CN101797917A - Braking device of unmanned vehicle - Google Patents
Braking device of unmanned vehicle Download PDFInfo
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- CN101797917A CN101797917A CN 201010135968 CN201010135968A CN101797917A CN 101797917 A CN101797917 A CN 101797917A CN 201010135968 CN201010135968 CN 201010135968 CN 201010135968 A CN201010135968 A CN 201010135968A CN 101797917 A CN101797917 A CN 101797917A
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Abstract
The invention relates to a braking device of an unmanned vehicle. The device comprises a motor, a reducer, a coder and a sensing mechanism, wherein the reducer is a worm gear reducer, the input end of the reducer is connected with the motor, and an output shaft at the back end of the motor is connected with the coder; one end of the output shaft of the reducer is connected with the contacts of sensors, the other end of the output shaft of the reducer is connected with a torque sensor, and the other end of the torque sensor is connected with a wire wheel wound with steel wires; and both sides of the upper part of a sensor fixing mount connected with the shell of the reducer are respectively provided with a zero-position sensor and a pole-position sensor, and the contacts of the two sensors are respectively positioned at the inner side of the circular motion trajectory of sensor contacts. In the invention, the worm gear mechanism can effectively keep a vehicle in the braking state; the spacing sensor and the torque limiter realize the effective braking and ensure the safety of the vehicle; and the steel wires avoid the interaction between the unmanned driving mode and the manual driving mode. The invention has the advantages of simple and compact structure, low cost and strong universality, and does not destruct the structure of the original vehicle.
Description
Technical field
The invention belongs to the technical field of Vehicular brake device, be specifically related to the brake equipment of automatic driving vehicle.
Background technology
Automatic driving vehicle is one of optimal platform of verifier perception and cognitive theory, method and technology, especially in destructuring dynamic change environment.Automatic driving vehicle not only has broad application prospects under danger, harsies environment such as military, exploration and rescue, and the involved gordian techniquies such as various automobile sensors, environment sensing system, driving safety early warning and driver assistance intelligent decision of while automatic driving vehicle are significant for intelligent degree and driving safety that raising has the people to drive a car.Therefore, the main developed country in the world as showing the artificial intelligence technology level, leading the automotive industry important platform in future, carries out the research of automatic driving vehicle with automatic driving vehicle one after another.
The autobrake performance of automatic driving vehicle is one of most important index of weighing vehicle performance, be again vehicle can its safety guaranteed key when driverless operation, the braking force control system of automatic driving vehicle then is the key that guarantees automatic driving vehicle autobrake performance.Yet the autobrake control setup for automatic driving vehicle does not still have perfect scheme at present.
Existing automatic brake arrangement (Chinese patent application number: 200620137414.X, automobile automatic brake system, Chinese patent application number: 200620109570.5, the automobile automatic brake device, Chinese patent application number: 200620060674.1, automobile automatic brake is carried out dress), it mainly is corollary apparatus as driver assistance person's safe driving, run in emergency circumstances at vehicle and can realize self-actuating brake, but, these apparatus structure complexity can not realize the accuracy control that automatic driving vehicle is braked, and are not suitable for automatic driving vehicle.Be applied to the Chinese patent ZL00221994.8 automatic driving car executive device of automatic driving vehicle, its complex structure takies and drives the space, influences pilot steering, is not easy to the switching between two kinds of patterns of pilot steering and driverless operation.
Summary of the invention
In order to solve the braking problem of existing automatic driving vehicle, the invention provides a kind of brake equipment of automatic driving vehicle of simple in structure, reliable operation.
The technology that realizes above-mentioned purpose solves as follows:
A kind of brake equipment of automatic driving vehicle comprises motor, retarder, coder and sensing mechanism; Described motor 2 is a DC servo motor, and described retarder 3 is a worm type of reduction gearing, and the input end of retarder 3 is connecting motor 2, is connecting coder 1 on the rear end output shaft of motor 2; One end of reducer output shaft 8 is connecting sensor contact 6, and its other end is connecting torque sensor 9, and the other end of torque sensor 9 is connecting line wheel 10, is arranged with steel wire 11 on the line wheel 10; The reducer shell of sensor contact 6 one sides is provided with fixing rack for sensor 5, both sides, fixing rack for sensor 5 top are respectively equipped with null pick-up 4 and utmost point level sensor 7, and the contact of null pick-up 4 and utmost point level sensor 7 lays respectively at the circus movement track inboard of sensor contact 6.
Described fixing rack for sensor 5 is the L type, and the one end is connecting reducer shell, and null pick-up 4 and utmost point level sensor 7 are connected to its other end both sides, and corresponding with sensor contact 6.
Described null pick-up 4 and utmost point level sensor 7 are the mechanical stroke switch.
The control method of this automatic driving vehicle brake equipment comprises the process of realization braking and the process of take-off the brake.
The process that realizes braking is: after providing braking instruction; motor brings into operation (just changeing) and the output shaft that drives worm and gear rotates; thereupon; torque sensor and line wheel rotate and begin to rotate; begin the brake pedal of leaving behind by fixing online steel wire of taking turns in the groove; brake pedal reaches needed braking force or is triggered to utmost point level sensor; motor stops; finish the autobrake of automatic driving vehicle; in braking procedure, if load surpasses the set definite value of torque sensor, then motor is out of service; no longer continue braking, thus actv. protection vehicle and brake equipment.
The process of take-off the brake is: after providing the instruction of take-off the brake, motor brings into operation (counter-rotating), but brake pedal self-return itself, if null pick-up triggers, motor stops, realizing braking unclamp automatically and for braking next time ready.
When vehicle needs pilot steering, can directly step on brake pedal because the steel wire that adopted is the steel wire tightrope, thus this device to pilot steering without any influence.
Useful technique effect of the present invention is embodied in down with the aspect:
1, the present invention adopts worm-and-wheel gear to make vehicle remain in braking mode by actv.; Limit sensors and torque limiter are realized effectively braking and the safety that guarantees vehicle and this device; Steel wire has then guaranteed being independent of each other of driverless operation pattern and pilot steering pattern.
2, this brake equipment have simple and compact for structure, cost is low, highly versatile, brake accuracy are higher, the structure of not destroying former car, be easy to mounting or dismounting and do not influence characteristics such as pilot steering.
3, this device has reduced the structural requirement to the brake system of former car, has reduced the complexity of equipment, and can be applied to other occasion that autobrake requires.
Description of drawings
Fig. 1 is the brake equipment block diagram,
Fig. 2 is the brake equipment planar view,
Fig. 3 is the brake equipment cutaway view,
Fig. 4 is a limit sensors work schematic isometric,
Fig. 5 is a limit sensors work schematic plan view,
Fig. 6 is realization braking diagram of circuit,
Fig. 7 is the take-off the brake diagram of circuit.
Number in the figure: 1 coder, 2 motors, 3 retarders, 4 null pick-ups, 5 fixing rack for sensor, 6 sensor contact, 7 utmost point level sensors, 8 reducer output shafts, 9 torque sensors, 10 lines wheel, 11 steel wires, 12 brake pedals.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is done to describe further.
Embodiment:
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, a kind of brake equipment of automatic driving vehicle comprises motor 2, retarder 3 and coder 1; Motor is a DC servo motor, retarder 3 is a worm type of reduction gearing, and the input end of retarder 3 is connecting motor 2, is connecting coder 1 on the rear end output shaft of motor 2, utilize 1 pair of steering hardware of coder to carry out closed loop control, improve the brake control accuracy of automatic driving vehicle.One end of reducer output shaft 8 is connecting sensor contact 6, its other end is connecting torque sensor 9, the other end of torque sensor 9 is connecting line wheel 10, be arranged with steel wire 11 in the circumferential groove of line wheel 10, the other end is fixed on the brake pedal 12, it can not only realize the actv. braking, and does not influence pilot steering.On the reducer shell of sensor contact 6 one sides fixing rack for sensor 5 is installed, fixing rack for sensor 5 is the L type, the one end is connecting reducer shell, null pick-up 4 and utmost point level sensor 7 are connected to its other end both sides, and it is corresponding with sensor contact 6, null pick-up 4 and utmost point level sensor 7 are the mechanical stroke switch, and the contact of null pick-up 4 and utmost point level sensor 7 lays respectively at the circus movement track inboard of sensor contact 6.Sensor contact 6 can trigger limit sensors 4 and utmost point level sensor 7 in rotation process, this sensor not only provides with reference to the zero-bit point for the autobrake of vehicle, and the autobrake power that has guaranteed vehicle can not be excessive, the layout type of sensor is even guarantee that also its sensor itself can not be damaged under the unforeseen circumstances.
Referring to Fig. 6 and Fig. 7, the braking method of work of automatic driving vehicle brake equipment comprises the process of realization braking and the process of take-off the brake.
The process that realizes braking is: provide (step 100) behind the braking instruction; motor 2 brings into operation (just changeing) (step 110) and the output shaft that drives worm and gear rotates; thereupon; torque sensor 9 and line wheel 10 rotate; by fixing online steel wire 11 of the taking turns 10 li brake pedal 12 (step 120) that begins to leave behind; brake pedal 12 reaches needed braking position or is triggered to utmost point level sensor 4 (step 140); motor 2 stops (step 150); finish the autobrake (step 160) of automatic driving vehicle; in braking procedure; if load surpasses torque sensor 9 set definite values (step 130); motor 2 (step 150) out of service then; no longer continue braking, thus actv. protection vehicle and brake equipment.
The process of take-off the brake is: provide (step 100) after the instruction of take-off the brake, motor 2 bring into operation (counter-rotating) (step 110), but brake pedal 12 self-returns (step 120) own, if null pick-up 4 triggers (step 130), motor 2 stops (step 140), realizes that unclamp automatically (step 150) of braking also is that braking next time is ready.
When vehicle needs pilot steering, can directly step on brake pedal because the steel wire that adopted is the steel wire tightrope, thus this device to pilot steering without any influence.
Claims (3)
1. the brake equipment of an automatic driving vehicle, comprise motor, retarder, coder and sensing mechanism, it is characterized in that: described motor is a DC servo motor, described retarder (3) is a worm type of reduction gearing, the input end of retarder (3) is connecting motor (2), is connecting coder (1) on the rear end output shaft of motor (2); One end of reducer output shaft (8) is connecting sensor contact (6), and its other end is connecting torque sensor (9), and the other end of torque sensor (9) is connecting line wheel (10), is arranged with steel wire (11) on the line wheel (10); The reducer shell of sensor contact (6) one sides is provided with fixing rack for sensor (5), fixing rack for sensor (5) both sides, top are respectively equipped with null pick-up (4) and utmost point level sensor (7), and the contact of null pick-up (4) and utmost point level sensor (7) lays respectively at the circus movement track inboard of sensor contact (6).
2. the brake equipment of a kind of automatic driving vehicle according to claim 1, it is characterized in that: described fixing rack for sensor (5) is the L type, the one end is connecting reducer shell, null pick-up (4) and utmost point level sensor (7) are connected to its other end both sides, and corresponding with sensor contact (6).
3. the brake equipment of a kind of automatic driving vehicle according to claim 1, it is characterized in that: described null pick-up (4) and utmost point level sensor (7) are the mechanical stroke switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101359687A CN101797917B (en) | 2010-03-25 | 2010-03-25 | Braking device of unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101359687A CN101797917B (en) | 2010-03-25 | 2010-03-25 | Braking device of unmanned vehicle |
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| Publication Number | Publication Date |
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| CN101797917A true CN101797917A (en) | 2010-08-11 |
| CN101797917B CN101797917B (en) | 2012-02-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010101359687A Expired - Fee Related CN101797917B (en) | 2010-03-25 | 2010-03-25 | Braking device of unmanned vehicle |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102991483A (en) * | 2012-11-29 | 2013-03-27 | 浙江吉利汽车研究院有限公司杭州分公司 | System and method for intelligent braking of vehicle under driverless control |
| CN103496361A (en) * | 2013-10-23 | 2014-01-08 | 北京汽车股份有限公司 | Unmanned control braking device, method and vehicle |
| CN104192104A (en) * | 2014-09-22 | 2014-12-10 | 奇瑞汽车股份有限公司 | Brake pedal mechanism |
| CN104554209A (en) * | 2013-10-25 | 2015-04-29 | 比亚迪股份有限公司 | Device and method for controlling vehicle brake |
| CN104760581A (en) * | 2015-04-30 | 2015-07-08 | 王柳坤 | Automatic brake device for automobile |
| CN104802781A (en) * | 2015-04-29 | 2015-07-29 | 王柳坤 | Vehicle reversing anti-collision system |
| CN105730421A (en) * | 2016-01-29 | 2016-07-06 | 大连楼兰科技股份有限公司 | Automobile braking device and method based on DC speed reducing motor |
| CN105774772A (en) * | 2016-03-09 | 2016-07-20 | 王德红 | Automobile intelligent brake automatic actuating system and implementation method |
| CN106043309A (en) * | 2016-06-27 | 2016-10-26 | 常州加美科技有限公司 | Coping strategy for shifting driving patterns of unmanned vehicle |
| CN108340899A (en) * | 2018-04-02 | 2018-07-31 | 辽宁工业大学 | A kind of unmanned racing car braking system |
| CN108909689A (en) * | 2018-07-08 | 2018-11-30 | 吉利汽车研究院（宁波）有限公司 | Pedal auxiliary body |
| CN109080601A (en) * | 2018-07-13 | 2018-12-25 | 武汉理工大学 | A kind of automatic driving vehicle brake auxiliary execution device |
| CN109693651A (en) * | 2018-12-18 | 2019-04-30 | 中国科学院深圳先进技术研究院 | It can be used for unpiloted braking executive device, vehicle and control method |
| CN110920582A (en) * | 2018-09-19 | 2020-03-27 | 宏碁股份有限公司 | Brake system for automatic driving vehicle and setting method thereof |
| CN114275035A (en) * | 2021-12-30 | 2022-04-05 | 西安理工大学 | Auxiliary driving and refitting mechanism for electric automobile |
| US11338778B2 (en) | 2018-06-20 | 2022-05-24 | Acer Incorporated | Braking system for autonomous car and setting method thereof |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102991483A (en) * | 2012-11-29 | 2013-03-27 | 浙江吉利汽车研究院有限公司杭州分公司 | System and method for intelligent braking of vehicle under driverless control |
| CN103496361B (en) * | 2013-10-23 | 2017-01-04 | 北京汽车股份有限公司 | Unmanned braking control device and method and automobile |
| CN103496361A (en) * | 2013-10-23 | 2014-01-08 | 北京汽车股份有限公司 | Unmanned control braking device, method and vehicle |
| CN104554209A (en) * | 2013-10-25 | 2015-04-29 | 比亚迪股份有限公司 | Device and method for controlling vehicle brake |
| CN104554209B (en) * | 2013-10-25 | 2018-06-26 | 比亚迪股份有限公司 | Brake controller for car and method |
| CN104192104A (en) * | 2014-09-22 | 2014-12-10 | 奇瑞汽车股份有限公司 | Brake pedal mechanism |
| CN104802781B (en) * | 2015-04-29 | 2018-05-11 | 王柳坤 | Backing-up anticollision system for automobile |
| CN104802781A (en) * | 2015-04-29 | 2015-07-29 | 王柳坤 | Vehicle reversing anti-collision system |
| CN104760581A (en) * | 2015-04-30 | 2015-07-08 | 王柳坤 | Automatic brake device for automobile |
| CN105730421A (en) * | 2016-01-29 | 2016-07-06 | 大连楼兰科技股份有限公司 | Automobile braking device and method based on DC speed reducing motor |
| CN105774772A (en) * | 2016-03-09 | 2016-07-20 | 王德红 | Automobile intelligent brake automatic actuating system and implementation method |
| CN106043309A (en) * | 2016-06-27 | 2016-10-26 | 常州加美科技有限公司 | Coping strategy for shifting driving patterns of unmanned vehicle |
| CN108340899A (en) * | 2018-04-02 | 2018-07-31 | 辽宁工业大学 | A kind of unmanned racing car braking system |
| CN108340899B (en) * | 2018-04-02 | 2023-09-19 | 辽宁工业大学 | Unmanned racing car braking system |
| US11338778B2 (en) | 2018-06-20 | 2022-05-24 | Acer Incorporated | Braking system for autonomous car and setting method thereof |
| CN108909689A (en) * | 2018-07-08 | 2018-11-30 | 吉利汽车研究院（宁波）有限公司 | Pedal auxiliary body |
| CN109080601A (en) * | 2018-07-13 | 2018-12-25 | 武汉理工大学 | A kind of automatic driving vehicle brake auxiliary execution device |
| CN110920582A (en) * | 2018-09-19 | 2020-03-27 | 宏碁股份有限公司 | Brake system for automatic driving vehicle and setting method thereof |
| CN109693651A (en) * | 2018-12-18 | 2019-04-30 | 中国科学院深圳先进技术研究院 | It can be used for unpiloted braking executive device, vehicle and control method |
| CN114275035A (en) * | 2021-12-30 | 2022-04-05 | 西安理工大学 | Auxiliary driving and refitting mechanism for electric automobile |
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| CN101797917B (en) | 2012-02-08 |
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