216 results about "Wheel load" patented technology

The invention provides a vehicle anti-skid control method, device and system and a vehicle. According to at least one driving wheel of the vehicle, the chassis wheel speed, the actual wheel speed, the wheel end actual torque, the adhesion coefficient, the total wheel load, the target slip rate, the wheel radius and the vehicle speed are obtained; a feedforward control torque is determined according to an attachment coefficient, a total wheel load and a wheel radius, a wheel speed deviation is determined according to a target slip rate, a chassis wheel speed and an actual wheel speed, a torque deviation is adjusted through a vehicle speed, the attachment coefficient and the wheel speed deviation to obtain a feedback control torque, and the feedback control torque and the attachment coefficient are superposed to serve as an output torque for vehicle anti-skid control. Dynamic wheel load changes and wheel load changes caused by the vehicle on the ramp road surface are considered, the total wheel load is estimated in real time, feed-forward control is introduced to obtain the feed-forward control torque, feedback control is compensated, and the stability and accuracy of anti-skid control are enhanced when the ramp road surface and the loads change.

The invention discloses a method for simulating bottom bending tensile stress of an airport rigid pavement slab under the action of aircraft wheel loads. The method comprises the following steps: establishing an airport rigid pavement three-dimensional refined finite element model and an airport rigid pavement two-dimensional simplified finite element model; selecting aircraft wheel sliding load of the aircraft type main landing gear; obtaining an equivalent airplane wheel sliding load; obtaining an equivalent airplane wheel sliding load calculation formula under the random transverse action position of the airplane wheel; and obtaining the bottom bending-tensile stress value of the pavement slab under the airplane wheel sliding load. According to the method, by establishing the rigid pavement two-dimensional simplified finite element analysis model, rapid prediction of the airport rigid pavement slab bottom stress response under the aircraft wheel load effect is achieved. According to the method, the bending-tensile stress of the slab bottom is quickly and accurately calculated according to different pavement structure parameters and the transverse action position of the airplane wheel. The method effectively overcomes the defects of complex modeling, high calculation cost and the like of traditional rigid pavement refined simulation, has the characteristics of simplicity and convenience in modeling and quickness in calculation, and remarkably improves the airport engineering design and analysis efficiency.

The invention discloses a method for aircraft thrust imbalance warning and protection. The method comprises the following steps: acquiring thrust rod position angle signals and wheel load state signals of a plurality of engines after an aircraft lands and is grounded; determining whether the thrust states of the plurality of engines are consistent or not based on the thrust rod position angle signal and the wheel load state signal, wherein the thrust states of the plurality of engines comprise a positive thrust state and a negative thrust state; in response to the fact that one or more of the multiple engines are inconsistent with the remaining engine thrust state of the multiple engines, a warning instruction is sent out; and the reverse thrust cover corresponding to the engine in the negative thrust state is locked. The invention further provides a system for aircraft thrust imbalance warning and protection. By means of the method and device, the unbalanced thrust state of the aircraft can be prevented after the aircraft lands, an alarm is given to operation of a pilot, protection is provided, and the safety of the aircraft is guaranteed.

The invention provides a heavy-duty truck vehicle-mounted safety monitoring method and device, and the method comprises the steps: obtaining the original monitoring data of a wheel-rail force through a wheel-rail force monitoring module which is installed on an axle and has a low power consumption characteristic, and carrying out the edge calculation of the original monitoring data, and obtaining a wheel load shedding rate, a derailment coefficient and a wheel axle transverse force; the framework acceleration and the bearing temperature are obtained through the low-power-consumption vibration acceleration sensing module and the bearing temperature sensing module; performing multi-modal fusion on each index to obtain a multi-modal operation state representation vector; obtaining a dynamic threshold value of each index based on an enhanced feature vector and a multi-modal operation state representation vector obtained by an offline self-learning model; and giving current situation analysis and trend analysis of safety monitoring based on a comparison result of each index and a dynamic threshold value. According to the invention, the limitation of independent analysis of single sensor data in the prior art is overcome, the dynamic adjustment of the safety threshold is realized, and the accuracy and reliability of safety monitoring are improved.

The invention relates to a towed agricultural working machine (10) for tilling the soil and / or for spreading agricultural material, comprising a frame structure (16) which has a pulling device (18) on a front side and a chassis (20) on a rear side, wherein the pulling device (18) is configured to absorb an operating tractive force (FZ) of a tractor in the direction of travel (VR) and / or to transfer an operating support load (FS) of the working machine (10) to the tractor, wherein the chassis (20) has at least two support devices (22) which are provided for transferring an operating wheel load (FR) of the working machine (10) to the ground, and wherein a coupling device (24) is arranged on the frame structure (16) on the rear side, on which coupling device a soil tilling and / or sowing device (12; 14) having a support frame (26) is received.To optimise the weight distribution, the working machine (10) is characterised by a support wheel device (40) arranged at the rear of the soil tillage and / or sowing device (12; 14). The invention also relates to a method for shifting weight on a towed agricultural working machine (10).

The invention relates to the technical field of vehicle testing, in particular to a high-integration novel driving unit testing method, electronic equipment and a storage medium. The capability test system comprises a measurement module, a control module, a fixed support, a road load simulation platform arranged on the fixed support, a wheel load dynamic loading mechanism and an electrical system, and the method comprises the following steps: determining control parameters, simulation parameters, loading parameters and electrical parameters according to current test requirements, respectively controlling the road load simulation platform, the wheel load dynamic loading mechanism and the electrical system to be in corresponding states, sending control parameters to the to-be-tested high-integration novel driving unit, and measuring current test parameters of the to-be-tested high-integration novel driving unit; and obtaining a function test result and / or a performance test result of the to-be-tested high-integration novel driving unit. Therefore, the problems of high cost, high danger coefficient, long period and the like of the existing test method are solved.

The invention discloses an X-type control method for intelligently distributing torque and a chassis system. The X-type control method comprises the steps that a left front hydraulic channel, a right rear hydraulic channel and a right front hydraulic channel and a left rear hydraulic channel are built; the sensor obtains parameters such as wheel rotating speed and load; the control module combines slip rate, longitudinal force (calculated according to tire rigidity and the like) and unscented Kalman filtering to estimate an adhesion coefficient, calculates hydraulic pressure and generates a driving signal; the hydraulic valve adjusts the torque to adapt to straight lines (distributed according to load transfer), steering (insufficient / excessive deviation correction steering) and unbalanced road working conditions, and energy consumption optimization is further included. The system comprises a sensing module, a control decision-making module and the like, normal driving and braking are still guaranteed when an X-type layout single channel breaks down, natural yaw moment exists, and the problems that in the braking or driving process of an existing vehicle chassis, moment distribution is not uniform, and response to single-wheel loads and road surface attachment changes is insufficient are solved.

The utility model provides a bogie structure and a sky rail system suitable for severe environments, the bogie structure comprises a bogie, the lower end of the bogie is used for being hinged with a vehicle body, the bogie is provided with a side rolling stopper, the side rolling stopper is used for limiting and buffering the side rolling angle of the vehicle body, and a motor frame is arranged above the bogie. The motor frame is vertically and movably connected with the bogie, an elastic vertical stopper is arranged between the bogie and the motor frame, the acting force of the vehicle body on the side rolling stopper is transmitted to the motor frame through the vertical stopper, positioning wheels are arranged at the two ends of the motor frame, the positioning wheels are used for abutting against a track beam, and the positioning wheels are used for transmitting the acting force on the motor frame to the track beam. The side rolling motion of a vehicle body is released, the side wind moment is balanced through the gravitational moment of the vehicle, the wheel load shedding rate of the bogie is reduced, meanwhile, the side rolling backstops, the vertical backstops and the positioning wheels are arranged, the side rolling angle is limited, the bogie can be prevented from overturning, and the structural reliability is guaranteed.

The application relates to the field of automobile intelligent chassis testing, in particular to a kind of angle module steering performance test method.The test method comprises: according to preset speed, preset steering angle, preset vertical wheel load, preset road adhesion coefficient, determine steering basic response and control precision comprehensive test condition, control test bench to execute steering basic response and control precision comprehensive test;Steering basic response and control precision comprehensive test condition includes step input response test condition, hysteresis and non-linear characteristic evaluation condition, dynamic response characteristic evaluation condition, return torque and residual angle test condition, steering angle precision and tracking error test condition;According to preset speed and preset vertical wheel load, determine steering-wheel load coupling performance test condition, control test bench to execute steering-wheel load coupling performance test.The application can standardize the steering performance of angle module, test each condition in full dimension, and accurately present the comprehensive steering performance of angle module in actual vehicle operating condition.

The utility model discloses an egg support type friction nanometer power generation pavement plate, the power generation principle of the plate is friction power generation and electrostatic induction coupling effect, current is generated through electron transfer generated by interaction between polar materials, and the purpose of pavement power generation is achieved. The plate at least comprises three structural layers, namely a compression-resistant protective layer, a friction nano power generation layer and a high-strength bearing layer from top to bottom, wherein the friction nano power generation layer is provided with a multi-layer egg support type insulating plate, a metal electrode layer, two friction surfaces which are attached to the friction nano power generation layer and have opposite polarities, an elastic support body and a rectifying circuit layer connected with the metal electrode layer. The utility model relates to a pavement plate with a function of collecting pavement vibration energy, which is arranged between a surface layer of a newly-built pavement and a structural layer or between structural layers of an existing pavement, and generates electric energy through a contact-separation friction process of a friction nanometer power generation layer under the action of vertical force and horizontal force generated by wheel load. And the application potential is wide.

The invention relates to an automobile gear combination switch control method integrated with a vehicle-mounted weighing function, and belongs to the technical field of automobile electronic control. The invention aims to solve the technical problems of high cost and complex wiring caused by single function of an existing gear controller and independent arrangement of a vehicle-mounted weighing system. The electronic gear shifting system comprises an electronic gear shifting module used for detecting the gear and the parking key state; the combined switch module is used for detecting on-off states of a windscreen wiper, light and the like; the vehicle-mounted weighing module is used for supplying power to the height sensors of the four wheels, receiving PWM signals of the height sensors and calculating the total weight of the vehicle, the load ratio of front and rear axles and the loads of the four wheels according to the calibration parameters and the height variation of the vehicle body; and the communication module is used for sending a gear shifting signal, a switching signal and a weighing signal through a CAN FD bus. The weighing function is integrated into the gear controller, the weighing precision is improved through inclination angle compensation, real-time display and overload reminding of load information are achieved, and the gear controller has the advantages of being high in integration level, low in cost and good in precision.

The invention relates to a driving wheel load adjustable AGV trolley, and relates to the technical field of AGVs, the AGV trolley comprises a chassis frame, a lifting mechanism, two sets of supporting wheels and a supporting device located between the two sets of supporting wheels, and the supporting device comprises a support arranged on the chassis frame through a damping assembly; the driving wheel is rotationally arranged on the bracket; the adjusting mechanism is used for adjusting the position of the bracket and adjusting the supporting force of the driving wheel on the ground. During no-load, the adjusting mechanism drives the driving wheels to move upwards to reduce the supporting force and increase the supporting force of the two sets of supporting wheels to the ground, during loading, the adjusting mechanism is started to drive the driving wheels to move downwards to increase the supporting force to the ground, and the lifting mechanism lifts the loaded object, so that the heavy object can be supported; and the supporting wheels can be supported on the ground in the no-load state, the risk that the supporting wheels are separated from the ground is reduced, and therefore the stability of the trolley in the moving process is improved.

This invention discloses a platform for simulating the working conditions of a Torsen differential in a four-wheel drive system, relating to the field of automotive teaching aids technology. The platform includes: a platform frame; a four-wheel drive transmission simulation unit comprising a drive motor, a Torsen center differential driven by the drive motor, connected front and rear axle drive shafts, and four rotary output ends; a wheel load simulation unit for applying rotational resistance to the rotary output ends; a working condition preset and control unit for automatically controlling the four wheel load simulation units to apply preset resistance combinations corresponding to the working condition mode; a data display unit for real-time display of speed and torque data at the rotary output ends; and a differential lock actuator for achieving rigid connection and synchronous rotation of the front and rear axle drive shafts. The beneficial effect of this invention is that it transforms complex mechanical principles, systematic engineering logic, and cutting-edge automotive technology into intuitive and operable teaching practices, possessing significant promotional value and application prospects.

This invention provides a method for reconstructing continuous wheel-rail forces based on discrete fastener reaction forces, comprising the following steps: Step 1, establishing a wheel load distribution model; Step 2, establishing an algorithmic framework for the inversion method, by introducing a responsibility region and a local deconvolution strategy, mapping the discrete fastener reaction force FRF to the continuous wheel-rail force WRF. This invention effectively solves the problems of traditional onboard sensors' difficulty in long-term fixed-point monitoring of specific road sections, and the inability of existing ground discrete monitoring points to fully characterize the continuous wheel-rail interaction behavior. By constructing an inversion framework based on Gaussian load distribution using a "responsibility region + local deconvolution" approach, it fully utilizes the load transfer characteristics of the vehicle-track coupling system, achieving high-precision reconstruction of continuous wheel-rail forces using ground discrete fastener reaction force data. This eliminates the need for complex global iterative optimization and can accurately restore the dynamic characteristics of wheel-rail contact even with only a limited number of discrete measurement points.

The invention provides a wheel load estimation device and the like which can reduce the calculation load compared with the prior art when estimating the wheel load. According to one aspect of the present invention, there is provided a wheel load estimation device that estimates a wheel load applied to each wheel provided in a vehicle. The wheel load estimation device includes an acquisition unit, a calculation unit, and an estimation unit. The acquisition unit acquires a detection value output from the sensor as a parameter. The parameter is a parameter related to movement of the vehicle. The calculation unit calculates an inertia force generated in the vehicle on the basis of the parameter and the mass of the vehicle. The estimation unit estimates the wheel load on the basis of the inertia force and a predetermined estimation formula.

The invention discloses a railway wheel load instrument verification protection device, and relates to the technical field of railway metering equipment protection devices, the railway wheel load instrument verification protection device comprises a bottom plate, a wheel load instrument verification device is fixedly installed on the upper surface of the bottom plate, and an oil-resistant rubber plate is placed between the wheel load instrument verification device and the upper surface of the bottom plate; a camera assembly is additionally arranged on a vertical column of the wheel load instrument calibrating device; the upper surface of the bottom plate is covered with a sound insulation assembly. An operation opening is formed in the side wall of the sound insulation assembly, and an operation panel assembly is installed at the operation opening in a hinged mode. According to the railway wheel load instrument verification protection device, noise pollution to detection personnel during verification operation can be reduced, and the accuracy of the indicating value of a verification result can be guaranteed.

The invention provides a vehicle control method for achieving pivot steering, a vehicle controller and a vehicle. The vehicle control method is used for controlling a suspension system of the vehicle to assist in achieving pivot steering of an electric vehicle after a user starts a pivot steering function. The vehicle control method comprises the steps that after the user starts the in-situ steering function and before the electric vehicle starts in-situ steering, the suspension system is controlled to adjust the suspension height corresponding to one wheel of one axle to be lower than the suspension height corresponding to the two wheels of the other axle. And in the pivot steering process of the electric vehicle, the wheel is locked, and the electric vehicle is controlled to conduct pivot steering around the wheel. Therefore, the suspension height of the locking wheel is adjusted to be lower than the suspension height of the two wheels of the other axle by controlling the suspension system, so that the wheel load of the wheels of the other axle is transferred to the locking wheel, the success rate of in-situ steering of the vehicle is improved, and the tire abrasion of the two wheels of the other axle is reduced.

The embodiment of the present application belongs to the field of rail transit technology, and discloses a locomotive wheel surface fatigue damage prediction method and equipment. The corresponding method comprises the following steps: determining a first relationship parameter between a surface length and an internal length and a second relationship parameter between the internal length and an internal depth according to the surface length, the internal length and the internal depth of the pre-acquired crack of the locomotive wheel; generating a wheel-rail contact damage prediction model under the amplitude load condition according to the damage index distribution inside the wheel-rail contact spot under the static wheel load, the first relationship parameter and the second relationship parameter; generating a lateral damage index distribution of the locomotive wheel according to the wheel-rail contact damage prediction model; and predicting the surface fatigue damage condition of the locomotive wheel according to the lateral damage index distribution. The method provided by the present application can more accurately calculate the surface fatigue damage condition of the wheel under different operation lines, and obtain more reliable data.

The application discloses a train strong wind adjustment control method and device, medium and train, relates to the field of rail trains, and solves the problem of low real-time performance of monitoring environmental strong wind changes. A vehicle-mounted wind measuring device is used to monitor the wind field in a certain range in front of the running direction of the train, and the real-time monitoring of the whole global continuous wind field around the train, including the wind speed and direction, obtains safety indexes such as the derailment coefficient and the wheel load reduction rate of a section of line in front, and is used for finding the strong wind condition that may affect the driving safety of the vehicle in advance, guiding the train to evaluate the maximum running speed according to the wind field near the line, and improving the line operation efficiency.

The invention provides a suspension system performance test method and device for a novel driving unit. Comprising the steps that test working conditions are set, and the test working conditions comprise the input accelerator pedal opening degree, the brake pedal opening degree, the steering wheel turning angle, the road surface unevenness and the road surface adhesion coefficient; running the whole vehicle model in the whole vehicle dynamics simulation software based on the test working condition, and carrying out simulation test; extracting an on-wheel load time domain curve of each wheel in the simulation test; loading the on-wheel load time-domain curve to the angle module through the test bench, and calibrating and debugging the test bench by taking the slip prevention of the angle module as an adjustment target; according to the test working condition and the on-wheel load time-domain curve, carrying out performance test on the angle module; and performing post-processing on the actually measured data obtained based on the performance test, calculating a performance evaluation index when a comparison error with the simulation data is smaller than or equal to a preset threshold value, and outputting a test report. According to the invention, the dynamic performance of the novel driving unit suspension system can be verified comprehensively and efficiently.

The invention discloses an axle load scale horizontal calibration device for vehicle wheel load measurement. An axle load scale comprises a weighing platform (1), a weighing sensor (4) and a control terminal (5). The electronic gyroscopes (2) are respectively arranged in the mounting grooves in the side surfaces of the four corners of the weighing platform (1); and the electronic gyroscope (2) is connected with the control terminal (5) through a signal circuit. By adopting the technical scheme, the weighing and weighing platform leveling operations are simple and convenient, the measurement efficiency is high, the manual leveling step is eliminated, and the measurement time is shortened from 5 minutes to 1 minute; the weighing measurement precision is high, the actual measurement error is smaller than or equal to + / -1.2%, and the national standard requirement is met; the cost is low, mature electronic elements are adopted, for example, the unit price of a gyroscope is smaller than 50 yuan, and the total cost is reduced by 40% compared with similar products.

The utility model provides a tool used for vehicle testing, belonging to the technical field of vehicle testing, the tool used for vehicle testing comprises a fixing frame and an expansion assembly, the fixing frame comprises a plurality of first square tubes, the plurality of first square tubes are arranged vertically and horizontally to form a plurality of first positioning grids used for limiting sandbags; the expansion assembly comprises expansion pieces corresponding to the first square pipes, each expansion piece is detachably connected to the corresponding first square pipe, and the tool size is adjusted by controlling the relative position of each expansion piece and the corresponding first square pipe. According to the utility model, the counterweight sandbag can be fixed, so that the position of the sandbag is fixed as far as possible during a truck operation stability dynamic test, axle loads and wheel loads of a truck before and after the test are ensured to be unchanged, test errors are reduced, and the adaptive range is wide.

The invention discloses a vehicle driving control system and method, a storage medium and a computer program product. The system comprises a static load calculation module, a wheel load calculation module, a load variation coefficient calculation module and a wheel end torque adjustment module. Through a complete control logic chain of load sensing, proportion calculation, torque distribution and intention keeping, normal form conversion from mechanical passive adjustment to electromechanical active control is achieved, and a brand new technical path is provided for attitude control of the wheel-side-driven vehicle. While the driving comfort and safety are improved, response delay and function limitation of a traditional suspension system are avoided, and remarkable engineering application value and technical perspectiveness are achieved.

To provide a measuring device and method for improving the measurement accuracy of lateral pressure or a contact position.SOLUTION: A measurement device that measures a lateral pressure Q or a contact position between a wheel 100 of a railway vehicle and a rail, the measurement device including a plurality of strain gauges that detect a shear strain of a plate portion caused by the lateral pressure, and a calculation unit 400 that continuously calculates the lateral pressure or the contact position on the basis of an output of a bridge circuit that includes the strain gauges and is asymmetric with respect to a rotation center axis, the characteristic of the output sensitivity of the bridge circuit according to the wheel load between the wheel and the rail and the front-rear tangential force of the wheel changes with the rotation of the wheel, and the calculation unit calculates the lateral pressure or the contact position based on the cross sensitivity vector of interest determined by the characteristic of the output sensitivity of the bridge circuit or the inverse element orthogonal to the sensitivity vector.SELECTED DRAWING: Figure 1

The invention provides a measuring device. The measuring equipment comprises a measuring device, the measuring device comprises a measuring main body and a bearing structure, the bearing structure is provided with a bearing part used for bearing a tire to be measured, the bearing part is arranged in a liftable mode, and the bearing part drives the tire in the deflation state to conduct lifting motion so as to adjust the height to be adjusted of the tire in the deflation state to the initial height H1; the bearing structure is arranged on the measuring main body, and the measuring main body measures the bearing gravity of the to-be-measured tire by measuring the pressure value exerted on the measuring main body by the bearing structure; wherein the to-be-adjusted height of the tire in the initial state on the bearing part has the minimum height H3, the initial height H1, and the maximum height drop value H2 and the minimum height H3 meet the condition that (H3-H2) is smaller than or equal to H1. The problem that in the prior art, a single wheel load meter cannot measure the single wheel position bearing weight of a vehicle is effectively solved.

The invention provides a steel rail fatigue crack simulation method and system based on a fracture phase field fatigue model, and relates to the technical field of rail traffic structure safety and computational mechanics, and the method comprises the following steps: obtaining geometry, material and wheel load parameters of a steel rail; a three-dimensional steel rail finite element model is constructed according to the basic data, and local encryption grids are arranged in wheel-rail contact and other key areas; on the basis, establishing a fracture phase field model capable of describing natural initiation and expansion of cracks; a fatigue degradation model is further integrated, crack resistance attenuation caused by fatigue is simulated, and a phase-field fatigue coupling model is formed; and finally, simulating a moving wheel load through envelope loading, and performing efficient calculation by applying a cyclic transition strategy to realize accurate simulation of a fatigue crack initiation position, an expansion path and damage field distribution of the steel rail. According to the method, crack evolution can be naturally predicted, and the high-cycle fatigue analysis efficiency is remarkably improved.

The present invention discloses a method, device, and storage medium for automatically matching vehicle springs and stabilizer bars, belonging to the technical field of automobile matching methods. The matching method of the present invention is based on target frequency deviation, roll gradient, and wheel load transfer ratio to achieve automatic call, modification, and calculation of the vehicle model, and automatically processes and iterates the calculation results, thereby achieving one-click automatic matching of springs and stabilizer bars. The present invention replaces manual operation with a Matlab program, and achieves automatic matching calculation of springs and stabilizer bars through automatic call, modification, and calculation of the vehicle model, improving matching efficiency by more than 80%. At the same time, it iterative calculation of the matching results further improves the accuracy of the matching results. During the vehicle performance development stage, while improving matching accuracy, the matching efficiency is also greatly improved, saving development costs.

An estimation device is provided with a braking-driving force acquiring unit that acquires, based on a signal from a sensor that detects a force, braking-driving force information as information indicating a braking force or a driving force applied to wheels of the vehicle; a wheel load acquiring unit that acquires, based on the braking-driving force information, a wheel load received by the wheels from a road surface; and an estimation unit that estimates, based on a value of the wheel load of each wheel included in the vehicle, a gravity center position of the vehicle.

This invention relates to the field of steer-by-wire technology, and more particularly to a steer-by-wire control method and redundant braking device compatible with braking function. The control method includes the following steps: S1: Obtain vehicle current operating status information and braking demand information. S2: If the longitudinal braking force provided by the failed wheel does not meet the braking expectation. S3: Obtain the lateral force of the failed wheel based on the current wheel load, the previous moment's wheel angle of the failed wheel, and the tire slip angle information. S4: Solve for the minimum wheel angle of the failed wheel. S5: Construct an optimization objective function and set constraints to calculate the target wheel angles. S6: Send the target wheel angles to the steering actuators of each wheel to achieve toe-in braking control under braking failure conditions. The advantage of this invention is that it fully utilizes the four-wheel independent steering and large-angle steering capabilities of the corner module vehicle, reconstructs the vehicle's braking capability through steering control, and improves the system redundancy utilization rate.

The invention provides a heavy-duty commercial vehicle AEB braking decision-making method based on a driving assistance map, a vehicle and a medium, and belongs to the technical field of commercial vehicle intelligent driving. The method comprises the steps of obtaining a vehicle speed, analyzing a gradient / curvature value, calculating a safety distance, detecting a collision risk, correcting a braking force request according to a gradient direction, determining a self-adaptive distribution coefficient based on the curvature value, and determining the braking force according to the self-adaptive distribution coefficient. The braking force request and the distribution coefficient are integrated, a braking force control signal is output, and braking is executed. According to the method, through a gradient compensation model and a curvature self-adaptive strategy, downhill force increasing, uphill force reducing and load balance of wheels on the inner side and the outer side of a curve are achieved, and the problem of braking failure of a traditional AEB under the complex road condition is solved; and in combination with safe distance dynamic verification and braking force threshold constraint, it is ensured that the braking decision meets the physical limit, the braking safety and robustness are improved, and the multi-working-condition requirements of the heavy-duty commercial vehicle are met.