406 results about "Brake-by-wire" patented technology

The invention relates to a vehicle brake-by-wire method and system, and relates to the technical field of brake-by-wire, and the method comprises the steps: obtaining environment information around a vehicle and vehicle attitude information; identifying road conditions based on the environment information and obtaining dynamic parameters of the vehicle based on the vehicle attitude information and a vehicle dynamics model; obtaining a vehicle state evaluation result based on the identified road condition and the vehicle dynamic parameters; the vehicle state evaluation result is obtained based on the driving state and the potential risk of the vehicle under the current road condition; determining a braking force distribution proportion and an adjustment amount of each wheel by using a braking force distribution matrix and a braking force adjustment algorithm based on the vehicle state evaluation result; and adjusting the brake fluid pressure of each wheel based on the determined brake force distribution ratio and adjustment amount of each wheel.

The invention provides a brake-by-wire method and system based on personalized feature learning and intention evolution prediction and a vehicle. The invention discloses a brake-by-wire method based on personalized feature learning and intention evolution prediction. The brake-by-wire method comprises the following steps: acquiring real-time braking operation information of a driver, current state information of a vehicle and driving environment information of the vehicle; personalized braking characteristic parameters of the driver are obtained or updated; predicting a current braking intention type of the driver by utilizing a preset driving intention recognition model integrated with an attention mechanism; predicting the evolution trend of the current braking intention in a preset future time window; determining a group of target braking characteristic parameters according to the predicted current braking intention type and evolution trend in combination with the current state information of the vehicle and the driving environment information of the vehicle; and a brake control instruction of the brake-by-wire system is dynamically adjusted. According to the invention, more intelligent, smoother and predictable line control brake is realized.

The invention discloses a drive-by-wire chassis electric vehicle hardware-in-the-loop simulation test bench and a power chassis domain integrated control architecture thereof. The test bench comprises a driving simulation system, an electric drive system, a drive-by-wire brake system, a drive-by-wire steering system, an active suspension system, a power chassis domain integrated control system, a vehicle real-time simulation system and a bench measurement and control system. And the power chassis domain integrated control system receives a driver instruction, road environment and vehicle model information and response information of each execution system of the power chassis and the load simulation device of the execution system to complete decision-making instruction sending. The power chassis domain integrated control system adopts a hierarchical control architecture and comprises a vehicle motion stability judgment layer, a vehicle motion integrated control layer and an actuator and load control layer thereof. The system is used for testing and verifying control algorithms of various movement modes such as transverse and longitudinal movement modes, transverse and vertical movement modes and transverse, longitudinal and vertical movement modes of the drive-by-wire chassis intelligent electric vehicle, and has the characteristics of complete drive-by-wire chassis functions, high power chassis domain fusion degree, wide test coverage and the like.

The invention relates to an abnormal protection method and device for a brake-by-wire system and a vehicle, and relates to the technical field of brake-by-wire systems, and the method comprises the steps that real-time monitoring data are obtained through a temperature sensor, a pressure sensor and a flow sensor which are arranged on a brake disc and a brake pipeline; judging the working state of the brake-by-wire system based on the monitoring data; on the basis of historical braking data, vehicle driving condition data and the monitoring data, the abnormal condition of the braking system is predicted on the basis of a pre-trained brake-by-wire system performance prediction model; determining a final abnormal condition based on the working state judgment result and the predicted abnormal condition; and when the final abnormal condition is displayed to be abnormal, a pedal curve reactivity adjusting action, a power limiting action, a vehicle speed limiting action and a reminding action are executed, and the braking energy recovery force is adjusted according to the abnormal severity degree.

The invention relates to the technical field of brake-by-wire, and provides a self-adaptive fluid infusion control method, device and equipment for a brake-by-wire system. The method comprises the steps that when a to-be-controlled vehicle enters a braking mode, the deceleration and the running speed of the to-be-controlled vehicle are obtained; according to the deceleration, the road surface type of the road surface where the to-be-controlled vehicle is located is recognized, and the road surface type is the type obtained by dividing the road surface based on the adhesion coefficient; and determining a liquid supplementing strategy according to the road surface type and the driving speed, and controlling the to-be-controlled vehicle to supplement liquid based on the liquid supplementing strategy. The method has the core advantages that the attachment type of the current road surface is recognized by obtaining the deceleration and the driving speed of the vehicle, and the optimal liquid supplementing strategy is selected accordingly. According to the method, the inherent defect that a traditional fixed parameter fluid infusion strategy is single in performance under different road conditions is overcome, and the performance optimal balance within the full working condition range is achieved. The intelligent self-adaptive mechanism greatly improves the comprehensive performance and the driving experience of the brake-by-wire system.

The invention discloses an automobile drifting control method based on a brake-by-wire system. The automobile drifting control method comprises the following steps: S1, enabling an automobile to be in a drifting mode starting state; s2, judging whether a drift mode is triggered or not; s3, the braking torque for braking the rear axle of the automobile is calculated, and the rear axle of the automobile is braked to enable the automobile to drift; the brake torque is obtained by adding the feedforward brake torque, the yaw velocity feedback brake torque and the wheel speed feedback brake torque; the feedforward braking torque is calculated according to the load of the wheel, the road adhesion coefficient and the rolling radius of the wheel; the yaw velocity feedback braking torque is calculated according to a drift yaw velocity target, the wheel speed feedback braking torque is calculated according to a rear wheel speed target, and the drift yaw velocity target and the rear wheel speed target are both obtained according to a steering wheel angle and the change rate of the steering wheel angle; and S4, judging whether the automobile exits the drifting state or not in the drifting driving process of the automobile. By means of the control method, the drifting state of the automobile is more stable, control is easier, and safety is high.

The invention discloses a clamping force control method for an electronic mechanical braking system, and belongs to the technical field of automobile brake-by-wire. The method comprises the following steps: step 1, establishing a mechanical model of the electronic mechanical braking system; step 2, based on the mechanical model, designing a high-order linear extended state observer HLESO for estimating total disturbance and uncertain items of the system; 3, the total disturbance of the system observed by the HLESO serves as a feedforward control item, and a fast terminal sliding mode controller FTSM is designed; 4, designing a fuzzy corrector to carry out smooth transition on the discontinuous characteristics of the switch control items of the FTSM; and 5, when the vehicle enters a braking state, braking is achieved through the HLESO-FTSM control strategies in the steps 3-4. According to the invention, the long-term stability of the EMB system under complex working conditions is improved, the control process is simplified, and the control bandwidth and response speed of the system are greatly improved.

The invention relates to the technical field of automobile braking, in particular to a multi-objective optimization method and system for a brake-by-wire system based on digital twinning, and the method comprises the steps: building a virtual platform which comprises a brake-by-wire system physical model and a digital twinning model, and enabling the virtual platform to integrate a calculation model, simulation data and a physical entity on the same platform; constructing a virtual-real interaction interface on the virtual platform to realize real-time interaction between physical model data and digital twin model data; performing multi-target optimization on the brake-by-wire system based on a depth deterministic strategy gradient algorithm, and coordinating friction braking and motor braking force distribution on the premise of ensuring braking safety according to the driving intention of a driver; a physical engine is adopted to simulate pressure fluctuation of a hydraulic pipeline in real time, the brake energy recovery amount and system response characteristics are optimized under the ABS activation working condition, a depth deterministic strategy gradient algorithm is adopted to perform multi-target optimization on a brake-by-wire system, and multiple targets such as energy recovery efficiency can be better balanced.

The utility model discloses an electronic pedal structure for brake-by-wire, which comprises a pedal support and a pedal arm rotationally connected to the pedal support through a pedal shaft, and further comprises a pedal simulator arranged below the pedal arm, the pedal simulator is provided with a central axis, and the pedal simulator can stretch out and draw back in the extending direction of the central axis. The two ends of the pedal simulator in the telescopic direction are flexibly connected with the pedal arm and the pedal support respectively, the pedal support is provided with a mounting face, the included angle between the mounting face and the central axis ranges from 80 degrees to 100 degrees, and projections of the pedal shaft and the pedal simulator on the plane where the mounting face is located are staggered. The height of the pedal support in the electronic pedal structure is small, so that the structural size of the pedal support is small; in addition, the electronic pedal structure and an original hydraulic brake pedal can be installed on an automobile in a replaceable mode, and therefore the transition requirement of the hydraulic pedal and the electronic pedal is met in stages.

The invention discloses a brake-by-wire system assembly pedal displacement sensor calibration device and method, and the device comprises a main body support and a screw rod lifting platform, the main body support is used for fixing a brake-by-wire system assembly, the screw rod lifting platform is provided with a push block assembly, and the screw rod lifting platform is used for driving the push block assembly to move. The push block assembly is used for measuring the brake-by-wire system assembly. According to the calibration device and method for the brake-by-wire system assembly pedal displacement sensor, through cooperation of the main body support and the lead screw lifting platform, the position of the pushing block assembly is conveniently adjusted to calibrate the brake-by-wire system assembly pedal displacement sensor, the calibration device and method are suitable for different brake-by-wire system assemblies, compatibility is high, and the calibration precision is high. The detection efficiency is high, and the high precision of calibration is ensured.

The invention relates to the technical field of vehicle control, and discloses a steering-braking cooperative control method, system and equipment during brake-by-wire failure, and the method comprises the steps that running state information of a vehicle is acquired; on the basis of the running state information, whether electronic mechanical brake wheels fail or not is judged; if yes, the braking force deviation of the failed wheel is determined according to the running state information; yawing moment deviation is generated according to the braking force deviation; generating a feed-forward compensation rotation angle based on the yawing moment deviation; determining a feedback compensation rotation angle according to the operation state information; and generating a steering compensation angle for steer-by-wire based on the feedforward compensation rotation angle and the feedback compensation rotation angle. The control system has the beneficial effect that the safety performance and the control reliability of the whole vehicle are improved.

This application describes examples of a brake-by-wire system and a control method. In one example, a braking control system includes a brake master cylinder, a first pressure booster, a second pressure booster, at least one first interface, at least one first control valve, at least one second control valve, at least one third control valve, at least one fourth control valve, and a second pedal feel simulation system. The at least one first interface is connected to at least one brake wheel cylinder, respectively. The brake master cylinder and the at least one first interface are respectively connected through the at least one first control valve. The first pressure booster and the at least one first interface are respectively connected through the at least one first control valve. The second pressure booster and the at least one first interface are respectively connected through the at least one third control valve.

The invention discloses a layered vehicle stability brake control system and a brake control method. A layered vehicle stability braking control system is applied to a vehicle provided with a brake-by-wire system and a steering-by-wire system and comprises a chassis dynamics analysis module and a yawing moment instruction distribution module. The invention discloses a layered vehicle stability braking control method. The braking control step sequentially comprises the steps of determining the corrected yaw moment of a target vehicle, evaluating the availability and the permissibility of active steering control, determining a wheel steering control angle based on the availability and the permissibility of the active steering control, determining the steering corrected yaw moment based on the wheel steering control angle, and conducting braking control. Determining a residual corrected yaw moment based on the target vehicle corrected yaw moment and the steering corrected yaw moment, and determining a brake control instruction based on the residual corrected yaw moment; according to the method, the optimal distribution of the target correction yaw moment can be realized through the synergistic effect of active steering and brake-by-wire.

The invention discloses a brake-by-wire redundancy control method and system based on big data, and the method comprises the steps: obtaining historical fault data of a brake-by-wire system, carrying out the preprocessing of the historical fault data into standard fault data, carrying out the clustering analysis, extracting the position of a fault part, and determining a weak position set of the system; constructing an initial fault propagation matrix according to the weak position set, and calculating the system failure contribution degree of each fault component to update the matrix; using Monte Carlo simulation to form a failure probability data set based on the updated matrix; generating a plurality of candidate switching paths for the scene with the failure probability higher than a preset threshold value, and simulating the candidate switching paths through digital twin simulation to obtain actual switching time delay and success probability; and calculating the comprehensive performance score of each path according to the simulation result, sorting according to the scores, and selecting the path with the highest score for switching control when the running load state of the fault component exceeds a preset threshold value. According to the invention, the redundancy control switching efficiency of the drive-by-wire system under a complex working condition is improved.

The invention discloses a clamping force estimation method for a data and model dual-driven electronic mechanical braking system, and relates to the technical field of intelligent vehicle brake-by-wire. The method comprises the following steps: establishing electronic mechanical braking system models and state observers thereof under different precisions; designing a clamping force estimator of the model-driven electronic mechanical braking system by combining an extended Kalman filtering method; after the input features are screened, designing a clamping force estimator of the data-driven electronic mechanical braking system in combination with a time sequence convolutional neural network; estimating values of the model driving estimator and the data driving estimator are fused in real time based on an adaptive weight fusion mechanism, and finally an estimation result with higher precision and higher robustness is obtained. According to the method, the interpretability and real-time advantages of a model driving method and the adaptive capacity of a data driving method to complex non-linear working conditions are fused, and the precision and robustness of clamping force estimation under multiple working conditions and noise interference are effectively improved under the condition that a force sensor is not needed.

The invention discloses a brake-by-wire method and a brake system in dual modes, and belongs to the field of automobile braking, the brake-by-wire method and the brake system in dual modes comprise a pedal assembly, a vehicle control unit electrically connected with the pedal assembly and a brake-by-wire module electrically connected with the vehicle control unit, and the brake-by-wire module adopts a redundant structure. The brake-by-wire module comprises a main line control brake unit and a redundant brake-by-wire unit, and the main line control brake unit and the redundant brake-by-wire unit are connected with the brake calipers through brake connectors. By the adoption of the brake-by-wire method and the brake system under the double modes, the reliability, the safety and the response accuracy of the brake-by-wire system are remarkably improved through redundant acquisition of the brake intention by the double sensors, backup of the double brake-by-wire units and intelligent switching of the flow channels by the brake connector, stable and efficient operation of the brake function under the complex working condition is ensured, and the brake efficiency is improved. Therefore, the method is suitable for a normal driving mode and an automatic driving mode.

The invention relates to the technical field of vehicle control, and discloses a brake-by-wire calibration method, device and equipment, and the method comprises the steps: obtaining the total mass of a vehicle, brake pedal travel data, vehicle speed data and brake pressure data; performing difference calculation according to the vehicle speed data to obtain a wheel speed difference; in combination with a braking distribution coefficient model, performing braking distribution calculation according to the total vehicle mass, the vehicle speed data and the wheel speed difference to obtain a braking distribution coefficient; according to the total mass of the vehicle, the brake pressure data and the brake distribution coefficient, brake torque calculation is conducted, and a brake torque compensation value is obtained; according to the total mass of the vehicle and the brake pressure data, brake force correction calculation is conducted, and a brake force correction value is obtained; according to the brake torque compensation value, the brake force correction value and the brake pedal travel data, PID closed-loop system control calculation is conducted, and a motor torque output value is obtained. According to the method, the braking force and the output torque can be accurately calculated, so that the reliability and the stability of braking are ensured.

The invention discloses a vehicle brake lamp control method, device and equipment and a storage medium. The method comprises the steps that whether a main controller and an auxiliary controller of a brake lamp of a current vehicle break down or not is judged; when the main controller and the auxiliary controller do not fail, acquiring a brake-by-wire pedal state signal, a pedal travel state signal and a brake lamp switch signal, and performing handshake judgment on the main controller and the auxiliary controller according to the brake-by-wire pedal state signal, the pedal travel state signal and the brake lamp switch signal; after the handshake passes, a first brake lamp in the brake lamps is controlled to be lightened through the main controller, and a second brake lamp in the brake lamps is controlled to be lightened through the auxiliary controller; the brake state of the vehicle can be accurately identified, the complexity of brake lamp control is avoided, the control cost is reduced, the driving safety is improved, and the control accuracy of the brake lamp of the vehicle is improved.

The invention relates to the field of brake-by-wire systems, and discloses a control method and system for an automobile brake-by-wire system, and the method comprises the steps: collecting motor operation parameters, environment state parameters and vehicle dynamics parameters; based on the environment state parameters and a pre-calibrated environment compensation parameter table, environment compensation is carried out on the motor current signal and the rotation angle signal; carrying out load correction on the motor current signal and the rotation angle signal which are subjected to environment compensation; identifying a current key characteristic time period and a corner key characteristic time period respectively; generating a system reliability verification coefficient based on cross validation of the current key characteristic time period and the corner key characteristic time period; calculating an actual clearance value between a friction plate and a brake disc based on a system reliability verification coefficient, the corner signal after load correction and a pre-calibrated mechanical transmission parameter; and outputting a brake system control instruction based on the calculated actual gap value.

The invention provides a hydraulic pressure control method for a wheel cylinder of a brake-by-wire system of an electric vehicle. The hydraulic pressure control method comprises the following steps: constructing a nonlinear model of an electronic hydraulic brake system of the electric vehicle; designing a self-adaptive expansion state observer based on an improved particle swarm optimization algorithm to estimate the initial hydraulic pressure of the wheel cylinder of the electric vehicle; taking the estimated initial hydraulic pressure of the wheel cylinder of the electric vehicle as input, and designing a sliding mode attitude controller based on a self-adaptive expansion state observer; the improved sliding mode control method is obtained by improving an objective function and a fitness function established by an alpha evolutionary algorithm, improving a sliding mode surface equation through the objective function and the fitness function, and introducing a chaotic disturbance term, an evolutionary compensation term and a self-adaptive buffeting suppression factor. And the hydraulic pressure of the wheel cylinder of the electric vehicle is controlled through an improved sliding mode control method. According to the invention, high-precision hydraulic pressure control can be realized, and the anti-interference capability is improved.

The invention relates to a non-electromagnetic-valve type mechanical control structure suitable for a drive-by-wire hydraulic brake boosting unit, and belongs to the field of automobile drive-by-wire brake systems. Comprising a simulation main cylinder, a simulator, a power-assisted motor component, a transmission mechanism, a pressurization main cylinder, a controller ECU, a first flow channel, a second flow channel and a third flow channel. The hydraulic drive-by-wire brake unit has the advantages that the structure is novel, mechanical structure control logic is adopted, an electromagnetic valve component used on a traditional hydraulic drive-by-wire brake unit is replaced, the functions of simulation cavity opening and closing, basic brake control and the like are achieved, the control difficulty of an electronic control unit (ECU) is reduced, failure modes caused by electromagnetic valve control are reduced, and product energy consumption is reduced. Reliability and stability of a mechanical structure are brought into full play, and the pedal simulator can be quickly cut off when a control circuit or an electric appliance fails while a pedal feeling simulation function is achieved, so that basic braking of brake fluid is achieved under the action of pedal force of a driver, and safety and reliability of products are improved.

The utility model relates to a zero-position anti-rotation limiting mechanism and an automobile brake-by-wire system, and belongs to the technical field of automobile brake-by-wire systems. The zero-position anti-rotation limiting mechanism comprises a lead screw shaft in transmission connection with a rotor shaft and a lead screw nut matched with the lead screw shaft, one end of the lead screw shaft is sleeved with a nut baffle in an anti-rotation mode, and the nut baffle is provided with a limiting boss I for limiting the lead screw nut located at the zero position to axially return. The problem that phases are difficult to match during installation can be solved, and the situation that parts are damaged or scrapped due to chippings generated by interference fit can be avoided.

The invention relates to an EMB structure capable of achieving mechanical pressurization and pressure relief backup, and belongs to the field of automobile brake-by-wire systems. A main cylinder structure is inserted into a transmission mechanism of an EMB and a pedal simulator structure, when an EMB motor rotates, a push rod pushes a piston to compress oil in a main cylinder, then a caliper piston is pushed to achieve clamping of calipers, and meanwhile an oil outlet hole is reserved in the main cylinder of the EMB and connected to a main cylinder of the pedal simulator. Through opening and closing of the electromagnetic valve and plugging and communication of an oil return hole in the pedal simulator structure, the functions of mechanical backup and emergency pressure relief of braking force are achieved, and the safety redundancy of vehicle braking is greatly improved. Efficient electric control braking, failure redundancy and safe pressure relief are achieved in a single structure, and the reliability is remarkably improved.

The invention discloses a motor and piezoelectricity integrated automobile brake execution device and a control method. A motor driving mechanism comprises a driving motor and a lead screw nut mechanism, and rotary motion is converted into linear motion so as to push a first friction block to establish basic brake force; the piezoelectric driving mechanism comprises a piezoelectric ceramic unit and a displacement amplifying mechanism, the piezoelectric ceramic unit is elongated when voltage is loaded, the connecting end is driven to get close to the middle, only pressure maintaining or pressure reducing rapid adjustment of braking force is achieved, and the capacity of independently applying the braking force is not achieved. Through cooperative work of motor main braking and piezoelectric rapid adjustment, the large-thrust long-stroke braking capacity and the microsecond-level dynamic adjustment performance are both considered, the redundant fault-tolerant capacity is achieved under multi-device distributed layout, and the brake-by-wire system is suitable for L3-level and above automatic driving vehicles; and meanwhile, upgrading and reconstruction of brake systems of traditional fuel vehicles and pure electric vehicles are compatible.

The present invention discloses an integrated wire-controlled brake pedal, belonging to the technical field of automobile parts. It comprises a pedal housing, and angle sensors and pressure sensor connectors are respectively fixedly installed on the left and right sides of the pedal housing by screws, the angle sensor is connected by a rotating shaft, and a pedal body is also sleeved and installed on the rotating shaft, one end of the pedal body extending outside the pedal housing is fixedly connected to the pedal through a force sensing kit, and a spring device is installed at the bottom of the pedal housing, one end of the spring device is connected to one side inside the pedal housing, and the other end of the spring device is connected to the pedal body. The present invention has a simple structure, does not occupy the space in the engine compartment, and is easy to install. It can be adapted to different types of vehicles equipped with electronic mechanical brakes. Redundant signal output is achieved through sensor structure design, and angle sensors and force sensors are equipped to physically achieve redundant signal output, so that the braking function achieves redundant backup from the physical structure.

The present application relates to a fully decoupled brake-by-wire method and system, which is applied to the field of brake-by-wire technology. The method includes: detecting whether the brake-by-wire system is powered on normally; if it is not powered on normally or there is a fault after normal power-on, entering a mechanical backup braking mode; if it is powered on normally and there is no fault, detecting whether the brake-by-wire system is in a pedal-powered state; if not, entering a normal brake-by-wire mode; if so, determining whether the stroke of a mechanical push rod at the moment of power-on is greater than a first stroke value; if not, entering a normal brake-by-wire mode; if so, entering a pedal-powered braking mode, controlling the analog cylinder circuit isolation valve to remain closed, controlling the manual cylinder circuit isolation valve to change from an open state to a closed state after power is applied, and determining a target brake pressure based on the stroke of the mechanical push rod and the pressure detected by the manual cylinder pressure sensor. This ensures the output of brake pressure while taking into account brake pedal feel.

The utility model provides a thrust conversion structure for a brake-by-wire system. The thrust bearing assembly is sequentially provided with a supporting disc, a rolling body and a driving disc from front to back, and the supporting disc and the driving disc are provided with roller paths which are matched with the rolling body and have variable depths. The driving disc is provided with an internal thread; the screw rod is provided with an inner cavity and external threads, the inner cavity is provided with a spline hole, the spline hole is matched with a shaft with an external spline, and the external threads and the internal threads of the screw rod form thread pair matching; the piston can axially move, the front side of the piston is the rear end of the screw rod, and the rear end of the piston is used for abutting against the brake disc for braking. A sectional type propelling structure is adopted, when the first section is used for eliminating idle stroke, rotation is converted into linear motion through thread transmission, and when the second section is used for clamping, the rotation motion is converted into linear motion through the reinforcement bearing assembly; the transmission mode of the reinforcement bearing, the screw rod, the screw sleeve and the spline is adopted, so that the structural size of a product is greatly reduced.

The utility model provides a brake-by-wire system pedal assembly fused with a magnetorheological fluid damper to simulate foot feeling. The brake-by-wire system pedal assembly comprises a pedal and the magnetorheological fluid damper. The pedal is composed of a brake rod, a ball pin base, a pedal supporting frame, a bearing assembly, a rotating shaft and a pedal panel. A pedal panel is fixedly installed at one end of the brake rod, the other end of the brake rod is installed on a rotating shaft, and the rotating shaft is installed on a pedal supporting frame through a bearing assembly. A ball pin base is fixedly installed below the brake rod, a ball pin is installed in the ball pin base, and one end of the ball pin is connected with an upper piston rod of the magnetorheological fluid damper. According to the brake-by-wire system pedal assembly, the foot feeling damping force can be rapidly adjusted according to different position changes and the requirements of a user, and a more accurate and personalized foot feeling feedback function is achieved.

The utility model relates to the technical field of automobile drive-by-wire brake, in particular to a waterproof ventilation valve adaptive to a drive-by-wire brake motor and a simulation cylinder, which comprises a waterproof ventilation valve, a simulation cylinder cover, a valve block and a motor, the waterproof ventilation valve comprises a valve main body, a protective cover, a waterproof ventilation film and a rubber ring, a threaded pipe is arranged at the bottom end of the valve main body, and the waterproof ventilation film is arranged in the threaded pipe. The waterproof breathable valve is in threaded connection with the threaded hole through a threaded pipe, an airflow channel is formed in the threaded pipe in a penetrating mode, the threaded pipe at the bottom end of the valve body is connected with the threaded hole of the valve block through a conical thread, self-locking anti-loosening and rapid dismounting and mounting are achieved, and a waterproof breathable film is fixed to an annular boss on one side of a step face through laser welding. The protection cover is installed on the valve body through the through hole, the avoiding groove in the lower end of the protection cover enables the buckle to be retracted and then reset, a closed cavity is formed, large foreign matter is prevented from impacting and damaging the waterproof breathable film, and dirt is prevented from covering the waterproof breathable film.

The application provides a kind of based on reinforcement learning's line control brake system electromechanical compound brake smoothness control method, this method includes the following steps: obtaining the current operating state data of vehicle and constructing state space vector;State space vector is composed of sliding window state sequence, input to the reinforcement learning intelligent agent model pre-trained, output basic distribution proportion coefficient;Target total brake torque is analyzed into target motor brake torque and target line control friction brake torque;In the transition window period of dynamic handover of motor brake and line control brake, the dynamic error between target deceleration and actual longitudinal deceleration is calculated in real time;When dynamic error is greater than zero and exceeds preset dead zone threshold, generate transient compensation torque instruction and send to motor controller, so that the actual output torque of drive motor is the sum of target motor brake torque and transient compensation torque.The application realizes the continuous smooth transition of vehicle braking force in brake mode dynamic switching process.