CN103496361B - Unmanned braking control device and method and automobile - Google Patents
Unmanned braking control device and method and automobile Download PDFInfo
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- CN103496361B CN103496361B CN201310504729.8A CN201310504729A CN103496361B CN 103496361 B CN103496361 B CN 103496361B CN 201310504729 A CN201310504729 A CN 201310504729A CN 103496361 B CN103496361 B CN 103496361B
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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Abstract
The invention provides a device and a method for controlling braking in an unmanned way and an automobile, wherein the device comprises the following components: an unmanned brake line arranged between a brake master cylinder and an anti-lock ABS hydraulic unit of an automobile; an emergency brake line connected with the brake pedal; and the unmanned controller is used for enabling the unmanned brake line to work when the unmanned vehicle is braked normally in an unmanned state, and enabling the emergency brake line to work when the unmanned vehicle is braked emergently in the unmanned state. The method comprises the following steps: detecting whether the brake in the unmanned driving state is normal brake or emergency brake; the unmanned brake line is operated when normal braking is performed, and the emergency brake line is operated when emergency braking is performed. The device and the method for controlling the brake in the unmanned mode and the automobile are safe and reliable, and the performability, maintainability and safety of the unmanned technology are guaranteed.
Description
Technical field
The present invention relates to car steering field, particularly to a kind of unmanned device, method and automobile controlling braking.
Background technology
At present, the unmanned technology of automobile intelligent is in the pilot development stage mostly, the control brakes that unmanned controller still can not be safe and reliable, it is impossible to ensure the enforceability of unmanned technology, maintainability and safety.
Summary of the invention
It is an object of the invention to provide a kind of unmanned device, method and automobile controlling braking, safe and reliable, it is ensured that enforceability, maintainability and safety when braking during unmanned.
For reaching above-mentioned purpose, the present invention provides a kind of unmanned device controlling braking, and this device includes:
The unmanned brake line arranged between the master cylinder and anti-lock ABS hydraulic pressure unit of automobile；
The brake hard circuit being connected with brake pedal；
Unmanned controller, for making described unmanned brake line work when unmanned state normal brake application, makes described brake hard line work when unmanned state brake hard.
Wherein, described brake hard circuit includes braking motor and brake line, and described braking motor is connected with described brake pedal by described brake line.
Wherein, described braking motor is arranged at described brake pedal position.
Wherein, described unmanned brake line includes electric oil pump and control valve.
The present invention provides a kind of unmanned method controlling braking, including:
Braking when detecting unmanned state is normal brake application or brake hard；
Make unmanned brake line work when for normal brake application, when for brake hard, make brake hard line work.
Present invention also offers a kind of automobile, including manned brake line, also include the device of described unmanned control braking.
Having the beneficial effect that of the technique scheme of the present invention:
In such scheme, the Intelligent unattended Driving control brake unit that brand-new increase is special, unmanned controller coordinate controls unmanned brake line and brake hard circuit is braked system control, safe and reliable, it is ensured that the enforceability of unmanned technology, maintainability and safety.
Accompanying drawing explanation
Fig. 1 represents the unmanned method flow diagram controlling braking in the embodiment of the present invention；
Fig. 2 represents unmanned control brake line system construction drawing in the embodiment of the present invention；
Fig. 3 represents unmanned hydraulic valve bank fundamental diagram in the embodiment of the present invention (unmanned controller controls the braking of unmanned brake line)；
Fig. 4 represents unmanned hydraulic valve bank fundamental diagram in the embodiment of the present invention (artificial braking or unmanned controller control the braking of brake hard circuit).
Detailed description of the invention
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, it is described in detail below in conjunction with the accompanying drawings and the specific embodiments.
The problem that the present invention is directed to the most safe and reliable control brakes of existing unmanned controller, it is provided that a kind of unmanned device, method and automobile controlling braking.
The invention provides a kind of unmanned device controlling braking, including:
The unmanned brake line arranged between the master cylinder and anti-lock ABS hydraulic pressure unit of automobile；
The brake hard circuit being connected with brake pedal；
Unmanned controller, for making described unmanned brake line work when unmanned state normal brake application, makes described brake hard line work when unmanned state brake hard.
Wherein, described brake hard circuit includes braking motor and brake line, and described braking motor is connected with described brake pedal by described brake line.
Wherein, described braking motor is arranged at described brake pedal position.
Wherein, described unmanned brake line includes electric oil pump and control valve.
In above-described embodiment, the Intelligent unattended Driving control brake unit that brand-new increase is special, unmanned controller coordinate controls unmanned brake line and brake hard circuit is braked system control, safe and reliable, it is ensured that enforceability, maintainability and safety during unmanned braking.
The invention provides a kind of unmanned method controlling braking, including:
Braking when detecting unmanned state is normal brake application or brake hard；
Make unmanned brake line work when for normal brake application, when for brake hard, make brake hard line work.
Additionally, embodiments of the invention additionally provide a kind of automobile, including manned brake line, also include the described unmanned device controlling braking.
Wherein, described manned brake line includes master cylinder and braking anti-lock ABS hydraulic pressure unit, and described manned brake line is connected with described unmanned brake line.And manned brake line, unmanned brake line respectively with brake hard connection, motor vehicle braking system can be controlled.Manned brake line directly controls motor vehicle braking system by brake pedal, and the device of unmanned control braking is controlled unmanned brake line by unmanned controller and brake hard circuit controls motor vehicle braking system.
As it is shown in figure 1, the method for unmanned control braking is:
Step S1: do not have unmanned order, driver controls the manned brake line of former car；
Step S2: unmanned controller receives unmanned order, automobile starts unmanned, and unmanned controller controls unmanned brake line and brake hard circuit；
Step S3: Unmanned Systems is in normal driving braking mode, unmanned controller controls the braking of unmanned brake line；
Step S4: during emergency, unmanned controller controls control system and enters emergency brake modes, and unmanned controller controls braking motor and pulls brake line, brake pedal, controlling braking by brake hard circuit, unmanned brake line stops braking；
Step S5: emergency releases, unmanned controller, by controlling braking motor take-off the brake line, is loosened the brake, is exited emergency brake modes, return to normal unmanned braking mode, controls the braking of unmanned brake line；
Step S6: meet unmanned control exit criteria, unmanned controller stops controlling brakes, and driver controls manned brake line.
As shown in Figure 2, the present embodiment increases special unmanned brake line, installing hydraulic valve bank (electric oil pump and control valve) 2 additional between the master cylinder and ABS hydraulic pressure unit (pump) 3 of former car, this hydraulic valve bank 2 is the unmanned brake line that unmanned controller 4 controls.
As shown in Figure 3, when the unmanned controller of the embodiment of the present invention controls the braking of unmanned brake line, first electromagnetic valve 6 and the second electromagnetic valve 7 are closed, 5th electromagnetic valve 9 and the 6th electromagnetic valve 10 are in open mode, 3rd electromagnetic valve 5 and the 4th electromagnetic valve 8 are in open mode, and the first pump motor 11 and the second pump motor 12 work.
As shown in Figure 4, when the embodiment of the present invention is manually braked or unmanned controller controls the braking of brake hard circuit, first electromagnetic valve the 6, second electromagnetic valve the 7, the 5th electromagnetic valve 9 and the 6th electromagnetic valve 10 are in open mode, 3rd electromagnetic valve 5 and the 4th electromagnetic valve 8 are closed, and the first pump motor 11 and the second pump motor 12 do not work.
In unmanned device, method and the automobile controlling braking of the above embodiment of the present invention, the brand-new device increasing special unmanned control braking, unmanned controller coordinate controls unmanned brake line and brake hard circuit is braked system control, safe and reliable, it is ensured that the enforceability of unmanned technology, maintainability and safety.
The above is the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, on the premise of without departing from principle of the present invention; can also make some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (4)
1. the unmanned device controlling braking, is applied to automobile, it is characterised in that including:
The unmanned brake line arranged between the master cylinder and anti-lock ABS hydraulic pressure unit of automobile；
The brake hard circuit being connected with brake pedal；
Unmanned controller, for making described unmanned brake line when unmanned state normal brake application
Road works, and makes described brake hard line work when unmanned state brake hard；
Wherein, described brake hard circuit includes braking motor and brake line, and described braking motor is by described
Brake line is connected with described brake pedal；
Wherein, described unmanned brake line includes electric oil pump and control valve.
The unmanned device controlling braking the most according to claim 1, it is characterised in that described
Braking motor is arranged at described brake pedal position.
3. the unmanned method controlling braking, it is characterised in that including:
Braking when detecting unmanned state is normal brake application or brake hard；
Make unmanned brake line work when for normal brake application, when for brake hard, make brake hard line
Road works；
Wherein, described brake hard circuit includes braking motor and brake line, and described braking motor is by described
Brake line is connected with described brake pedal；
Wherein, described unmanned brake line includes electric oil pump and control valve.
4. an automobile, including manned brake line, it is characterised in that also include: as right is wanted
Seek the device that the unmanned control according to any one of 1 or 2 is braked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310504729.8A CN103496361B (en) | 2013-10-23 | 2013-10-23 | Unmanned braking control device and method and automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310504729.8A CN103496361B (en) | 2013-10-23 | 2013-10-23 | Unmanned braking control device and method and automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103496361A CN103496361A (en) | 2014-01-08 |
| CN103496361B true CN103496361B (en) | 2017-01-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310504729.8A Active CN103496361B (en) | 2013-10-23 | 2013-10-23 | Unmanned braking control device and method and automobile |
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| Country | Link |
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| CN (1) | CN103496361B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199432A (en) * | 2014-09-24 | 2014-12-10 | 奇瑞汽车股份有限公司 | Longitudinal intelligence control system for unmanned automobile |
| CN104460667A (en) * | 2014-10-31 | 2015-03-25 | 成都众易通科技有限公司 | Automatic drive system of automobile |
| CN105459987B (en) * | 2015-12-31 | 2018-05-04 | 天津所托瑞安汽车科技有限公司 | A kind of Intelligent brake system and its control method for oversize vehicle |
| CN109987071A (en) * | 2019-03-25 | 2019-07-09 | 开沃新能源汽车集团有限公司 | A kind of novel unmanned bus line control brake system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101780794A (en) * | 2010-01-30 | 2010-07-21 | 奇瑞汽车股份有限公司 | Braking device of unpiloted vehicle |
| CN101797917A (en) * | 2010-03-25 | 2010-08-11 | 中国人民解放军炮兵学院 | Braking device of unmanned vehicle |
| CN201677873U (en) * | 2010-03-30 | 2010-12-22 | 比亚迪股份有限公司 | Hydraulic brake system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100290383B1 (en) * | 1997-12-24 | 2001-07-12 | 이계안 | Brake system for unmanned vehicle |
| KR100337339B1 (en) * | 1999-12-30 | 2002-05-22 | 이계안 | Brake system for unmaned vehicle used for collision test |
| DE10146770A1 (en) * | 2001-09-22 | 2003-04-17 | Daimler Chrysler Ag | Brake system for a vehicle |
| US8544964B2 (en) * | 2010-06-29 | 2013-10-01 | Deere & Company | Brake control system for dual mode vehicle |
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2013
- 2013-10-23 CN CN201310504729.8A patent/CN103496361B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101780794A (en) * | 2010-01-30 | 2010-07-21 | 奇瑞汽车股份有限公司 | Braking device of unpiloted vehicle |
| CN101797917A (en) * | 2010-03-25 | 2010-08-11 | 中国人民解放军炮兵学院 | Braking device of unmanned vehicle |
| CN201677873U (en) * | 2010-03-30 | 2010-12-22 | 比亚迪股份有限公司 | Hydraulic brake system |
Also Published As
| Publication number | Publication date |
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| CN103496361A (en) | 2014-01-08 |
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