CN-121973737-A - Heat fading compensation control method, system and device for commercial vehicle line control braking system and storage medium

Abstract

The invention discloses a heat fading compensation control method, a system and a device for a commercial vehicle line control braking system and a storage medium, and belongs to the technical field of commercial vehicle line control braking. The method comprises the steps of obtaining a brake demand signal of a driver, actual deceleration of a target vehicle and a pre-corrected basic brake efficiency coefficient, determining corresponding demand brake pressure according to the brake demand signal, calculating the brake efficiency coefficient according to the demand brake pressure and the actual deceleration of the target vehicle, filtering the brake efficiency coefficient to obtain a filter efficiency coefficient, calculating a heat fading compensation coefficient based on the filter efficiency coefficient and the basic brake efficiency coefficient, correcting the demand brake pressure according to the heat fading compensation coefficient to obtain target brake pressure, and sending the target brake pressure to a line control actuator for execution. The invention does not depend on any brake temperature sensor, does not need an environmental temperature sensor, completely realizes compensation based on the existing vehicle sensor signals, and can be widely applied to various commercial vehicles.

Inventors

• ZHANG JUNJIE
• CHEN TIANYANG
• QIAO LELE
• ZHANG SHUAI
• ZHANG YALUN
• SUN YUANSHUAI
• WANG MAO
• WANG BIN
• WEI QINGYU
• ZHAO GUOWEI
• LU TING
• LI BIN
• Gu Gui
• Feng Yangqi

Assignees

• 徐州徐工汽车制造有限公司

Dates

Publication Date

20260505

Application Date

20260326

Claims (10)

1. 1. A commercial vehicle brake-by-wire system heat fade compensation control method, comprising: Acquiring a brake demand signal of a driver, the actual deceleration of a target vehicle and a pre-corrected basic brake efficiency coefficient; Determining a corresponding demand brake pressure according to the brake demand signal; calculating a braking efficiency coefficient according to the required braking pressure and the actual deceleration of the target vehicle, and filtering the braking efficiency coefficient to obtain a filtering efficiency coefficient; Calculating a heat fade compensation coefficient based on the filter efficiency coefficient and the foundation brake efficiency coefficient; Correcting the required braking pressure according to the heat fading compensation coefficient to obtain a target braking pressure; And sending the target braking pressure to a line control actuator for execution.
2. 2. The method for controlling heat fade compensation of a commercial vehicle brake system according to claim 1, wherein the correction process of the foundation brake efficiency coefficient comprises: acquiring a current load value, a reference basic efficiency coefficient and a reference load value of a target vehicle; Correcting the reference basic efficiency coefficient according to the current load value and the reference load value of the target vehicle to obtain a basic braking efficiency coefficient, wherein the basic braking efficiency coefficient is expressed as: ; Wherein, the Representing a reference base efficiency coefficient for the target vehicle, Representing a reference load value of the target vehicle, Indicating the current load value of the target vehicle, Representing the foundation brake efficiency coefficient.
3. 3. The commercial vehicle brake-by-wire system heat fade compensation control method according to claim 1, characterized in that the brake demand signal includes a brake pedal opening signal.
4. 4. The method of claim 3, wherein determining the corresponding demand brake pressure based on the brake demand signal comprises: And determining the required brake pressure corresponding to the brake pedal opening signal in a mapping table of the brake pedal opening signal and the required brake pressure, which is obtained in advance.
5. 5. The method for controlling heat fade compensation of a commercial vehicle brake system according to claim 1, wherein the calculating a braking efficiency coefficient according to the required braking pressure and the actual deceleration of the target vehicle and filtering the braking efficiency coefficient to obtain a filter efficiency coefficient comprises: calculating the braking effectiveness coefficient, expressed as: ; Wherein, the Indicating the current time Is used for the actual deceleration of the vehicle, Indicating the current time Is used for the braking pressure required by the vehicle, Indicating the current time Is a braking efficiency coefficient of (a); And performing first-order low-pass filtering on the braking efficiency coefficient to obtain a filtering efficiency coefficient, wherein the filtering efficiency coefficient is expressed as: ; Wherein, the Representing the filter coefficients of the filter, Indicating the current time Is used for the filtering efficiency coefficient of the filter, Representing the last time Is provided.
6. 6. The method of claim 1, wherein calculating the heat fade compensation coefficient based on the filter efficiency coefficient and the foundation brake efficiency coefficient comprises: calculating the ratio of the foundation braking efficiency coefficient to the filtering efficiency coefficient, which is expressed as: ; Wherein, the Indicating the current time Is used for the filtering efficiency coefficient of the filter, Indicating the current time Is used for controlling the basic braking efficiency coefficient of the vehicle, Indicating the current time A ratio of the foundation brake efficiency coefficient to the filter efficiency coefficient; if the ratio of the basic braking efficiency coefficient to the filtering efficiency coefficient Judging that the target vehicle brake is in thermal decay and needs to be compensated; after the compensation is determined to be needed, determining a heat fading compensation coefficient according to the upper limit and the lower limit of the preset heat fading compensation coefficient, wherein the heat fading compensation coefficient is expressed as follows: ; Wherein, the Represents the lower limit of the heat fading compensation coefficient, Represents the upper limit of the heat fading compensation coefficient, min represents the minimum value, max represents the maximum value, Indicating the current time Is used for the heat fading compensation coefficient of the steel sheet.
7. 7. The method for controlling heat fade compensation of a commercial vehicle brake system according to claim 1, wherein said correcting the required brake pressure according to the heat fade compensation coefficient to obtain the target brake pressure comprises: And correcting the required braking pressure according to the heat fading compensation coefficient, and calculating to obtain a first braking pressure, wherein the first braking pressure is expressed as: ; Wherein, the Indicating the current time Is used for the heat-fading compensation coefficient of (a), Indicating the current time Is used for the braking pressure required by the vehicle, Indicating the current time Is set to a first brake pressure; determining a target brake pressure according to the first brake pressure and the preset upper limit and lower limit of the target brake pressure, wherein the target brake pressure is expressed as follows: ; Wherein, the Indicating the current time Is set to the target braking pressure of (a), Indicating a lower limit of the target brake pressure, The upper limit of the target brake pressure is indicated, min represents the minimum value, and max represents the maximum value.
8. 8. A commercial vehicle brake-by-wire system heat fade compensation control system, comprising: the data acquisition module is used for acquiring a brake demand signal of a driver, the actual deceleration of a target vehicle and a pre-corrected basic brake efficiency coefficient; the pressure calculation module is used for determining corresponding required braking pressure according to the braking demand signal; The efficiency calculation module is used for calculating a braking efficiency coefficient according to the required braking pressure and the actual deceleration of the target vehicle, and filtering the braking efficiency coefficient to obtain a filtering efficiency coefficient; A compensation calculation module for calculating a heat fade compensation coefficient based on the filter efficiency coefficient and a foundation brake efficiency coefficient; the pressure correction module is used for correcting the required braking pressure according to the heat fading compensation coefficient to obtain target braking pressure; And the execution control module is used for sending the target brake pressure to a line control executor for execution.
9. 9. A heat fade compensation control device of a commercial vehicle line control braking system is characterized by comprising a processor and a storage medium; The storage medium is used for storing instructions; The processor is operative according to the instructions to perform the steps of the commercial vehicle brake system heat fade compensation control method as claimed in any one of claims 1 to 7.
10. 10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the commercial brake-by-wire system heat fade compensation control method as claimed in any one of claims 1 to 7.

Description

Heat fading compensation control method, system and device for commercial vehicle line control braking system and storage medium Technical Field The invention belongs to the technical field of commercial vehicle line control braking, and particularly relates to a method, a system and a device for controlling heat fading compensation of a commercial vehicle line control braking system and a storage medium. Background Under long downhill or continuous braking conditions, commercial vehicles generate a large amount of heat by long-time friction between the brake friction plate and the brake disc/drum, and the temperature of the friction plate is increased. When the temperature exceeds a certain threshold (typically 200-300 ℃), the coefficient of friction drops significantly, i.e. a heat fade phenomenon occurs. The heat fading can lead to the reduction of braking force under the same brake pedal stroke, the braking distance is prolonged, and the serious accident of braking failure can be caused, thus the running safety is seriously threatened. In the prior art, the compensation method for heat fading mainly comprises the following steps: The first is a direct measurement based on a temperature sensor. By installing a temperature sensor near the brake, the temperature of the brake disc is monitored in real time, and the brake pressure is adjusted according to a preset temperature-friction coefficient relation curve. The scheme requires additional hardware cost, and the sensor has poor reliability under severe working conditions such as high temperature, vibration, cement and the like, and is difficult to apply to commercial vehicles on a large scale. The second is an indirect compensation method based on temperature estimation. According to the patent CN115782849B, the heat fading compensation method of the multi-axis commercial vehicle line control braking system based on deceleration correction is named, the temperature of a brake disc is iteratively updated by calculating the temperature rise rate and the temperature reduction rate, the low temperature/high temperature state is judged according to the estimated temperature, the braking efficiency is calculated respectively, and the fading proportion is calculated to carry out pressure correction. Although the method does not need a temperature sensor, the method has the following defects that a plurality of parameters, including a temperature rise rate coefficient, need to be calibratedCoefficient of heat dissipation rateAnd the calibration workload is high, complicated temperature iterative computation is needed, the algorithm complexity is high, the requirement on the controller calculation example is high, an environment temperature sensor is needed, and the system cost is increased. And the third category is a comprehensive compensation method for abrasion and heat decay. The patent CN116872901a is named as a self-compensating system and a control method for heat fade of a brake-by-wire of an automobile, and simultaneously considers the dual effects of brake wear and heat fade, calculates a wear coefficient according to a total braking distance and a real-time braking distance, and calculates a heat fade friction coefficient according to a real-time hydraulic braking force and a wheel rotating speed. The method has the following defects that the total braking distance is required to be accumulated, the accumulated error exists, the real-time performance is poor, the relation curve between the abrasion coefficient and the friction coefficient is required to be calibrated at the same time, the calibration complexity is high, the calculated amount is large, and the quick response is difficult to reproduce on a controller. Disclosure of Invention The invention aims to overcome the defects in the prior art and provide a heat fading compensation control method, a system, a device and a storage medium for a commercial vehicle line control dynamic system, which do not need a temperature sensor, do not need temperature estimation, do not need abrasion calculation, have few calibration parameters, have strong real-time performance and can adapt to load change. The invention provides the following technical scheme: In a first aspect, a method for controlling heat fade compensation of a commercial vehicle brake-by-wire system is provided, comprising obtaining a brake demand signal of a driver, an actual deceleration of a target vehicle and a pre-corrected basic brake efficiency coefficient; Determining a corresponding demand brake pressure according to the brake demand signal; calculating a braking efficiency coefficient according to the required braking pressure and the actual deceleration of the target vehicle, and filtering the braking efficiency coefficient to obtain a filtering efficiency coefficient; Calculating a heat fade compensation coefficient based on the filter efficiency coefficient and the foundation brake efficiency coefficient; Correcting the require