CN-122016331-A - Brake valve amplifier detection method, device, electronic equipment and storage medium

CN122016331ACN 122016331 ACN122016331 ACN 122016331ACN-122016331-A

Abstract

The application provides a detection method, a detection device, electronic equipment and a storage medium of a brake valve amplifier, which relate to the technical field of automatic driving of trucks and comprise the steps of acquiring running state data and braking state data of a vehicle to be detected through a control communication network of the vehicle to be detected; the method includes determining a deceleration estimation value based on running state data and brake state data, acquiring a deceleration measurement value based on an on-vehicle sensor of a vehicle to be detected, and determining that the vehicle to be detected is equipped with a brake valve booster if a difference between the deceleration measurement value and the deceleration estimation value is greater than a preset difference threshold. The method and the device only use the existing vehicle-mounted sensor and control communication network data of the vehicle to judge whether the vehicle is provided with the brake valve amplifier or not, and the brake valve amplifier is automatically, accurately and cheaply identified by the method and the device without manual disassembly and inspection after stopping, so that a reliable basis is provided for accurate control of the advanced intelligent driving system.

Inventors

Lao Yejun
ZHANG SHENGQI
LI WEI
A Yushun

Assignees

嬴彻星创智能科技(上海)有限公司

Dates

Publication Date: 20260512
Application Date: 20251231

Claims (10)

1. A brake valve booster detection method, comprising: Acquiring running state data and braking state data of a vehicle to be detected through a control communication network of the vehicle to be detected; Determining a deceleration estimation value of the vehicle to be detected based on the running state data and the braking state data; Acquiring a deceleration measurement value of the vehicle to be detected through an on-board sensor of the vehicle to be detected; In the case where the difference between the deceleration measurement value and the deceleration estimation value is greater than a preset difference threshold value, it is determined that the vehicle to be detected is mounted with a brake valve amplifier.
2. The brake valve booster detection method of claim 1, wherein the travel state data includes a travel speed and a travel posture; The brake status data include the brake air pressure of the respective main vehicle wheel, as well as the brake torque of the auxiliary brake device and/or the brake air pressure of the respective trailer wheel.
3. The brake valve amplifier detection method according to claim 2, characterized in that the determining the deceleration estimation value of the vehicle to be detected based on the running state data and the brake state data includes: determining the braking force of the main vehicle in the vehicle to be detected based on the braking air pressure of each main vehicle wheel and the tire radius of each main vehicle wheel; Determining auxiliary braking force of a main vehicle in the vehicle to be detected based on the braking torque of the auxiliary braking device and the tire radius of each main vehicle wheel; determining the braking force of the trailer in the vehicle to be detected based on the braking air pressure of each trailer wheel and the tire radius of each trailer wheel; Determining windward resistance of the vehicle to be detected based on the running speed and the windward cross-sectional area and the windward resistance coefficient of the vehicle to be detected; Determining rolling resistance and ramp resistance of the vehicle to be detected based on the driving gesture and the total weight of the vehicle to be detected; And inputting the braking force of the main vehicle, the auxiliary braking force of the main vehicle, the braking force of the trailer, the windward resistance, the rolling resistance and the ramp resistance into a longitudinal dynamics model when the vehicle to be detected is braked, so as to obtain the deceleration estimated value of the vehicle to be detected.
4. The brake valve booster detection method according to claim 1, characterized in that the determining that the vehicle to be detected is mounted with a brake valve booster in a case where a difference between the deceleration measurement value and the deceleration estimation value is greater than a preset difference threshold value, includes: determining the braking intensity of the vehicle to be detected at each moment based on the braking state data; determining a sliding time window corresponding to any moment when the braking intensity at any moment is larger than a preset intensity threshold value, wherein the sliding time window is a time window of a plurality of moments including any moment; Counting the number of target moments in a sliding time window corresponding to any moment, wherein the difference value obtained by subtracting the deceleration estimated value at the corresponding moment from the deceleration measured value at the target moment is larger than a preset difference value threshold; and determining that the vehicle to be detected is provided with a brake valve amplifier under the condition that the number of the target moments is larger than a preset number threshold value.
5. The brake valve booster detection method according to any one of claims 1 to 4, characterized in that the method further comprises: The cloud server determines a plurality of target vehicles with the same configuration as the vehicle to be detected based on the vehicle configuration information, and calculates preset difference value thresholds set in the target vehicles based on the detection results of brake valve increasers of the target vehicles to determine preset difference value threshold correction values; And receiving the preset difference threshold correction value sent by the cloud server, and replacing the preset difference threshold based on the preset difference threshold correction value.
6. The brake valve booster detection method according to any one of claims 1 to 4, characterized in that the method further comprises: acquiring the loading weight of the vehicle to be detected based on the control communication network; In the case where it is determined that the vehicle to be detected is in an empty or light load state based on the load weight, the brake valve amplifier detection is stopped.
7. The brake valve booster detection method according to any one of claims 1 to 4, characterized in that the method further comprises: an amplification factor of the brake valve booster is determined based on a difference between the deceleration measurement and the deceleration estimate.
8. A brake valve booster detection apparatus, comprising: the data acquisition module is used for acquiring running state data and braking state data of the vehicle to be detected through a control communication network of the vehicle to be detected; A deceleration estimation module for determining a deceleration estimation value of the vehicle to be detected based on the running state data and the brake state data; the deceleration measuring module is used for acquiring a deceleration measured value of the vehicle to be detected through an on-board sensor of the vehicle to be detected; An amplifier detection module for determining that the vehicle to be detected is equipped with a brake valve amplifier in the case that the difference between the deceleration measurement value and the deceleration estimation value is greater than a preset difference threshold value.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the brake valve booster detection method of any one of claims 1 to 7 when the computer program is executed by the processor.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the brake valve booster detection method of any one of claims 1 to 7.

Description

Brake valve amplifier detection method, device, electronic equipment and storage medium Technical Field The application relates to the technical field of automatic driving of trucks, in particular to a brake valve amplifier detection method, a brake valve amplifier detection device, electronic equipment and a storage medium. Background The truck brake valve booster is a relay valve for boosting the excess air, which transmits force to the brake drum through the cylinder air chamber to enhance the braking effect of the truck. For intelligent trucks that are equipped with advanced intelligent driving systems, the presence of this device can severely interfere with the accuracy of the longitudinal control algorithm. Because the actual braking response is seriously inconsistent with the prediction of the vehicle-mounted model, the vehicle braking is stopped, the control precision is reduced, and a great potential safety hazard is formed. Thus, detecting whether a brake valve booster is installed on an existing truck is a prerequisite for achieving longitudinal control. The detection of the device in the related art mainly relies on manual investigation of the vehicle gas circuit pipeline in a parking state. The method is low in efficiency and high in cost, and cannot monitor and early warn in real time in the running process of the vehicle. Therefore, how to automatically, accurately and inexpensively identify whether the brake valve amplifier is mounted on the truck, and provide a reliable basis for accurate control of the advanced intelligent driving system, is a technical problem to be solved in the industry. Disclosure of Invention The application provides a detection method, a detection device, electronic equipment and a storage medium for a brake valve amplifier, which are used for solving the technical problem of how to automatically, accurately and inexpensively identify whether a brake valve amplifier is installed on a truck and providing a reliable basis for accurate control of an advanced intelligent driving system. The application provides a brake valve amplifier detection method, which comprises the following steps: Acquiring running state data and braking state data of a vehicle to be detected through a control communication network of the vehicle to be detected; Determining a deceleration estimation value of the vehicle to be detected based on the running state data and the braking state data; Acquiring a deceleration measurement value of the vehicle to be detected through an on-board sensor of the vehicle to be detected; In the case where the difference between the deceleration measurement value and the deceleration estimation value is greater than a preset difference threshold value, it is determined that the vehicle to be detected is mounted with a brake valve amplifier. In some embodiments, the travel state data includes a travel speed and a travel pose; The brake status data include the brake air pressure of the respective main vehicle wheel, as well as the brake torque of the auxiliary brake device and/or the brake air pressure of the respective trailer wheel. In some embodiments, the determining the deceleration estimate of the vehicle to be detected based on the driving state data and the braking state data includes: determining the braking force of the main vehicle in the vehicle to be detected based on the braking air pressure of each main vehicle wheel and the tire radius of each main vehicle wheel; Determining auxiliary braking force of a main vehicle in the vehicle to be detected based on the braking torque of the auxiliary braking device and the tire radius of each main vehicle wheel; determining the braking force of the trailer in the vehicle to be detected based on the braking air pressure of each trailer wheel and the tire radius of each trailer wheel; Determining windward resistance of the vehicle to be detected based on the running speed and the windward cross-sectional area and the windward resistance coefficient of the vehicle to be detected; Determining rolling resistance and ramp resistance of the vehicle to be detected based on the driving gesture and the total weight of the vehicle to be detected; And inputting the braking force of the main vehicle, the auxiliary braking force of the main vehicle, the braking force of the trailer, the windward resistance, the rolling resistance and the ramp resistance into a longitudinal dynamics model when the vehicle to be detected is braked, so as to obtain the deceleration estimated value of the vehicle to be detected. In some embodiments, the determining that the vehicle to be detected is mounted with a brake valve booster in a case where a difference between the deceleration measurement value and the deceleration estimation value is greater than a preset difference threshold value includes: determining the braking intensity of the vehicle to be detected at each moment based on the braking state data; determining a sliding time windo