake pedal is stepped on, the control unit correspondingly collects the brake pedal information.

[0062] S202, obtaining the unilateral braking pressure value according to the brake pedal information.

[0063] The brake pedal information can include a brake pedal depression value, the brake pedal depression value corresponds to the unilateral braking pressure value, and generally the greater the brake pedal depression value, the greater the unilateral braking pressure value, and vice versa. Therefore, the unilateral braking pressure value can be obtained according to the obtained brake pedal information.

[0064] S203, obtaining the front axle steering angle value.

[0065] S204, obtaining the first gearbox speed ratio adjustment value and the first engine speed adjustment value according to the single-side braking pressure value and the front axle steering angle value.

[0066] S205, obtaining the gearbox inner plunger pump pressure difference value according to the first gearbox speed ratio adjustment value and the first engine speed adjustment value.

[0067] S206, obtaining the second gearbox speed ratio adjustment value and the second engine speed adjustment value according to the gearbox inner plunger pump pressure difference value or keeping the first gearbox adjustment value and the first engine speed adjustment value, so as to complete the single-side braking control; wherein the first gearbox speed ratio adjustment value is less than the second gearbox speed ratio adjustment value, and the first engine speed adjustment value is less than the second engine speed adjustment value.

[0068] The embodiment of the present application obtains the brake pedal information, obtains the single-side braking pressure value according to the brake pedal information, obtains the front axle steering angle value, obtains the first gearbox speed ratio adjustment value and the first engine speed adjustment value according to the single-side braking pressure value and the front axle steering angle value, obtains the gearbox inner plunger pump pressure difference value according to the first gearbox speed ratio adjustment value and the first engine speed adjustment value, and obtains the second gearbox speed ratio adjustment value and the second engine speed adjustment value according to the gearbox inner plunger pump pressure difference value or keeps the first gearbox adjustment value and the first engine speed adjustment value, so as to realize the smooth single-side braking control and avoid the engine from being turned off in the single-side braking process.

[0069] Optionally, Figure 4 Another flowchart of a vehicle single-side braking control method provided by the embodiment of the present application is shown in FIG. 3, and the method comprises the following steps. Figure 4

[0070] S301, obtaining the brake pedal information.

[0071] S302, obtaining the single-side braking pressure value according to the brake pedal information.

[0072] S303, obtaining the front axle steering angle value.

[0073] S304, obtaining the preset braking pressure value.

[0074] S305, obtaining the preset front axle steering angle value.

[0075] The preset braking pressure value and the preset front axle steering angle value can be set according to actual design requirements, and the embodiment of the present application is not limited.

[0076] ​S306, obtaining a first gearbox speed ratio adjustment value and a first engine speed adjustment value according to the single-side brake pressure value, the preset brake pressure value, the front axle steering angle value and the preset front axle steering angle value.

[0077] The current brake pressure value is determined by using the single-side brake pressure value and the preset brake pressure value, and the current front axle steering angle value is determined by using the front axle steering angle value and the preset front axle steering angle value, so that the control precision of the single-side brake control is ensured.

[0078] S307, obtaining a gearbox inner plunger pump pressure difference value according to the first gearbox speed ratio adjustment value and the first engine speed adjustment value.

[0079] S308, obtaining a second gearbox speed ratio adjustment value and a second engine speed adjustment value or keeping the first gearbox adjustment value and the first engine speed adjustment value according to the gearbox inner plunger pump pressure difference value, so as to complete the single-side brake control, wherein the first gearbox speed ratio adjustment value is less than the second gearbox speed ratio adjustment value, and the first engine speed adjustment value is less than the second engine speed adjustment value.

[0080] The embodiment of the present application obtains brake pedal information, obtains a single-side brake pressure value by obtaining brake pedal information, obtains a front axle steering angle value, obtains a preset brake pressure value, obtains a preset front axle steering angle value, obtains a first gearbox speed ratio adjustment value and a first engine speed adjustment value according to the single-side brake pressure value, the preset brake pressure value, the front axle steering angle value and the preset front axle steering angle value, obtains a gearbox inner plunger pump pressure difference value according to the first gearbox speed ratio adjustment value and the first engine speed adjustment value, and obtains a second gearbox speed ratio adjustment value and a second engine speed adjustment value or keeps the first gearbox adjustment value and the first engine speed adjustment value according to the gearbox inner plunger pump pressure difference value, so as to realize smooth single-side brake control and avoid engine stall in the single-side brake process.

[0081] Optionally, Figure 5 Another flowchart of a vehicle single-side brake control method provided by the embodiment of the present application is shown in FIG. 4. Figure 5 The method comprises the following steps.

[0082] S401, obtaining brake pedal information.

[0083] S402, obtaining a single-side brake pressure value by obtaining brake pedal information.

[0084] S403, obtaining a front axle steering angle value.

[0085] S404, obtaining a preset brake pressure value.

[0086] S405, obtaining a preset front axle steering angle value.

[0087] S406, when the single-side brake pressure value is greater than the preset brake pressure value and the front axle steering angle value is greater than the preset front axle steering angle value, obtaining a first gearbox adjustment value and a first engine speed adjustment value.

[0088] When the single-side brake pressure value is greater than the preset brake pressure value and the front axle steering angle value is greater than the preset front axle steering angle value, the single-side brake function is started, so as to obtain the first gearbox adjustment value and the first engine speed adjustment value, and the gearbox speed reduction and the engine speed reduction are realized.

[0089] S407, when the single-side brake pressure value is less than or equal to the preset brake pressure value, or the current front axle steering angle value is less than or equal to the preset front axle steering angle value, ending the single-side brake control.

[0090] When the single-side brake pressure value is less than or equal to the preset brake pressure value, or the current front axle steering angle value is less than or equal to the preset front axle steering angle value, the single-side brake function starting condition is not satisfied, and the single-side brake control is ended.

[0091] S408, obtaining a gearbox inner plunger pump pressure difference value according to the first gearbox speed ratio adjustment value and the first engine speed adjustment value.

[0092] S409, obtaining a second gearbox speed ratio adjustment value and a second engine speed adjustment value according to the gearbox inner plunger pump pressure difference value, or keeping the first gearbox adjustment value and the first engine speed adjustment value, so as to complete the single-side brake control; wherein the first gearbox speed ratio adjustment value is less than the second gearbox speed ratio adjustment value, and the first engine speed adjustment value is less than the second engine speed adjustment value.

[0093] The embodiment of the application obtains brake pedal information, obtains a single-side brake pressure value according to the brake pedal information, obtains a front axle steering angle value, obtains a preset brake pressure value, obtains a preset front axle steering angle value, obtains a first gearbox adjustment value and a first engine speed adjustment value when the single-side brake pressure value is greater than the preset brake pressure value and the front axle steering angle value is greater than the preset front axle steering angle value, ends the single-side brake control when the single-side brake pressure value is less than or equal to the preset brake pressure value, or the current front axle steering angle value is less than or equal to the preset front axle steering angle value, obtains a gearbox inner plunger pump pressure difference value according to the first gearbox speed ratio adjustment value and the first engine speed adjustment value, and obtains a second gearbox speed ratio adjustment value and a second engine speed adjustment value according to the gearbox inner plunger pump pressure difference value or keeps the first gearbox adjustment value and the first engine speed adjustment value, so as to realize smooth single-side brake control and avoid engine stall in the single-side brake process.

[0094] Optionally, Figure 6A flowchart of another vehicle single-side braking control method provided by the embodiment of the present application is shown in FIG. 13, which comprises the following steps. Figure 6

[0095] S501, acquiring brake pedal information.

[0096] S502, acquiring single-side braking pressure value based on the brake pedal information.

[0097] S503, acquiring front axle steering angle value.

[0098] S504, acquiring preset braking pressure value.

[0099] S505, acquiring preset front axle steering angle value.

[0100] S506, acquiring first gearbox adjustment value and first engine speed adjustment value when the single-side braking pressure value is greater than the preset braking pressure value and the front axle steering angle value is greater than the preset front axle steering angle value.

[0101] S507, ending single-side braking control when the single-side braking pressure value is less than or equal to the preset braking pressure value, or the front axle steering angle value is less than or equal to the preset front axle steering angle value.

[0102] S508, outputting differential lock closing information.

[0103] In addition, when the single-side braking function is started, the differential lock closing information is also outputted to close the differential lock, so that the left and right wheels are allowed to have differential speed and can be controlled separately, thus increasing steering flexibility and ensuring the single-side braking control effect.

[0104] S509, acquiring gearbox inner plunger pump pressure difference value based on the first gearbox speed ratio adjustment value and the first engine speed adjustment value.

[0105] S510, acquiring second gearbox speed ratio adjustment value and second engine speed adjustment value based on the gearbox inner plunger pump pressure difference value or keeping the first gearbox adjustment value and the first engine speed adjustment value, so as to complete the single-side braking control; wherein the first gearbox speed ratio adjustment value is less than the second gearbox speed ratio adjustment value, and the first engine speed adjustment value is less than the second engine speed adjustment value.

[0106] According to the embodiment of the present application, when the single-side braking pressure value is greater than the preset braking pressure value and the front axle steering angle value is greater than the preset front axle steering angle value, the first gearbox adjustment value and the first engine speed adjustment value are acquired, and then the differential lock closing information is outputted to close the differential lock, so that the left and right wheels are allowed to have differential speed and can be controlled separately, thus ensuring the single-side braking control effect.

[0107] Optionally, Figure 7 ​Another flowchart of a vehicle single-side braking control method provided by the embodiment of the present application is shown in FIG. 6, which comprises the following steps: Figure 7

[0108] S601, obtaining brake pedal information.

[0109] S602, obtaining the single-side braking pressure value based on the brake pedal information.

[0110] S603, obtaining the front axle steering angle value.

[0111] S604, obtaining the preset braking pressure value.

[0112] S605, obtaining the preset front axle steering angle value.

[0113] S606, when the single-side braking pressure value is greater than the preset braking pressure value and the front axle steering angle value is greater than the preset front axle steering angle value, obtaining the first gearbox adjustment value and the first engine speed adjustment value.

[0114] S607, when the single-side braking pressure value is less than or equal to the preset braking pressure value, or the front axle steering angle value is less than or equal to the preset front axle steering angle value, ending the single-side braking control.

[0115] S608, outputting the differential lock closing information.

[0116] S609, obtaining the gearbox inner plunger pump pressure difference value based on the first gearbox speed ratio adjustment value and the first engine speed adjustment value.

[0117] S610, obtaining the gearbox inner plunger pump preset pressure difference value.

[0118] The gearbox inner plunger pump preset pressure difference value can be set according to actual design requirements, and the embodiment of the present application does not make specific limitation. For example, the gearbox inner plunger pump preset pressure difference value can be 300 bar.

[0119] S611, when the gearbox inner plunger pump pressure difference value is greater than the gearbox inner plunger pump preset pressure difference value, obtaining the second gearbox speed ratio adjustment value and the second engine speed adjustment value to complete the single-side braking control.

[0120] ​When the plunger pump pressure difference in the gearbox is greater than the preset plunger pump pressure difference in the gearbox, it is considered that pressure build-up exists in the plunger pump at this time, and the second gearbox speed ratio adjustment value and the second engine speed adjustment value are obtained to further reduce the speed ratio by using the second gearbox speed ratio adjustment value and to further reduce the engine speed by using the second engine speed adjustment value. Reducing the gearbox speed ratio by using the second gearbox speed ratio adjustment value and reducing the engine speed by using the second engine speed adjustment value are beneficial to realizing rapid reduction of the engine speed in a short time, avoiding engine stall caused by pressure build-up, and ensuring the effect of the single-side braking control.

[0121] S612, when the plunger pump pressure difference in the gearbox is less than or equal to the preset plunger pump pressure difference in the gearbox, the first gearbox speed ratio adjustment value and the first engine speed adjustment value are maintained to complete the single-side braking control. The first gearbox speed ratio adjustment value is less than the second gearbox speed ratio adjustment value, and the first engine speed adjustment value is less than the second engine speed adjustment value.

[0122] The embodiment of the present application obtains the plunger pump pressure difference in the gearbox according to the first gearbox speed ratio adjustment value and the first engine speed adjustment value, obtains the preset plunger pump pressure difference in the gearbox, obtains the second gearbox speed ratio adjustment value and the second engine speed adjustment value when the plunger pump pressure difference in the gearbox is greater than the preset plunger pump pressure difference in the gearbox to complete the single-side braking control, and maintains the first gearbox speed ratio adjustment value and the first engine speed adjustment value when the plunger pump pressure difference in the gearbox is less than or equal to the preset plunger pump pressure difference in the gearbox to complete the single-side braking control. Different gearbox speed ratio adjustment values are reasonably selected to adjust the gearbox, and different engine speed adjustment values are reasonably selected to adjust the engine speed, the single-side braking effect is ensured, and the vehicle steering is realized.

[0123] Based on the same inventive concept, the embodiment of the present application also provides a vehicle single-side braking control system, Figure 8 Another structural schematic diagram of a vehicle single-side braking control system provided by the embodiment of the present application is shown in the figure, Figure 8 The vehicle single-side braking control system is used to execute the vehicle single-side braking control method provided by any embodiment of the present application, and can be realized by software and / or hardware. The vehicle single-side braking control system includes:

[0124] The single-side braking pressure value obtaining module 201 is used to obtain the single-side braking pressure value.

[0125] The front axle steering angle value obtaining module 202 is used to obtain the front axle steering angle value.

[0126] The first gearbox speed ratio adjustment value and the first engine speed adjustment value obtaining module 203 is configured to obtain the first gearbox speed ratio adjustment value and the first engine speed adjustment value according to the single-side braking pressure value and the front axle steering angle value.

[0127] The first gearbox speed ratio adjustment value obtaining module 204 is configured to obtain the gearbox inner plunger pump pressure difference value according to the first gearbox speed ratio adjustment value and the first engine speed adjustment value.

[0128] The adjustment value output or keeping module 205 is configured to obtain the second gearbox speed ratio adjustment value and the second engine speed adjustment value or keep the first gearbox adjustment value and the first engine speed adjustment value according to the gearbox inner plunger pump pressure difference value, so as to complete the single-side braking control, wherein the first gearbox speed ratio adjustment value is less than the second gearbox speed ratio adjustment value, and the first engine speed adjustment value is less than the second engine speed adjustment value.

[0129] The vehicle single-side braking control system provided by the embodiments of the present application comprises the technical features of the vehicle single-side braking control method provided by any of the embodiments of the present application, and can achieve the beneficial effects of the vehicle single-side braking control method provided by any of the embodiments of the present application. The same parts can be referred to the description of the vehicle single-side braking control method provided by the embodiments of the present application, and will not be described here again.

[0130] Based on the same inventive concept, the embodiments of the present application further provide a tractor, which comprises the vehicle single-side braking control system described in the above embodiments. Therefore, the tractor provided by the embodiments of the present application comprises the technical features of the vehicle single-side braking control system provided by any of the embodiments of the present application, and can achieve the beneficial effects of the vehicle single-side braking control system provided by any of the embodiments of the present application. The same parts can be referred to the description of the vehicle single-side braking control system provided by the embodiments of the present application, and will not be described here again.

[0131] The above specific embodiments do not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for controlling unilateral braking of a vehicle, characterized in that, include: Obtain the single-sided braking pressure value; Obtain the front axle steering angle value; The first gearbox ratio adjustment value and the first engine speed adjustment value are obtained based on the single-sided braking pressure value and the front axle steering angle value. The differential pressure value of the piston pump inside the gearbox is obtained based on the first gearbox speed ratio adjustment value and the first engine speed adjustment value. The second gearbox ratio adjustment value and the second engine speed adjustment value are obtained based on the differential pressure value of the plunger pump in the gearbox, or the first gearbox adjustment value and the first engine speed adjustment value are maintained, so as to complete the unilateral braking control; wherein, the first gearbox ratio adjustment value is less than the second gearbox ratio adjustment value, and the first engine speed adjustment value is less than the second engine speed adjustment value.

2. The vehicle single-sided braking control method according to claim 1, characterized in that, Obtain the single-sided braking pressure value, including: Obtain brake pedal information; The single-sided braking pressure value is obtained based on the brake pedal information.

3. The vehicle single-sided braking control method according to claim 1, characterized in that, Before obtaining the first gearbox ratio adjustment value and the first engine speed adjustment value based on the single-sided braking pressure value and the front axle steering angle value, the method further includes: Obtain the preset braking pressure value; Obtain the preset front axle steering angle value.

4. The vehicle single-sided braking control method according to claim 3, characterized in that, The first gearbox ratio adjustment value and the first engine speed adjustment value are obtained based on the single-sided braking pressure value and the front axle steering angle value, including: When the single-sided braking pressure value is greater than the preset braking pressure value and the front axle steering angle value is greater than the preset front axle steering angle value, the first gearbox adjustment value and the first engine speed adjustment value are obtained.

5. The vehicle single-sided braking control method according to claim 4, characterized in that, Also includes: The single-sided braking control ends when the single-sided braking pressure value is less than or equal to the preset braking pressure value, or when the front axle steering angle value is less than or equal to the preset front axle steering angle value.

6. The vehicle single-sided braking control method according to claim 1, characterized in that, After obtaining the first gearbox ratio adjustment value and the first engine speed adjustment value based on the single-sided braking pressure value and the front axle steering angle value, the method further includes: Output differential lock closed information.

7. The vehicle single-sided braking control method according to claim 1, characterized in that, Before obtaining the second gearbox ratio adjustment value and the second engine speed adjustment value based on the differential pressure value of the piston pump inside the gearbox, or before maintaining the first gearbox adjustment value and the first engine speed adjustment value, the method further includes: Obtain the preset differential pressure value of the piston pump inside the gearbox.

8. The vehicle single-sided braking control method according to claim 7, characterized in that, Obtaining the second gearbox ratio adjustment value or maintaining the first gearbox adjustment value based on the differential pressure value of the piston pump inside the gearbox includes: When the differential pressure value of the piston pump in the gearbox is greater than the preset differential pressure value of the piston pump in the gearbox, the second gearbox speed ratio adjustment value and the second engine speed adjustment value are obtained. When the differential pressure value of the piston pump in the gearbox is less than or equal to the preset differential pressure value of the piston pump in the gearbox, the first gearbox speed ratio adjustment value and the first engine speed adjustment value are maintained.

9. A vehicle single-sided braking control system, characterized in that, The vehicle single-sided braking control system executes the vehicle single-sided braking control method according to any one of claims 1-8, wherein the vehicle single-sided braking control system comprises: A single-sided braking pressure value acquisition module is used to acquire the single-sided braking pressure value; The front axle steering angle value acquisition module is used to acquire the front axle steering angle value; The module for obtaining the first gearbox gear ratio adjustment value and the first engine speed adjustment value is used to obtain the first gearbox gear ratio adjustment value and the first engine speed adjustment value based on the single-sided braking pressure value and the front axle steering angle value. The first gearbox speed ratio adjustment value acquisition module is used to acquire the gearbox internal plunger pump pressure difference value based on the first gearbox speed ratio adjustment value and the first engine speed adjustment value. An adjustment value output or hold module is used to obtain a second gearbox ratio adjustment value and a second engine speed adjustment value based on the differential pressure value of the plunger pump in the gearbox, or to hold the first gearbox adjustment value and the first engine speed adjustment value to complete unilateral braking control; wherein, the first gearbox ratio adjustment value is less than the second gearbox ratio adjustment value, and the first engine speed adjustment value is less than the second engine speed adjustment value.

10. A tractor, characterized in that, The tractor includes the vehicle single-sided braking control system as described in claim 9.

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