Service braking system, method and device, electronic equipment and computer program product

Abstract

The invention relates to a service braking system, method and device, electronic equipment and a computer program product, and relates to the technical field of mining vehicle braking. The service braking system comprises a whole vehicle control unit, the whole vehicle control unit integrates the function of an electric control air pressure braking system controller, and the whole vehicle control unit is used for configuring a braking parameter table of a vehicle through the function of the electric control air pressure braking system controller and sending a braking control instruction to an electric control air pressure braking system double-channel valve based on the braking parameter table; the electronic control air pressure braking system dual-channel valve is used for executing pressure control operation according to the braking control instruction to brake the vehicle; and the whole vehicle control unit is further used for conducting vehicle braking according to the target vehicle braking parameters corresponding to the target vehicle and the target use working condition. The structure and the control mode of the service braking system are optimized through the modes of increasing, decreasing and replacing the components, developing the control program and the like, so that the response time of service braking is shortened, and the performance precision of service braking is improved.

Description

Technical Field

[0001] This disclosure relates to the field of braking technology for mining vehicles, and more specifically, to a service braking system, service braking method, service braking device, electronic equipment, and computer program product. Background Technology

[0002] The stability of a vehicle's braking system is a core element in ensuring driving safety, directly affecting the lives of the vehicle, the driver, and all occupants. Off-highway mining dump trucks utilize pneumatic servo-assisted braking systems, whose design follows the mature architecture of commercial vehicle braking systems, and in its early stages, their performance was generally sufficient to meet operational requirements.

[0003] However, with the advancement of green mining construction and the rapid growth in demand for intelligent driving technology, the industry has placed higher requirements on core indicators such as the performance accuracy and response speed of braking systems. Although the original braking system has been upgraded to a brake-by-wire system, the performance of the existing braking system is gradually becoming insufficient to fully meet the actual needs in the face of the continuously improving performance standards of intelligent driving.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this disclosure is to provide a service braking system, service braking method, service braking device, electronic device, computer-readable storage medium, and computer program product, thereby overcoming, at least to some extent, the problem that the structure and control method of the existing off-highway mining dump truck service braking system can no longer meet the actual braking requirements in terms of response time and performance accuracy.

[0006] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part by practice of the invention.

[0007] According to a first aspect of this disclosure, a vehicle braking system is provided, comprising: a vehicle control unit, the vehicle control unit integrating an electronically controlled pneumatic braking system controller function, the vehicle control unit configuring a vehicle braking parameter table through the electronically controlled pneumatic braking system controller function, and sending a braking control command to an electronically controlled pneumatic braking system dual-channel valve based on the braking parameter table, the braking parameter table including vehicle braking parameters corresponding to multiple vehicle types; the electronically controlled pneumatic braking system dual-channel valve being used to perform pressure control operations according to the braking control command to perform vehicle braking; the vehicle control unit being further used to control the electronically controlled pneumatic braking system dual-channel valve to perform vehicle braking according to the target vehicle braking parameters corresponding to the target vehicle and the target operating conditions.

[0008] In one exemplary embodiment of this disclosure, the number of dual-channel valves in the electronically controlled pneumatic braking system is multiple. Each dual-channel valve is connected to the left and right air chambers of the front axle, middle axle, or rear axle of the target vehicle, and is also connected to the wheel speed sensors of the front axle, middle axle, and rear axle.

[0009] In one exemplary embodiment of this disclosure, each of the electronically controlled pneumatic braking systems has a dual-channel valve connected to the left and right wheel speed sensors of the front axle, the middle axle, and the rear axle, respectively. The valve is used to receive the wheel speed detection signals returned by the left wheel speed sensor and the right wheel speed sensor to determine the vehicle wheel speed, and to feed back the wheel speed detection signals to the vehicle control unit.

[0010] In one exemplary embodiment of this disclosure, the dual-channel valve of the electronically controlled pneumatic braking system is used to output two different braking air pressures, and the two different braking air pressures are used to control the air pressure regulation of the left air chamber and the right air chamber respectively.

[0011] According to a second aspect of this disclosure, a service braking method is provided, applied to the service braking system described in any one of the preceding claims, the method comprising: in response to a vehicle braking operation of a target vehicle, determining a target type and a target operating condition corresponding to the target vehicle; and performing a vehicle braking control operation on the target vehicle based on the target operating condition and target vehicle braking parameters determined based on the target type.

[0012] In one exemplary embodiment of this disclosure, the step of performing vehicle braking control operation on the target vehicle based on the target operating conditions and the target vehicle braking parameters determined based on the target type includes: acquiring a pre-configured braking parameter table; determining target vehicle braking parameters matching the vehicle type based on the braking parameter table; controlling the target vehicle to brake according to the target vehicle braking parameters and the target operating conditions to adjust the wheel speed of the target vehicle; and receiving wheel speed signals returned by the wheel speed sensors corresponding to the target vehicle, wherein the wheel speed signals are used to determine the wheel speed and braking response time of the vehicle passing the target vehicle.

[0013] In one exemplary embodiment of this disclosure, obtaining the pre-configured braking parameter table includes: obtaining a plurality of pre-configured vehicle types; determining and configuring vehicle braking parameters corresponding to each vehicle type, wherein the vehicle braking parameters include one or more of the following: weight, center of gravity, load, and empty / full load center of gravity offset corresponding to each vehicle type; and constructing the braking parameter table based on the plurality of vehicle types and the vehicle braking parameters corresponding to each vehicle type.

[0014] According to a third aspect of this disclosure, a service braking device is provided, applied to the service braking system described in any one of the preceding claims, the device comprising: a vehicle type and operating condition determination module, configured to determine a target type and target operating condition corresponding to the target vehicle in response to a vehicle braking operation of a target vehicle; and a vehicle braking module, configured to perform vehicle braking control operation on the target vehicle based on the target operating condition and target vehicle braking parameters determined based on the target type.

[0015] In one exemplary embodiment of this disclosure, the vehicle braking module includes a vehicle braking unit, configured to: acquire a pre-configured braking parameter table; determine target vehicle braking parameters matching the vehicle type based on the braking parameter table; control the target vehicle to brake according to the target vehicle braking parameters and the target operating conditions, thereby adjusting the wheel speed of the target vehicle; and receive wheel speed signals returned by the wheel speed sensor corresponding to the target vehicle, the wheel speed signals being used to determine the wheel speed and braking response time of the vehicle passing the target vehicle.

[0016] In one exemplary embodiment of this disclosure, the vehicle braking unit includes a brake table acquisition subunit, configured to: acquire a plurality of pre-configured vehicle types; determine and configure vehicle braking parameters corresponding to each vehicle type, the vehicle braking parameters including one or more of weight, center of gravity, load, and empty / full load center of gravity offset corresponding to each vehicle type; and construct the brake parameter table based on the plurality of vehicle types and the vehicle braking parameters corresponding to each vehicle type.

[0017] According to a fourth aspect of this disclosure, an electronic device is provided, comprising: a processor; and a memory storing computer-readable instructions that, when executed by the processor, implement the vehicle braking method according to any one of the preceding claims.

[0018] According to a fifth aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the vehicle braking method according to any one of the preceding claims.

[0019] According to a sixth aspect of this disclosure, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the vehicle braking method described in any of the preceding claims.

[0020] The technical solution provided in this disclosure may include the following beneficial effects: The exemplary embodiments of the present disclosure optimize the structure and control method of the vehicle braking system in the relevant scheme by adding, subtracting or replacing components and developing control programs, so as to reduce the response time of the vehicle braking system and improve the core indicators such as the performance accuracy of the vehicle braking.

[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings: Figure 1 A simplified schematic diagram of a service braking system in the related art is shown. Figure 2 This schematic diagram illustrates a partial structural diagram of a service braking system according to an exemplary embodiment of the present disclosure; Figure 3 A simplified schematic diagram of a service braking system according to an exemplary embodiment of the present disclosure is shown. Figure 4 A flowchart illustrating a service braking method according to an exemplary embodiment of the present disclosure is shown schematically; Figure 5 A flowchart illustrating a steerable braking process according to an exemplary embodiment of the present disclosure is shown. Figure 6 A block diagram of a service braking device according to an exemplary embodiment of the present disclosure is shown schematically; Figure 7 The schematic diagram illustrates a computer-readable storage medium according to an exemplary embodiment of the present disclosure; Figure 8 A block diagram of an electronic device according to an exemplary embodiment of the present disclosure is shown schematically. Detailed Implementation

[0023] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0024] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of the specific details described, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known structures, methods, apparatuses, implementations, materials, or operations are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0025] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, or in one or more software-hardened modules, or in different network and / or processor devices and / or microcontroller devices.

[0026] refer to Figure 1 , Figure 1 A simplified schematic diagram of a service braking system in the related art is shown. Due to steering requirements, if one side of the vehicle's front axle locks up or slips during braking, the required braking air pressure differs between the left and right sides. Figure 1 The vehicle's braking system mainly uses a combination of an electronic braking system (EBS) single-channel valve and an anti-lock braking system (ABS) valve to control the wheel speed of the mine car's front axle. For example, since the EBS single-channel valve can only output one braking air pressure, two ABS valves are used to connect to the left and right air chambers of the mine car's front axle respectively. The two ABS valves are controlled by a Controller Area Network (CAN) to adjust the actuation air pressure of the left and right air chambers respectively, so as to realize the wheel speed control of the left or right wheel of the front axle.

[0027] Furthermore, mining vehicles have the following characteristics during operation: (1) The operating conditions and vehicle characteristics of mining vehicles are quite different from those of commercial vehicles. Commercial vehicles are mostly used on normal roads, while mining dump trucks are mostly used on gravel roads. They are used on uphill and downhill roads, especially when heavily loaded. The roads are also wider, with fewer vehicles passing each other or even one-way single-vehicle operation. Their own load is greater, and the tire selection is also quite different. In addition, due to environmental protection requirements, gravel roads in mining areas need to be watered regularly and thoroughly. Low-adhesion road conditions occur frequently, which makes it easy for vehicles to experience dangerous situations such as tire slippage and sideslip. In view of the above differences, compared with the higher tolerance of the manual mode, some problems gradually become prominent when using the intelligent driving mode to brake mining vehicles. It is necessary to optimize the control according to the differences in operating conditions.

[0028] In addition, commercial vehicles generally will not engage ABS when the vehicle speed is below a specified speed threshold (such as 10km / h), while off-highway mining dump trucks still have the need for anti-lock braking at lower speeds due to their own load and the presence of low-friction surfaces with large slopes in their operating conditions.

[0029] (2) Off-highway mining dump trucks are highly customized. For different models with large variations, many parameters need to be recalibrated. The existing products are mostly roughly calibrated and can only be barely adapted.

[0030] (3) Excessive braking response time is one of the prominent problems currently existing. The service braking process of an air braking system requires pressure to push the diaphragm of the air chamber, and then pushes the brake shoes to brake through mechanical force transmission. The braking response time of an air braking system refers to the time from "issuance of control command" to "execution of air pressure buildup exceeding 80%". Under low-adhesion road surface conditions, vehicles are prone to dangerous situations such as tire slippage and sideslip. At this time, the braking response time directly determines whether the vehicle can respond to and adjust the control command in time, which is a core parameter to ensure driving safety. Due to environmental protection requirements, gravel roads in mining areas need to be watered regularly, which makes low-adhesion road surface conditions occur more frequently. Therefore, the length of the braking response time has become a key factor directly related to the safety of the driver and the vehicle.

[0031] (4) The current braking system has an unreasonable air source configuration. The left side of the middle axle and the left side of the rear axle share one air source, while the right side of the middle axle and the right side of the rear axle share another air source. At the same time, the EBS system only reports the relative wheel speed and lock-up status of the right and left rear axles, and lacks effective monitoring of the wheel speed status of the middle axle. Especially during downhill driving, the vehicle's center of gravity will shift forward, resulting in a relatively increased load on the middle axle. If the middle axle locks up at this time, the impact on the vehicle's braking stability will be more significant, but due to the lack of monitoring, it is difficult to provide early warning and intervention.

[0032] Based on the aforementioned problems existing in the service braking system of the relevant solutions, this disclosure proposes a service braking system, a service braking method, a service braking device, a computer-readable storage medium, an electronic device, and a computer program product.

[0033] In this example embodiment, a service braking system is first provided. This service braking system can be applied to various types of vehicles, including mining vehicles, material handling vehicles, shovel and loader vehicles, excavating and crushing vehicles, auxiliary support vehicles, and other alternative transportation vehicles. (Reference) Figure 2 and Figure 3 , Figure 2 and Figure 3 The diagrams schematically illustrate a partial structural diagram and a simplified schematic diagram of a service braking system according to an exemplary embodiment of this disclosure. The service braking system 200 includes at least a Vehicle Control Unit (VCU) 210 and an Electronic Air Pressure Braking System (EBS) dual-channel valve 220. The VCU integrates the functions of an EBS controller. Wherein: The vehicle control unit 210 integrates the function of an electronically controlled pneumatic braking system controller. The vehicle control unit is used to configure the vehicle's braking parameter table through the electronically controlled pneumatic braking system controller function, and send braking control commands to the dual-channel valve of the electronically controlled pneumatic braking system based on the braking parameter table. The braking parameter table includes vehicle braking parameters corresponding to multiple vehicle types.

[0034] The dual-channel valve 220 of the electronically controlled pneumatic braking system is used to perform pressure control operations according to braking control commands to brake the vehicle.

[0035] The vehicle control unit 210 is also used to control the dual-channel valve of the electronic air pressure braking system to brake the vehicle according to the target vehicle braking parameters and target operating conditions.

[0036] According to the service braking system provided in this disclosure, the structure and control method of the service braking system in the relevant scheme are optimized by adding, subtracting or replacing components and developing control programs, so as to reduce the response time of the service braking system and improve the core indicators such as the performance accuracy of the service braking.

[0037] The service braking system in this example embodiment will now be further described.

[0038] Regarding ABS functionality, existing solutions are typically designed for commercial vehicles. ABS systems for mining vehicles are not developed specifically for the vehicle type and only meet basic operating conditions. Under extreme conditions, their adaptability to braking is weak. For example, real-world testing revealed that the ABS functionality for mining vehicles in existing solutions is severely insufficient in terms of braking force on low-friction downhill roads. To address this issue, this disclosure will specifically develop vehicle braking parameter calibration based on vehicle type and the characteristics of intelligent driving road conditions in mining areas.

[0039] For the vehicle control unit 210, this disclosure integrates the EBS controller function into the VCU controller, avoiding repeated information interaction between the VCU controller and the EBS controller, thus improving braking response efficiency. Furthermore, the braking parameter calibration is achieved through the EBS controller function integrated in the VCU, configuring a vehicle braking parameter table. The braking parameter table can be a configuration table containing braking parameters corresponding to various vehicle types. The vehicle braking parameters can be specific parameter values ​​determined by braking parameter calibration based on the specific vehicle type. The vehicle type can be a specific type corresponding to different vehicles; for mining vehicles, different types can be classified based on factors such as weight, center of gravity, load, and empty / full load center of gravity offset.

[0040] This disclosure, through the development of a control program, enables braking parameter calibration via the EBS controller function integrated into the VCU. This eliminates the need for forced adaptation of braking parameters, instead allowing for more precise calibration based on the proportional-integral-derivative (PID) algorithm built into the valve body. This facilitates parameter calibration for numerous new vehicle models. By integrating calibration tables for different vehicle models, a braking parameter table is formed, which can then be sent to the vehicle with vehicle model calibration variables without requiring code modification.

[0041] In vehicle braking scenarios, the VCU typically receives deceleration signals from the intelligent driving system or manual foot valve opening signals to determine if the target vehicle has a braking requirement. At this time, the vehicle braking parameters that match the target vehicle can be determined based on the braking parameter table. Based on the determined vehicle braking parameters, a braking control command is generated and sent to the EBS dual-channel valve to control the EBS dual-channel valve to perform pressure control operations on the air pressure according to the braking control command, thereby performing vehicle braking.

[0042] Furthermore, mining vehicles face numerous extreme working conditions in actual applications. The working conditions of a mining vehicle can be defined as the comprehensive operating conditions it encounters in mining operations, centered around three core dimensions: environment, road conditions, and task. Environmental conditions may include, but are not limited to, the operating scenario (open-pit mine / underground mine), temperature and humidity (high temperature / low temperature / high humidity), and media (dust, methane, corrosive gases). Road conditions may include, but are not limited to, road surface type (gravel road, muddy road, slope), gradient / curvature, road surface load-bearing capacity, and obstacle distribution. Task conditions may include, but are not limited to, load specifications (light load / heavy load / overload conditions), work intensity (continuous operation / intermittent operation), and work cycle (loading-transportation-unloading closed loop).

[0043] The extreme operating conditions faced by vehicles can be such as mining vehicles frequently carrying heavy loads uphill and downhill on low-traction surfaces (such as muddy surfaces after thorough watering). Under these conditions, existing ABS systems are not suitable for braking systems with long response times. Specifically, after the wheels lock up, the ABS intervenes to adjust the air pressure (reduce the brake air pressure). However, due to the long response time of the entire braking system, there is a delay in the air pressure adjustment, causing the brake air pressure being applied to be mismatched with the wheel speed. Consequently, because the slip ratio has not reached the target range, the ABS continues to participate in the adjustment, resulting in almost no braking force on low-traction surfaces and a longer braking distance.

[0044] To address the aforementioned issues, this disclosure allows for control optimization based on the actual operating conditions of the vehicle, and targeted development for the driving conditions in mining areas. Through the aforementioned program development control steps, the adaptability to different extreme conditions in actual braking scenarios can be improved. Upon detecting the vehicle braking signal of the target vehicle, the VCU can also generate braking control commands based on the target vehicle's braking parameters and the corresponding target operating conditions. This commands control the EBS dual-channel valve to perform pressure control operations according to the corresponding braking control commands, thereby braking the vehicle.

[0045] In one exemplary embodiment of this disclosure, the number of dual-channel valves in the electronically controlled pneumatic braking system is multiple. Each dual-channel valve is connected to the left and right air chambers of the front axle, middle axle, or rear axle, respectively, and is also connected to the wheel speed sensors of the front axle, middle axle, and rear axle.

[0046] When the front axle of a vehicle locks up or slips during braking due to steering requirements, the required braking air pressure for both the left and right sides is not supplied. The EBS single-channel valve can only output one braking air pressure. The existing architecture uses two ABS valves to adjust the left and right braking air pressures separately. The EBS single-channel valve can be a CAN-controlled relay valve that outputs only one braking air pressure. The ABS valve adjusts the air pressure via CAN control.

[0047] Furthermore, actual tests revealed that when braking tests were conducted on low-adhesion surfaces with significant slopes, the braking distance with ABS involved was generally greater than the braking distance without ABS. In addition, mining area roads are usually wide, protected by retaining walls, and there is little passing or overtaking in the same direction.

[0048] Based on this, the optimization approach for vehicle braking under extreme conditions disclosed in this disclosure includes: when ABS intervention is required due to wheel lock-up, a small air pressure adjustment is made (e.g., adjusting from 900kPa to 0kPa, and now adjusting from 900kPa to 300kPa), allowing for a certain degree of lock-up, and observing and judging whether to increase the air pressure adjustment force based on the degree of deviation from the path. The path acquisition is the middle part of the actual road, and the actual path is larger than the self-driving design path.

[0049] Based on the above optimization ideas, continue to refer to Figure 3 The service braking system 200 disclosed herein uses an EBS dual-channel valve 220 to replace the "EBS single-channel valve + ABS valve" structure in related solutions. The EBS dual-channel valve 220 controls the front axle, while corresponding EBS dual-channel valves 220 are added for the middle and rear axles respectively. By redesigning the ABS function and braking control program, this disclosure eliminates the need for a fixed architecture provided by the supplier. The EBS dual-channel valve of this disclosure can directly output two different air pressures, achieving the effect of an EBS single-channel valve + two ABS valves. Through the addition, subtraction, and replacement of the aforementioned components, the structure of the service braking system is simplified, effectively reducing potential failure points and improving braking response efficiency.

[0050] In one exemplary embodiment of this disclosure, each dual-channel valve of the electronically controlled pneumatic braking system is connected to the left and right wheel speed sensors of the front axle, middle axle, and rear axle, respectively, to determine the vehicle wheel speed based on the wheel speed detection signals returned by the left and right wheel speed sensors, and to feed back the wheel speed detection signals to the vehicle control unit.

[0051] Continue to refer to Figure 3 The vehicle is equipped with corresponding wheel speed sensors on the front, middle, and rear axles: a left-side front axle wheel speed sensor, a right-side middle axle wheel speed sensor, a left-side middle axle wheel speed sensor, a right-side middle axle wheel speed sensor, a left-side rear axle wheel speed sensor, and a right-side rear axle wheel speed sensor. Taking the front axle as an example, the EBS dual-channel valve is connected to the left-side and right-side wheel speed sensors on the front axle. Similarly, the corresponding EBS dual-channel valves on the middle and rear axles are connected to the two wheel speed sensors on the middle and rear axles, respectively, to receive the wheel speed signals sent by the wheel speed sensors. The wheel speed sensors are used to monitor the wheel speed signal corresponding to each wheel speed sensor.

[0052] After receiving the wheel speed monitoring signal from the vehicle, the wheel speed monitoring signal can be fed back to the VCU. The EBS dual-channel valve is a relay valve in the braking system that can realize CAN control and output two different brake air pressures. It is the hardware that controls the braking execution pressure of the vehicle. Using the EBS dual-channel valve to control the middle and rear axle brake actuators separately can speed up the response and improve the control accuracy of vehicle braking.

[0053] In one exemplary embodiment of this disclosure, the dual-channel valve of the electronically controlled pneumatic braking system is used to output two different braking air pressures, and the left and right air chambers are controlled to adjust the air pressure through the two different braking air pressures respectively.

[0054] Continue to refer to Figure 3 Taking the vehicle's middle axle as an example, Figure 3 The EBS dual-channel valve is connected to the left and right air chambers corresponding to the middle axle, respectively, and outputs two different brake air pressures to the left and right air chambers. This adjusts the air pressure in each chamber, controlling the wheel speed of the left or right wheel of the different middle axles to achieve vehicle braking. For example, the EBS dual-channel valve controls the four air supply lines for the middle and rear axles through a three-way valve built into the valve body.

[0055] Furthermore, considering the robustness of the emergency braking / parking function, in the event of a failure in the main brake valve's electronic control mode, the VCU can control the emergency relay valve to perform emergency braking via a pneumatic mechanical structure, ensuring braking safety. In the event of a failure in the parking valve, the VCU can control the ASR valve to vent air, ensuring parking safety.

[0056] Next, in this example embodiment, a vehicle braking method is also provided. The vehicle braking method can be implemented based on the above-mentioned vehicle braking system. The vehicle braking method of this disclosure can be implemented using mining vehicles. The vehicle braking method of this disclosure can also be used for various engineering vehicles such as material transfer vehicles, shovel and loading machinery vehicles, excavating and crushing machinery vehicles, auxiliary support vehicles, and other alternative transportation vehicles. Figure 4 A schematic diagram illustrating the flow of a vehicle braking method according to some embodiments of the present disclosure is provided. Reference Figure 4 The service braking method may include the following steps: Step S410: In response to the vehicle braking operation of the target vehicle, determine the target type and target operating condition corresponding to the target vehicle.

[0057] Step S420: Perform vehicle braking control operation on the target vehicle based on the target operating conditions and the target vehicle braking parameters determined based on the target type.

[0058] According to the vehicle braking method in this example embodiment, on the one hand, the vehicle braking system used in this disclosed vehicle braking method optimizes the structure and control method of the vehicle braking system in related solutions by adding, subtracting, or replacing components and developing control programs, so as to reduce the response time of the vehicle braking system and improve the core indicators such as the performance accuracy of vehicle braking. On the other hand, by using the VCU to brake the vehicle, the vehicle can be controlled to execute braking operations quickly and accurately, achieving a braking effect with smaller errors.

[0059] The vehicle braking method in this example embodiment will now be further described.

[0060] In step S410, in response to the vehicle braking operation of the target vehicle, the target type and target operating condition corresponding to the target vehicle are determined. The target vehicle can be the vehicle to be braked. The target type can be the specific type corresponding to the target vehicle. The target operating condition can be the current operating condition corresponding to the target vehicle. The vehicle braking operation can be a braking control operation performed on the target vehicle by the driver or the intelligent driving control system.

[0061] refer to Figure 5 , Figure 5 A flowchart illustrating a steerable braking process according to an exemplary embodiment of this disclosure is shown. Since this disclosure integrates the EBS controller function into the VCU, parameter calibration can be performed through the EBS controller function within the VCU. The VCU receives vehicle braking operations for the target vehicle and determines the target type and target operating conditions corresponding to the target vehicle, serving as the data basis for subsequently generating driving braking commands.

[0062] In one exemplary embodiment of this disclosure, step S420, which involves performing vehicle braking control operations on the target vehicle based on the target operating conditions and the target vehicle braking parameters determined based on the target type, includes: acquiring a pre-configured braking parameter table; determining the target vehicle braking parameters matching the vehicle type based on the braking parameter table; controlling the target vehicle to brake according to the target vehicle braking parameters and the target operating conditions to adjust the wheel speed of the target vehicle; and receiving wheel speed signals returned by the wheel speed sensors corresponding to the target vehicle, wherein the wheel speed signals are used to determine the wheel speed and braking response time of the vehicle passing the target vehicle.

[0063] Among these, the target vehicle braking parameters can be the braking parameters used to control the braking of the target vehicle. Vehicle wheel speed can be the number of tire rotations per minute while the vehicle is in motion, directly reflecting the vehicle's motion state and serving as a crucial input to the anti-lock braking system (ABS) and traction control system. Braking response time can be the time interval between the driver initiating braking (pressing the brake pedal / activating the brake switch) and the braking system actually beginning to generate effective braking force; it primarily reflects the "reaction speed" of the braking system.

[0064] After determining the target vehicle's operating conditions and target type, a pre-configured braking parameter table is obtained. This table contains braking parameters for various vehicle types under different parameter conditions. The target vehicle's braking parameters matching the vehicle type are retrieved from the braking parameter table. Then, a vehicle braking command is generated based on the target vehicle's braking parameters and the target operating conditions. This vehicle braking command can be a control command to control the vehicle's service brakes.

[0065] The VCU issues vehicle braking commands, controlling the "EBS dual-channel valve" in the service braking system to control the air pressure for braking the front, middle, and rear axles, thereby controlling wheel speed to achieve deceleration. Using this service braking system, in one vehicle braking scenario, wheel speed signals are reported to the VCU level by level; from the VCU receiving the command to the vehicle taking noticeable action, the process can be completed within the required braking time (e.g., 240ms). Because the EBS controller function is integrated into the VCU, data interaction between the VCU and the EBS controller during vehicle braking is reduced, effectively reducing response time and improving response efficiency.

[0066] In one exemplary embodiment of this disclosure, obtaining a pre-configured braking parameter table includes: obtaining a plurality of pre-configured vehicle types; determining and configuring vehicle braking parameters corresponding to each vehicle type, wherein the vehicle braking parameters include one or more of the following: weight, center of gravity, load, and empty / full load center of gravity offset corresponding to each vehicle type; and constructing a braking parameter table based on the plurality of vehicle types and the vehicle braking parameters corresponding to each vehicle type.

[0067] This disclosure mainly achieves braking operation on the target vehicle through vehicle air braking. Vehicle air braking adjusts the braking air pressure by adjusting the opening of multiple valves inside the valve body, controlling the actuator to perform different amplitude movements, thereby controlling the braking force.

[0068] Because different vehicle types vary in weight, center of gravity, load, and offset between empty and fully loaded centers of gravity, the same braking force will result in different braking effects depending on the vehicle model. To address this issue, this disclosure calibrates braking parameters based on these parameters, configuring appropriate vehicle braking parameters for different vehicle types. For example, it finely calibrates the deceleration of different vehicle models under common road conditions, both empty and fully loaded, to achieve braking performance with smaller errors.

[0069] The purpose of parameter calibration can be simply understood as matching brake air pressure with braking effect, which is reflected in the vehicle's deceleration. For example, in a vehicle braking scenario, the final deceleration achieved by braking the vehicle is -4 m / s². 2 By pre-calibrating the vehicle's braking parameters, the braking speed can be made as close as possible to -4m / s². 2 .

[0070] When the required braking force for different vehicle models does not exceed the capacity of the braking system, the same set of braking system hardware is used. However, the braking air pressure and other parameters required for consistent braking effects vary between different vehicle models. Therefore, each vehicle model has its own corresponding braking parameter table. By writing the braking parameter tables for different vehicles into a unified program, when the braking system is used for different vehicle models, it is only necessary to send the vehicle model information for calling, which improves the response efficiency and braking accuracy during the vehicle braking process.

[0071] In summary, the vehicle braking method disclosed herein optimizes the structure and control method of the vehicle braking system in related solutions by adding, subtracting, or replacing components and developing control programs. This reduces the response time of the vehicle braking system and improves core indicators such as performance accuracy. Furthermore, by using a VCU for vehicle braking, the vehicle can be controlled to execute braking operations quickly and accurately, achieving a braking effect with smaller errors.

[0072] It should be noted that although the steps of the method in this invention are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0073] Furthermore, in this exemplary embodiment, a service braking device is also provided. (See reference...) Figure 6 The vehicle braking device 600 may include: a vehicle model and operating condition determination module 610 and a vehicle braking module 620.

[0074] Specifically, the vehicle model and operating condition determination module 610 is used to determine the target type and target operating condition of the target vehicle in response to the vehicle braking operation of the target vehicle; the vehicle braking module 620 is used to perform vehicle braking control operation on the target vehicle based on the target operating condition and the target vehicle braking parameters determined based on the target type.

[0075] In one exemplary embodiment of this disclosure, the vehicle braking module 610 includes a vehicle braking unit, configured to: acquire a pre-configured braking parameter table; determine target vehicle braking parameters matching the vehicle type based on the braking parameter table; control the target vehicle to brake according to the target vehicle braking parameters and target operating conditions, thereby adjusting the wheel speed of the target vehicle; and receive wheel speed signals returned by the wheel speed sensor corresponding to the target vehicle, the wheel speed signals being used to determine the wheel speed and braking response time of the vehicle passing the target vehicle.

[0076] In one exemplary embodiment of this disclosure, the vehicle braking unit includes a brake table acquisition subunit, configured to: acquire a plurality of pre-configured vehicle types; determine and configure vehicle braking parameters corresponding to each vehicle type, wherein the vehicle braking parameters include one or more of the following: weight, center of gravity, load, and empty / full load center of gravity offset corresponding to each vehicle type; and construct a brake parameter table based on the plurality of vehicle types and the vehicle braking parameters corresponding to each vehicle type.

[0077] The specific details of the virtual modules of each service braking device mentioned above have been described in detail in the corresponding service braking methods. For any undisclosed details, please refer to the implementation methods in the method section, and therefore will not be repeated here.

[0078] It should be noted that although several modules or units of the service braking device have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0079] An exemplary embodiment of this disclosure also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the above-described vehicle braking method.

[0080] In one implementation, the computer program product may be a tangible product containing a computer program, such as a computer-readable storage medium storing the computer program. (See reference...) Figure 7 , Figure 7The schematic diagram illustrates a computer-readable storage medium 700 according to an exemplary embodiment of the present disclosure. The computer-readable storage medium 700 can be a storage medium based on electrical, magnetic, optical, electromagnetic, infrared, or other signals, including but not limited to: random access memory (RAM), read-only memory (ROM), magnetic tape, floppy disk, flash memory, hard disk drive (HDD), solid-state drive (SSD), etc. Exemplarily, a computer program product can be implemented as a non-volatile storage medium storing a computer program, such as read-only memory, NAND flash memory, etc.

[0081] In one implementation, the computer program product can be an intangible product containing a computer program. For example, the computer program product can be implemented as a virtual digital product, such as an executable file, installation package, or other digital file storing the computer program.

[0082] Computer program code can be written in one or more programming languages. Examples of programming languages ​​include C, Java, and C++. Program code can execute entirely on the user's computing device, partially on the user's computing device, or as a standalone software package. It can also execute partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, such as a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via an internet connection provided by a mobile network operator).

[0083] Computer programs can be carried or transmitted via signals such as electrical, magnetic, optical, electromagnetic, and infrared rays. Electronic devices can convert signals carrying computer programs into digital signals, thereby running the computer programs. When a computer program runs on an electronic device, its code is used to cause the electronic device to execute (more specifically, to execute by the processor of the electronic device) the method steps of various exemplary embodiments of this disclosure, such as the above-described vehicle braking method.

[0084] Exemplary embodiments of this disclosure also provide an electronic device, which may include a processor and a memory. The memory stores executable instructions of the processor, such as a computer program. The processor executes the executable instructions to perform the method steps of various exemplary embodiments of this disclosure. Furthermore, the electronic device may also include a display for displaying a graphical user interface.

[0085] The following is for reference. Figure 8 The electronic device is illustrated by way of a general-purpose computing device. It should be understood that... Figure 8The electronic device 800 shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments disclosed herein.

[0086] like Figure 8 As shown, the electronic device 800 may include: a processor 810, a memory 820, a bus 830, an I / O (input / output) interface 840, a network adapter 850, and a display 860.

[0087] The memory 820 may include volatile memory, such as RAM 821 and cache unit 822, and may also include non-volatile memory, such as ROM 823. The memory 820 may also include one or more program modules 824, including but not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. For example, program module 824 may include the modules described above.

[0088] The processor 810 may include one or more processing units, such as an AP (Application Processor), a modem processor, a GPU (Graphics Processing Unit), an ISP (Image Signal Processor), a controller, an encoder, a decoder, a DSP (Digital Signal Processor), a baseband processor, and / or an NPU (Neural-Network Processing Unit).

[0089] The processor 810 can be used to execute executable instructions stored in the memory 820, such as the above-mentioned vehicle braking method.

[0090] Bus 830 is used to connect different components of electronic device 800 and may include data bus, address bus and control bus.

[0091] Electronic device 800 can communicate with one or more external devices 900 (such as keyboard, mouse, external controller, etc.) through I / O interface 840.

[0092] Electronic device 800 can communicate with one or more networks via network adapter 850. For example, network adapter 850 can provide mobile communication solutions such as 3G / 4G / 5G, or wireless communication solutions such as wireless LAN, Bluetooth, and near-field communication. Network adapter 850 can communicate with other modules of electronic device 800 via bus 830.

[0093] Electronic device 800 can display a graphical user interface via display 860, such as an interface that displays the current wheel speed or braking response time of the target vehicle.

[0094] although Figure 8 As not shown in the diagram, other hardware and / or software modules may also be configured in the electronic device 800, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0095] As can be seen from the above, the technical solutions disclosed herein can be implemented as methods, apparatus, systems, computer program products, storage media, electronic devices, etc. Those skilled in the art will understand that various aspects of this disclosure can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software aspects, which may be referred to as "circuit," "module," or "system," respectively.

[0096] It should be understood that this disclosure is not limited to the specific methods, steps, or structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. Those skilled in the art will readily conceive of other embodiments based on the specific implementations provided in this disclosure. Therefore, the specific implementations provided in this disclosure are merely exemplary, and the scope and spirit of this disclosure are indicated by the claims, and should cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary technical means in the art not disclosed in this disclosure.

Claims

1. A vehicle braking system, characterized in that, include: The vehicle control unit integrates the function of an electronically controlled pneumatic braking system controller. The vehicle control unit is used to configure the vehicle's braking parameter table through the electronically controlled pneumatic braking system controller function, and send braking control commands to the dual-channel valve of the electronically controlled pneumatic braking system based on the braking parameter table. The braking parameter table includes vehicle braking parameters corresponding to multiple vehicle types. The dual-channel valve of the electronically controlled pneumatic braking system is used to perform pressure control operations according to the braking control command to brake the vehicle. The vehicle control unit is also used to control the dual-channel valve of the electronically controlled pneumatic braking system to brake the vehicle according to the target vehicle braking parameters and target operating conditions.

2. The system according to claim 1, characterized in that, The electronically controlled pneumatic braking system has multiple dual-channel valves. Each dual-channel valve is connected to the left and right air chambers of the front axle, middle axle, or rear axle of the target vehicle, and is also connected to the wheel speed sensors of the front axle, middle axle, and rear axle.

3. The system according to claim 2, characterized in that, Each of the electronically controlled pneumatic braking systems has a dual-channel valve that is connected to the left and right wheel speed sensors of the front axle, the middle axle, and the rear axle, respectively. The valve is used to receive the wheel speed detection signals returned by the left and right wheel speed sensors and to feed back the wheel speed detection signals to the vehicle control unit.

4. The system according to claim 2, characterized in that, The dual-channel valve of the electronically controlled pneumatic braking system is used to output two different braking air pressures, and the two different braking air pressures are used to control the air pressure regulation of the left air chamber and the right air chamber respectively.

5. A vehicle braking method, applied to the vehicle braking system according to any one of claims 1-4, characterized in that, The method includes: In response to the vehicle braking operation of the target vehicle, determine the target type and target operating condition corresponding to the target vehicle; Based on the target operating conditions and the target vehicle braking parameters determined based on the target type, vehicle braking control operations are performed on the target vehicle.

6. The method according to claim 5, characterized in that, The step of performing vehicle braking control operations on the target vehicle based on the target operating conditions and the target vehicle braking parameters determined based on the target type includes: Obtain the pre-configured braking parameter table; Based on the braking parameter table, determine the braking parameters of the target vehicle that match the vehicle type; Based on the target vehicle's braking parameters and the target operating conditions, control the target vehicle to brake, thereby adjusting the target vehicle's wheel speed; The system receives wheel speed signals returned by the wheel speed sensor corresponding to the target vehicle. These wheel speed signals are used to determine the vehicle wheel speed and braking response time as it passes the target vehicle.

7. The method according to claim 6, characterized in that, The process of obtaining the pre-configured braking parameter table includes: Obtain multiple pre-configured vehicle types; Determine and configure vehicle braking parameters corresponding to each of the vehicle types, wherein the vehicle braking parameters include one or more of the following for each of the vehicle types: weight, center of gravity, load, and empty / full load center of gravity offset. The braking parameter table is constructed based on the multiple vehicle types and the corresponding vehicle braking parameters for each vehicle type.

8. A service braking device, applied to the service braking system according to any one of claims 1-4, characterized in that, The device includes: The vehicle type and operating condition determination module is used to determine the target type and target operating condition of the target vehicle in response to the vehicle braking operation of the target vehicle. The vehicle braking module is used to perform vehicle braking control operations on the target vehicle based on the target operating conditions and the target vehicle braking parameters determined based on the target type.

9. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the vehicle braking method as described in any one of claims 5 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the vehicle braking method as described in any one of claims 5 to 7.

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