CN108860014A - A kind of method, equipment and system for realizing the control of vehicle emergency stop - Google Patents

A kind of method, equipment and system for realizing the control of vehicle emergency stop Download PDF

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Publication number
CN108860014A
CN108860014A CN201810661946.0A CN201810661946A CN108860014A CN 108860014 A CN108860014 A CN 108860014A CN 201810661946 A CN201810661946 A CN 201810661946A CN 108860014 A CN108860014 A CN 108860014A
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CN
China
Prior art keywords
emergency stop
vehicle
emergency
equipment
control
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Granted
Application number
CN201810661946.0A
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Chinese (zh)
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CN108860014B (en
Inventor
张玉新
赵帅帅
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Uisee Shanghai Automotive Technologies Ltd
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Uisee Shanghai Automotive Technologies Ltd
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Priority to CN201810661946.0A priority Critical patent/CN108860014B/en
Publication of CN108860014A publication Critical patent/CN108860014A/en
Application granted granted Critical
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Traffic Control Systems (AREA)

Abstract

The purpose of the application is to provide a kind of method, equipment and system for realizing the control of vehicle emergency stop.The application to obtain the emergency stop trigger action of user's submission, and controls signal by bottom emergency stop controller transmission emergency stop that is wired and wirelessly being configured to vehicle end and executes braking by the braking system that vehicle end is configured by introducing emergency stop portable equipment.Compared with prior art, the present invention can switch wired or wireless way easily to send emergency stop control signal, high reliability is had both while convenience, and realize the flexibility that emergency stop controls position by emergency stop portable equipment, meet actual needs；In addition, controlling by further emergency rank and permission, more advanced emergency stop control function can also be achieved.

Description

A kind of method, equipment and system for realizing the control of vehicle emergency stop
Technical field
This application involves automatic driving vehicle security technology area more particularly to it is a kind of for realizing vehicle emergency stop control Technology.
Background technique
Now with constantly promoting to the research of autonomous driving vehicle both at home and abroad, has different stage automatic Pilot ability The usage amount of automatic driving vehicle is increasing.But although automatic driving vehicle is equipped with a large amount of awareness apparatus, still without Method will appear some emergencies, even disastrous accident with avoiding.For example, night 19 day March 2018 America eastern time, One Uber automatic driving vehicle bumps against a women pedestrian in the city Tan Pei of Arizona State and causes its death.California, USA is motor-driven " autonomous driving vehicle is detached from automatic Pilot state report " of vehicle management office statistics and " autonomous driving vehicle accident report " are aobvious Show, vehicle may cause automatic Pilot to the failure etc. in terms of the perception limitation of environment, road driving mode, hardware and software The accident of automobile.
Reliability and safety when in order to improve automatic driving vehicle road test and formal operation are needed to driving automatically It sails vehicle and installs scram button additional.In the prior art, automatic driving vehicle is mostly reequiped on the basis of traditional passenger car, Its scram button is generally fixedly mounted on the conspicuous position by preceding instrument board or driver's seat, when emergency occurs, driver The scram button can be pressed and carry out emergency braking.However, diversity, example will be presented in the seat layout of the following automatic driving vehicle Such as, in the following autonomous driving vehicle application scenarios, a kind of typical seat layout is double seat to seat, and being similar to will be traditional After the steering wheel of passenger car and various pedals remove, front-row seats are turned round, with back seat to seat, and then facilitate car The exchange and interdynamic of passenger.In addition, there is no passenger or surveys on vehicle in some automatic driving vehicle road tests or actual operation Driver is tried, this has resulted in the uncontrollability of unmanned vehicle, there is very big security risk.
In addition, vehicle region permission control problem more will be present after the following automatic driving vehicle is runed on a large scale, For example, the operator and government safety department of automatic driving vehicle need higher automatic driving vehicle control authority, and It needs to carry out emergency stop control to vehicle in wireless form.
In conclusion conspicuous position before being in the prior art fixedly mounted on scram button by instrument board or driver's seat with Mode as emergency stop control cannot effectively meet the needs of actual use, it would be highly desirable to make improvements.
Summary of the invention
The purpose of the application is to provide a kind of method, equipment and system for realizing the control of vehicle emergency stop.
According to the one aspect of the application, a kind of method for realizing the control of vehicle emergency stop in vehicle end is provided, wherein institute Stating vehicle includes braking system and bottom emergency stop controller, the method includes：
The emergency stop control letter that the corresponding emergency stop portable equipment of the vehicle is sent is received by the bottom emergency stop controller Number；
Signal is controlled according to the emergency stop, and corresponding brake operating is executed by the braking system.
According to further aspect of the application, a kind of side that the control of vehicle emergency stop is realized at emergency stop portable equipment end is provided Method, wherein the emergency stop portable equipment includes emergency stop interactive device, wireline transmission device and wireless base station apparatus, the method Including：
Obtain the emergency stop trigger action that user is submitted by the emergency stop interactive device；
Pass through the wireline transmission device with the wireless base station apparatus respectively to described according to the emergency stop trigger action Bottom emergency stop controller in vehicle sends emergency stop and controls signal.
According to further aspect of the application, a kind of control equipment that the control of vehicle emergency stop is realized in vehicle end is provided, Wherein, the control equipment is configured on the vehicle, and the control equipment includes：
Bottom emergency stop controller controls signal for receiving the emergency stop that the corresponding emergency stop portable equipment of the vehicle is sent；
Braking system executes corresponding brake operating for controlling signal according to the emergency stop.
According to further aspect of the application, a kind of emergency stop portable equipment for realizing the control of vehicle emergency stop is provided, wherein The emergency stop portable equipment includes：
Emergency stop interactive device, for obtaining the emergency stop trigger action of user's submission；
Wireline transmission device, for being sent according to bottom emergency stop controller of the emergency stop trigger action into the vehicle Emergency stop controls signal；
Wireless launcher, for being sent according to bottom emergency stop controller of the emergency stop trigger action into the vehicle Emergency stop controls signal；
Wherein, the bottom emergency stop that the wireline transmission device and the wireless base station apparatus can respectively into the vehicle Controller sends emergency stop and controls signal.
According to further aspect of the application, a kind of vehicle for realizing the control of vehicle emergency stop is provided, wherein the vehicle Configure control equipment as described above.
According to further aspect of the application, a kind of system for realizing the control of vehicle emergency stop is provided, wherein described System includes control equipment as described above and emergency stop portable equipment as described above.
According to further aspect of the application, provide a kind of for realizing that the control of vehicle emergency stop control is set in vehicle end It is standby, including：
One or more processors；
Memory；And
One or more programs wherein one or more of programs are stored in the memory, and are configured It is executed at by one or more of processors, described program includes for the method as described in executing above-mentioned in vehicle end.
According to further aspect of the application, a kind of computer readable storage medium is provided, computer is stored thereon with Program, the computer program can be executed by processor above-mentioned method as described in vehicle end.
According to further aspect of the application, a kind of emergency stop portable equipment for realizing the control of vehicle emergency stop is provided, Including：
One or more processors；
Memory；And
One or more programs wherein one or more of programs are stored in the memory, and are configured It is executed at by one or more of processors, described program includes for executing above-mentioned as described at emergency stop portable equipment end Method.
According to further aspect of the application, a kind of computer readable storage medium is provided, computer is stored thereon with Program, the computer program can be executed by processor the method above-mentioned as described at emergency stop portable equipment end.
Compared with prior art, the application is by introducing emergency stop portable equipment, to obtain the emergency stop triggering behaviour of user's submission Make, and controls signal and by vehicle with bottom emergency stop controller transmission emergency stop that is wirelessly being configured to vehicle end by wired The configured braking system in end executes braking.To which the present invention can easily switch wired or wireless way to send urgency Stop controlling signal, high reliability is had both while convenience, and emergency stop is realized by emergency stop portable equipment and controls position Flexibility, meet actual needs；In addition, being controlled by further emergency rank and permission, can also be achieved more advanced Emergency stop control function.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other Feature, objects and advantages will become more apparent upon：
Fig. 1 show according to the application one embodiment it is a kind of for realizing vehicle emergency stop control emergency stop portable equipment with Control the equipment schematic diagram of equipment；
Fig. 2 shows a kind of different emergency ranks of emergency stop control flow according to the application one embodiment to illustrate Figure；
Fig. 3 show according to the application one embodiment it is a kind of in vehicle for realizing vehicle emergency stop control emergency stop just It takes equipment and controls the equipment schematic diagram of equipment；
Fig. 4 shows a kind of vehicle schematic diagram that can be realized the control of vehicle emergency stop according to the application one embodiment；
Fig. 5 show according to the application one embodiment it is a kind of from emergency stop portable equipment and control equipment cooperation realization, For realizing the method flow diagram of vehicle emergency stop control；
Fig. 6 shows the exemplary system that can be used for implementing each embodiment described herein.
The same or similar appended drawing reference represents the same or similar component in attached drawing.
Specific embodiment
The application is described in further detail with reference to the accompanying drawing.
In a typical configuration of this application, terminal, the equipment of service network and trusted party include one or more Processor (CPU), input/output interface, network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/or The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable medium Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data. The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM), Digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or Any other non-transmission medium, can be used for storage can be accessed by a computing device information.
The application meaning equipment includes but is not limited to that user equipment, the network equipment or user equipment and the network equipment pass through Network is integrated constituted equipment.The user equipment includes but is not limited to that any one can carry out human-computer interaction with user The mobile electronic product, such as smart phone, tablet computer etc. of (such as human-computer interaction is carried out by touch tablet), the mobile electricity Sub- product can use any operating system, such as android operating system, iOS operating system.Wherein, the network equipment The electronic equipment of numerical value calculating and information processing can be carried out automatically according to the instruction for being previously set or storing including a kind of, Hardware includes but is not limited to microprocessor, specific integrated circuit (ASIC), programmable logic device (PLD), field programmable gate Array (FPGA), digital signal processor (DSP), embedded device etc..The network equipment includes but is not limited to computer, net The cloud that network host, single network server, multiple network server collection or multiple servers are constituted；Here, cloud is by based on cloud The a large number of computers or network servers for calculating (Cloud Computing) is constituted, wherein cloud computing is the one of distributed computing Kind, a virtual supercomputer consisting of a loosely coupled set of computers.The network includes but is not limited to interconnect Net, wide area network, Metropolitan Area Network (MAN), local area network, VPN network, wireless self-organization network (Ad Hoc network) etc..Preferably, the equipment Can also be run on the user equipment, the network equipment or user equipment and the network equipment, the network equipment, touch terminal or The network equipment and touch terminal are integrated the program in constituted equipment by network.
Certainly, those skilled in the art will be understood that above equipment is only for example, other are existing or are likely to occur from now on Equipment be such as applicable to the application, should also be included within the application protection scope, and be incorporated herein by reference.
In the description of the present application, the meaning of " plurality " is two or more, unless otherwise specifically defined.
Fig. 1 show according to the application one embodiment it is a kind of for realizing vehicle emergency stop control emergency stop portable equipment with Control the equipment schematic diagram of equipment；Wherein, the emergency stop portable equipment 10 includes emergency stop interactive device 101, wireline transmission device 102 and wireless launcher 103, the control equipment 20 includes bottom emergency stop controller 201 and braking system 202.
Here, the emergency stop portable equipment 10 is used as a portable equipment, it can be mutually indepedent with the control equipment 20； The emergency stop portable equipment 10 can wirelessly be connected with the control equipment 20, can also be connect by hot plug Mouthfuls 30, it is connected in a wired manner with the control equipment 20.
In one implementation, the emergency stop portable equipment 10 further includes charging unit (not shown), when the emergency stop When portable equipment 10 passes through hot-plug interface 30, is connected in a wired manner with the control equipment 20, the emergency stop is portable The charging unit of equipment 10 can be by the wired connection that the hot-plug interface 30 is connected from the bottom emergency stop controller 201 charge.Optionally, in order to extend the service life of the emergency stop portable terminal 10, the charging unit, which is provided with, to be filled Electric power-off protecting circuit is automatically stopped charging when the electricity for detecting the emergency stop portable terminal 10 is greater than a threshold value.
In one implementation, multiple hot-plug interfaces 30 can be configured in different location on the vehicle, it is described Emergency stop portable equipment 10 can be attached with any hot-plug interface 30.
In one implementation, the emergency stop portable equipment 10 can use non-charging modes, such as battery, be supplied Electricity.
The control equipment 20 can be independently of the vehicle, and the accessory as the vehicle is configured in the vehicle On；The a part that can also be used as the vehicle, in vehicle release, directly configuration is on the vehicle.
Specifically, the emergency stop interactive device 101 obtains the emergency stop trigger action that user submits.Here, the emergency stop touching Hair operation can be sent out via passengers such as user by bus, vehicle drivers by movement (such as touch, press), voice mode Out；It can also wirelessly be sent to the emergency stop interactive device 101 via car operation quotient, government safety department etc. Instruction, to generate emergency stop trigger action.Optionally, the permission of the emergency stop trigger action issued via different modes is different, for example, The permission highest for the emergency stop trigger action that government safety department is issued, the power for the emergency stop trigger action that car operation quotient is issued Limit is taken second place, and the permission for the emergency stop trigger action that passenger is issued is minimum.
Optionally, the emergency stop portable equipment 10 can directly be configured as that emergency stop corresponding to different users is portable to be set Standby 10, so that the emergency stop portable equipment 10 itself is that the permission with different stage controls.For example, government safety department With permission highest emergency stop portable equipment 10 can by wireless emergent stopping more in certain restricted areas from Dynamic driving vehicle, emergency stop portable equipment 10 of the car operation quotient with time high permission, and emergency stop possessed by common passenger The permission of portable equipment 10 is minimum.
Optionally, the emergency stop interactive device 101 of the emergency stop portable equipment 10 includes one or more interactive forms, such as Manipulator's shank type, button, knob etc..
Then, according to the emergency stop trigger action, the wireline transmission device 102 divides with the wireless base station apparatus 103 Not by way of wire transmission and wireless transmission, the bottom emergency stop controller of the control equipment 20 into the vehicle 201, which send emergency stop, controls signal.Correspondingly, the bottom emergency stop controller 201 is received described by wired or wireless mode The emergency stop that the corresponding emergency stop portable equipment 10 of vehicle is sent controls signal.
In one implementation, the bottom emergency stop controller 201 includes cable reception device (not shown) and wireless Reception device (not shown).When the bottom emergency stop controller 201 emergency stop portable equipment 10 corresponding with the vehicle there are Emergency stop control signal is transmitted to the wired of the bottom emergency stop controller 201 by line connection, the wireline transmission device 102 Reception device；Otherwise, the radio receiver receives the emergency stop control that wireless launcher is sent in the emergency stop portable equipment Signal processed.That is, when the emergency stop portable equipment 10 and the bottom emergency stop controller 201 by hot-plug interface 30 there are When line connects, 201 preferential receipt of bottom emergency stop controller is believed from the emergency stop control that the wireline transmission device 102 is sent Number.
In one implementation, when the bottom emergency stop controller 201 emergency stop portable equipment corresponding with the vehicle When 10 wired connection disconnects, emergency stop control signal is transmitted to the bottom emergency stop control by the wireless base station apparatus 103 The radio receiver of device 201 processed.
In one implementation, the corresponding emergency stop portable terminal 10 of the vehicle, which can be, has different controls to the vehicle All kinds of emergency stop portable terminals of permission processed, such as emergency stop portable terminal corresponding to government safety department, car operation quotient institute are right Emergency stop portable terminal corresponding to the emergency stop portable terminal answered, common passenger etc..In one implementation, car operation Quotient can control all vehicles that the operator is runed and carry out emergency stop, and government safety department can control any vehicle and carry out suddenly Stop.
In one implementation, the bottom emergency stop controller 201 can be set inside entire car controller；It is preferred that Ground, the bottom emergency stop controller 201 is an independent block controller, to improve reliability.
The braking system 202 controls signal according to the emergency stop and executes corresponding brake operating.
In one implementation, the braking system includes running brake and parking brake.Wherein, different system Dynamic device can receive different emergency stop control signals, to start different brakes.
In one implementation, the braking system further includes third brake.Wherein, the third brake can be with It is the brake being specially arranged, such as power-off braker.
In one implementation, it is corresponding one or more anxious to receive the vehicle for the bottom emergency stop controller 201 Stop portable equipment 10 transmission one or more emergency stops control signal namely the bottom emergency stop controller 201 can simultaneously or The control signal of emergency stop transmitted by multiple corresponding emergency stop portable equipments 10 is non-concurrently received, or is connect simultaneously or non-concurrently It receives an emergency stop portable equipment 10 and signal is controlled by one or more emergency stops transmitted by the modes such as wired or wireless.
In one implementation, each emergency stop portable equipment has corresponding emergency stop control authority information, thus different Emergency stop transmitted by emergency stop portable equipment controls priority corresponding to signal can be different.
Then, the braking system 202 controls signal according to one or more of emergency stops, is held by the braking system The corresponding brake operating of row.Here, the multiple emergency stop control signal difference can be executed priority-based, or Person, the multiple emergency stop control signal can correspond to different brakes, and execute brake operating by the braking system.
Further, when each emergency stop portable equipment has corresponding emergency stop control authority information, the braking system 202 control signal according to one or more of emergency stops, and the emergency stop portable equipment for sending each emergency stop control signal has Corresponding emergency stop control authority information executes corresponding brake operating by the braking system.That is, the emergency stop of high priority The control operation of emergency stop corresponding to control authority information can be executed preferentially.
In one implementation, the emergency stop portable equipment 10 further includes resetting acquisition device (not shown) and reset Sending device (not shown).Wherein, the reset acquisition device obtains the user and is submitted by the emergency stop interactive device 101 Reset trigger operation；Here, different keys and/or different operations etc. can be passed through on the emergency stop interactive device 101 Mode operates to determine whether the operation of the user belongs to reset trigger, if so, then the reset sending device is according to Reset trigger operation passes through the wireline transmission device 102 and the wireless base station apparatus 103 bottom into the vehicle respectively Layer emergency stop controller 201 sends reseting controling signal and restores original driving condition to cancel emergency stop state.
Correspondingly, the control equipment 20 further includes that reset reception device (not shown) and emergency stop revocation device (do not show Out)；In one implementation, the reception device that resets can be used as a module of bottom emergency stop controller 201, described Emergency stop revocation device can be used as a module of braking system 202.
Here, the reset reception device receives institute when the reset sending device sends the reseting controling signal State reseting controling signal transmitted by emergency stop portable equipment 10；Then, the emergency stop revocation device is removed by the braking system It sells the emergency stop state of the vehicle, namely cancels or terminate the brake operating of corresponding brake, to restore that vehicle is original to be driven Sail state.
In one implementation, the control equipment 20 further includes relative acquiring unit (not shown).Wherein, the phase Close the vehicle-related information that acquisition device obtains the vehicle, wherein the vehicle-related information includes the traveling of the vehicle Status information and/or environmental state information.
Here, the relative acquiring unit may include a variety of acquisition devices, such as laser radar, millimetre-wave radar, camera shooting Head, GPS；The running condition information includes but is not limited to travel speed, traveling-position, drives relevant parameter, vehicle interior shape State etc., the environmental state information include but is not limited to weather, light, barrier etc..
Then, the braking system 202 controls signal according to the emergency stop, and between the time of emergency stop control letter Every the vehicle-related information for being less than or equal to interval threshold, the emergency information of the vehicle is determined；According to described tight Anxious condition information executes corresponding brake operating by the braking system 202.
Specifically, when the braking system 202 gets the emergency stop control signal, the braking system 202 is obtained It is less than or equal to the vehicle-related information of interval threshold with the time interval of emergency stop control letter, thus acquired in guaranteeing Vehicle-related information and the emergency stop control signal be synchronous.Then, the braking system 202 is controlled according to the emergency stop Signal and the vehicle-related information judge the emergency information of the vehicle, wherein the emergency information includes The rank of emergency.Then, according to different emergency information, different brake operatings is determined and by the braking system System 202 is executed.
In one implementation, the braking system 202 can judge the urgency according to the vehicle-related information Stop the triggering validity of control signal, and determines whether to execute brake operating based on the validity.For example, if vehicle is related Information, which is shown, to be all gone well, emergency stop control signal from passenger, then the emergency stop control signal may be due to Accidentally touching causes occupant, to avoid the mistake emergency stop as caused by occupant's maloperation.
Here, the brake operating can be called or be realized comprising a variety of devices to the braking system 202, as power fills It sets, brake apparatus, transfer etc..
In one implementation, the brake operating includes following at least any one：
The power device for closing the vehicle controls the vehicle by the brake apparatus and transfer of the vehicle and exists Safety zone parking：Under this dead ship condition, it will not influence other road users；
The power device for closing the vehicle controls the vehicle by the brake apparatus and/or transfer of the vehicle Outermost lane stop；
The power device for closing the vehicle activates the brake apparatus of the vehicle to control the vehicle and stops in current lane Vehicle：Under this state, brake apparatus is directly activated, vehicle is made to stop in emergency immediately in current lane.
In one implementation, the braking system 202 further includes sub-controlling unit (not shown), wherein described Sub-controlling unit executes assist control operation to the vehicle according to the emergency information, when the emergency information When different, corresponding assist control operation is different.
Wherein, the assist control operation includes following at least any one：
The height of the draft hitch of the vehicle is adjusted according to the environmental state information, i.e., by according to ambient enviroment with It determines the height of vehicle body, reduces the damage that may be generated to occupant；
The sound-light alarm information for opening the vehicle prompts surrounding road user, here, described that is, in the form of acousto-optic Sub-controlling unit may include signal light control and/or sound control etc.；
The current state information of the vehicle is sent to corresponding remote equipment by the wireless communication device of the vehicle, Here, the sub-controlling unit may include wireless communication device, or call directly the wireless communication of the vehicle self-carrying Device.
In one implementation, the bottom emergency stop controller 201 further includes the first heartbeat sending device (not shown)； Wherein, the first heartbeat sending device sends heartbeat package informatin to the emergency stop portable equipment.
In one implementation, the emergency stop portable equipment 10 further includes the second heartbeat sending device (not shown), In, bottom emergency stop controller of the second heartbeat sending device into the vehicle sends heartbeat package informatin.
Here, the heartbeat package informatin is between the control equipment 20 and the emergency stop portable equipment 10, according to pre- It fixes time and is spaced transmitted state notification information, the predetermined time interval and the state notification information can be by the controls Control equipment 20 is configured with the emergency stop portable equipment 10, to mutually inform the current state of counterpart device.
In one implementation, the bottom emergency stop controller 201 further includes the first heartbeat reception device (not shown), The control equipment 20 further includes warning presentation device (not shown)；Wherein, the first heartbeat reception device receives the urgency Stop the heartbeat package informatin of portable equipment transmission；When the duration of the last heartbeat package informatin received of distance is equal to or more than in advance Corresponding driving information warning is presented in fixed first time interval threshold value, the warning presentation device.
Here, the driving information warning includes but is not limited to 10 lost contact of emergency stop portable equipment, please drive with caution Deng.In one implementation, the duration length of the heartbeat package informatin received according to the last time, can be presented different mention Show information.
In one implementation, the emergency stop portable equipment 10 further include the second heartbeat reception device (not shown) and Warning provides device (not shown)；Wherein, the second heartbeat reception device receives the bottom emergency stop controller in the vehicle The heartbeat package informatin of transmission；When the duration of the last heartbeat package informatin received of distance is equal to or more than scheduled second Between interval threshold, the warning provides device and provides corresponding driving information warning to the corresponding network equipment or the user.
Here, the network equipment includes but is not limited to the network equipment be responsible for operation or manage the vehicle；It is described to drive Information warning is sailed to include but is not limited to the vehicle lost contact, please remind and drive with caution.In one implementation, similar Different prompt informations can be presented according to the duration length for the heartbeat package informatin that the last time receives in ground.
In one implementation, the emergency stop portable equipment 10 further includes that monitoring device (not shown) and failure are presented Device (not shown)；Wherein, the monitoring device monitors the power state information of the emergency stop portable equipment；When the power supply shape State information is lower than scheduled power supply status threshold value, and the failure presentation device presents alert about the failure of the emergency stop portable equipment Show information.
Here, the power state information includes but is not limited to remaining capacity or voltage available of power supply etc., the monitoring Device is monitored power state information by the modes such as regular；The failure presentation device include but is not limited to indicator light, The devices such as display panel, buzzer, and ought such as battery voltage available lower than working normally threshold value or remaining capacity lower than pre- When determining electricity, then the failure presentation device reminds operator by visual effect or sound effect, described in prompting Emergency stop portable equipment 10 will fail, and please operate with caution, prevent the generation surprisingly failed.
Fig. 2 shows a kind of different emergency ranks of emergency stop control flow according to the application one embodiment to illustrate Figure.The schematic diagram corresponds respectively to above-mentioned three kinds different emergency ranks.
When emergency rank 1, a series of performed brake operatings and assist control operation are " to close power dress Set --->Open signal light control and sound control --->The synergy of brake apparatus and transfer --->Pass through channel radio T unit sends the current state information of vehicle to corresponding remote equipment ", finally, in the vehicle driving to roadside safety region Parking；
When emergency rank 2, a series of performed brake operatings and assist control operation are " to close power dress Set --->Open signal light control and sound control --->Activate brake apparatus --->Draft hitch decline --->By wireless Communication device sends the current state information of vehicle to corresponding remote equipment ", finally, the vehicle driving to curb parking；
When emergency rank 3, a series of performed brake operatings and assist control operation are " activation braking dress Set --->Close power device --->Open signal light control and sound control --->Device is to corresponding remote by wireless communication The current state information of journey equipment transmission vehicle ", finally, which brakes stop at current lane immediately.
Fig. 3 show according to the application one embodiment it is a kind of in vehicle for realizing vehicle emergency stop control emergency stop just It takes equipment and controls the equipment schematic diagram of equipment.
Emergency stop portable terminal 310 includes scram button, charging module, transmitter and wireless transmitter.When scram button quilt When triggering, transmitter and wireless transmitter will send emergency stop control signal simultaneously.
Hot-plug interface 330 is that emergency stop portable terminal 310 provides line charging, and passes through cable reception emergency stop portable terminal The 310 emergency stop control signals transmitted.In one implementation, when emergency stop portable terminal 310 and bottom emergency stop controller 3201 When by 330 wired connection of hot-plug interface, bottom emergency stop controller 3201 preferentially receives the emergency stop control sent from transmitter Signal processed；When hot-plug interface 330 disconnects, bottom emergency stop controller 3201 is received in emergency stop portable terminal 310 The emergency stop that wireless transmitter is sent controls signal.
Bottom emergency stop controller 3201 and braking system 3202 constitute control equipment.
Wherein, bottom emergency stop controller 3201 is furnished with charging interface, receiver and wireless receiver, and charging interface passes through heat Connecting-disconnecting interface 330 is connected with the charging module of emergency stop portable terminal 310, and receiver is received by hot-plug interface 330 from anxious Stop the emergency stop control signal that transmitter is sent in portable terminal 310, wireless receiver is received from emergency stop just by wireless Take the emergency stop control signal that wireless transmitter is sent in terminal 310.
Braking system 3202 includes at least the first braking system and secondary brake system, receives and comes from bottom emergency stop controller 3201 brake control signal carries out corresponding braking maneuver.In one implementation, first braking system is driving Brake, the secondary brake system are parking brake.
Fig. 4 shows a kind of vehicle schematic diagram that can be realized the control of vehicle emergency stop according to the application one embodiment.
In the vehicle, it is deployed with emergency stop portable terminal 410, hot-plug interface 430 and control equipment, the control and sets Standby includes bottom emergency stop controller 4201 and braking system 4202.
Be deployed with multiple hot-plug interfaces 430 on the different location of the vehicle interior, multiple hot-plug interfaces 430 with Bottom emergency stop controller 4301 is connected, and receives the emergency stop sent from multiple emergency stop portable terminals 410 and controls signal.
In one implementation, bottom emergency stop controller 4301 can be set inside entire car controller；In a kind of reality In existing mode, bottom emergency stop controller 4301 is an independent block controller, to improve reliability.
Bottom emergency stop controller 4301 receive simultaneously the wired emergency stop control signal transmitted from hot-plug interface 430 and Wireless emergency stop from emergency stop portable terminal 410 controls signal.
Braking system 4202 includes at least the first braking system and secondary brake system, receives and comes from bottom emergency stop controller 4201 brake control signal carries out corresponding braking maneuver.In one implementation, first braking system is driving Brake, the secondary brake system are parking brake.
In one implementation, braking system 4202 can also include that third braking system as one embodiment should Third braking system is power-off braker.
Fig. 5 show according to the application one embodiment it is a kind of from emergency stop portable equipment and control equipment cooperation realization, For realizing the method flow diagram of vehicle emergency stop control.
Wherein, the emergency stop portable equipment 10 includes emergency stop interactive device 101, wireline transmission device 102 and wireless hair Injection device 103, the control equipment 20 include bottom emergency stop controller 201 and braking system 202.
Here, the emergency stop portable equipment 10 is used as a portable equipment, it can be mutually indepedent with the control equipment 20； The emergency stop portable equipment 10 can wirelessly be connected with the control equipment 20, can also be connect by hot plug Mouthfuls 30, it is connected in a wired manner with the control equipment 20.
The control equipment 20 can be independently of the vehicle, and the accessory as the vehicle is configured in the vehicle On；The a part that can also be used as the vehicle, in vehicle release, directly configuration is on the vehicle.
Specifically, in step sl, the emergency stop interactive device 101 of the emergency stop portable equipment 10 obtains user and submits Emergency stop trigger action.Here, the emergency stop trigger action can pass through via passengers such as user by bus, vehicle drivers Movement (such as touch, press), voice mode issue；It can also pass through via car operation quotient, government safety department etc. wireless Mode to the emergency stop interactive device 101 send instruct, to generate emergency stop trigger action.Optionally, it is sent out via different modes The permission of emergency stop trigger action out is different, for example, the permission highest for the emergency stop trigger action that government safety department is issued, vehicle The permission for the emergency stop trigger action that operator is issued is taken second place, and the permission for the emergency stop trigger action that passenger is issued is most It is low.
Then, in step s 2, according to the emergency stop trigger action, the wireline transmission device 102 and the wireless hair Send device 103 respectively by way of wire transmission and wireless transmission, the bottom of the control equipment 20 into the vehicle Layer emergency stop controller 201 sends emergency stop and controls signal.Correspondingly, the bottom emergency stop controller 201 passes through wired or wireless Mode receives the emergency stop control signal that the corresponding emergency stop portable equipment 10 of the vehicle is sent.
In one implementation, in step s 2, when the bottom emergency stop controller 201 urgency corresponding with the vehicle Stop portable equipment 10 there are wired connection, emergency stop control signal is transmitted to the bottom by the wireline transmission device 102 The cable reception device of emergency stop controller 201；Otherwise, the radio receiver receives wirelessly sends out in the emergency stop portable equipment The emergency stop that injection device is sent controls signal.That is, when the emergency stop portable equipment 10 passes through with the bottom emergency stop controller 201 For hot-plug interface 30 there are when wired connection, 201 preferential receipt of bottom emergency stop controller comes from the wireline transmission device The 102 emergency stop control signals sent.
In one implementation, in step s 2, when the bottom emergency stop controller 201 urgency corresponding with the vehicle When stopping the wired connection disconnection of portable equipment 10, emergency stop control signal is transmitted to described by the wireless base station apparatus 103 The radio receiver of bottom emergency stop controller 201.
In step s3, the braking system 202 of the control equipment 20 controls signal according to the emergency stop and executes phase The brake operating answered.
In one implementation, the braking system includes running brake and parking brake.Wherein, different system Dynamic device can receive different emergency stop control signals, to start different brakes.
In one implementation, the braking system further includes third brake.Wherein, the third brake can be with It is the brake being specially arranged, such as power-off braker.
In one implementation, in step s 2, the bottom emergency stop controller 201 of the control equipment 20 receives The one or more emergency stops control signal namely the bottom that the corresponding one or more emergency stop portable equipments 10 of the vehicle are sent Layer emergency stop controller 201 can receive simultaneously or non-concurrently the control of emergency stop transmitted by multiple corresponding emergency stop portable equipments 10 Signal, or receive an emergency stop portable equipment 10 simultaneously or non-concurrently and pass through one transmitted by the modes such as wired or wireless Or multiple emergency stops control signal.
In one implementation, each emergency stop portable equipment has corresponding emergency stop control authority information, thus different Emergency stop transmitted by emergency stop portable equipment controls priority corresponding to signal can be different.
Then, in step s3, the braking system 202 of the control equipment 20 is according to one or more of emergency stops Signal is controlled, corresponding brake operating is executed by the braking system.Here, the multiple emergency stop control signal can be based on The difference of priority is executed, alternatively, the multiple emergency stop control signal can correspond to different brakes, and by described Braking system executes brake operating.
Further, when each emergency stop portable equipment has corresponding emergency stop control authority information, the braking system 202 control signal according to one or more of emergency stops, and the emergency stop portable equipment for sending each emergency stop control signal has Corresponding emergency stop control authority information executes corresponding brake operating by the braking system.That is, the emergency stop of high priority The control operation of emergency stop corresponding to control authority information can be executed preferentially.
In one implementation, the method also includes step S4 (not shown), step S5 (not shown) and steps S6 (not shown).Wherein, in step s 4, the emergency stop portable equipment 10 obtains dress by the reset of the emergency stop portable equipment It sets and obtains the reset trigger operation that the user is submitted by the emergency stop interactive device 101；Here, the emergency stop interactive device It can determine whether the user operation belongs to reset by different keys and/or different operations etc. modes on 101 Trigger action, if so, then in step s 5, the emergency stop portable equipment 10 sends dress by the reset of the emergency stop portable equipment It sets and the wireline transmission device 102 is passed through with the wireless base station apparatus 103 respectively to described according to reset trigger operation Bottom emergency stop controller 201 in vehicle sends reseting controling signal and restores original driving shape to cancel emergency stop state State.
Correspondingly, when the reset sending device sends the reseting controling signal, in step s 5, the control is set Standby 20 reset reception device receives reseting controling signal transmitted by the emergency stop portable equipment 10；Then, in step s 6, The emergency stop revocation device of the control equipment 20 cancels the emergency stop state of the vehicle by the braking system, namely cancellation or The brake operating for terminating corresponding brake, to restore the original driving condition of vehicle.
In one implementation, the method also includes step S7 (not shown).Wherein, in the step s 7, the control The relative acquiring unit of control equipment obtains the vehicle-related information of the vehicle, wherein the vehicle-related information includes described The running condition information and/or environmental state information of vehicle.
Here, the relative acquiring unit may include a variety of acquisition devices, such as laser radar, millimetre-wave radar, camera shooting Head, GPS；The running condition information includes but is not limited to travel speed, traveling-position, drives relevant parameter, vehicle interior shape State etc., the environmental state information include but is not limited to weather, light, barrier etc..
Then, in step s3, the braking system 202 of the control equipment 20 controls signal according to the emergency stop, And it is less than or equal to the vehicle-related information of interval threshold with the time interval of emergency stop control letter, determine the vehicle Emergency information；Corresponding brake operating is executed by the braking system 202 according to the emergency information.
Specifically, when the braking system 202 gets the emergency stop control signal, the braking system 202 is obtained It is less than or equal to the vehicle-related information of interval threshold with the time interval of emergency stop control letter, thus acquired in guaranteeing Vehicle-related information and the emergency stop control signal be synchronous.Then, the braking system 202 is controlled according to the emergency stop Signal and the vehicle-related information judge the emergency information of the vehicle, wherein the emergency information includes The rank of emergency.Then, according to different emergency information, different brake operatings is determined and by the braking system System 202 is executed.
In one implementation, in step s3, the braking system 202 can according to the vehicle-related information come Judge the triggering validity of the emergency stop control signal, and determines whether to execute brake operating based on the validity.For example, It is all gone well if vehicle-related information is shown, the emergency stop control signal is from passenger, then the emergency stop controls signal It may be since accidentally touching causes occupant, to avoid the mistake emergency stop as caused by occupant's maloperation.
In one implementation, the brake operating includes following at least any one：
The power device for closing the vehicle controls the vehicle by the brake apparatus and transfer of the vehicle and exists Safety zone parking：Under this dead ship condition, it will not influence other road users；
The power device for closing the vehicle controls the vehicle by the brake apparatus and/or transfer of the vehicle Outermost lane stop；
The power device for closing the vehicle activates the brake apparatus of the vehicle to control the vehicle and stops in current lane Vehicle：Under this state, brake apparatus is directly activated, vehicle is made to stop in emergency immediately in current lane.
In one implementation, the method also includes step S8 (not shown).Wherein, in the step s 7, the control The sub-controlling unit of control equipment executes assist control operation to the vehicle according to the emergency information, when described urgent When condition information difference, corresponding assist control operation is different.
Wherein, the assist control operation includes following at least any one：
The height of the draft hitch of the vehicle is adjusted according to the environmental state information, i.e., by according to ambient enviroment with It determines the height of vehicle body, reduces the damage that may be generated to occupant；
The sound-light alarm information for opening the vehicle prompts surrounding road user, here, described that is, in the form of acousto-optic Sub-controlling unit may include signal light control and/or sound control etc.；
The current state information of the vehicle is sent to corresponding remote equipment by the wireless communication device of the vehicle, Here, the sub-controlling unit may include wireless communication device, or call directly the wireless communication of the vehicle self-carrying Device.
In one implementation, the method also includes portable to the emergency stop from the bottom emergency stop controller 201 Equipment sends heartbeat package informatin.
In one implementation, the method also includes the bottoms from the emergency stop portable equipment 10 into the vehicle Emergency stop controller 201 sends heartbeat package informatin.
Here, the heartbeat package informatin is between the control equipment 20 and the emergency stop portable equipment 10, according to pre- It fixes time and is spaced transmitted state notification information, the predetermined time interval and the state notification information can be by the controls Control equipment 20 is configured with the emergency stop portable equipment 10, to mutually inform the current state of counterpart device.
In one implementation, the method also includes receiving the emergency stop just by the bottom emergency stop controller 201 Take the heartbeat package informatin of equipment transmission；When the duration of the last heartbeat package informatin received of distance is equal to or more than scheduled Corresponding driving information warning is presented in first time interval threshold value, the control equipment 20.
Here, the driving information warning includes but is not limited to 10 lost contact of emergency stop portable equipment, please drive with caution Deng.In one implementation, the duration length of the heartbeat package informatin received according to the last time, can be presented different mention Show information.
In one implementation, the method also includes the bottom in the vehicle is received by the emergency stop portable equipment 10 The heartbeat package informatin that layer emergency stop controller is sent；When the duration of the last heartbeat package informatin received of distance is equal to or more than Scheduled second time interval threshold value, the emergency stop portable equipment 10 provide corresponding to the corresponding network equipment or the user Drive information warning.
Here, the network equipment includes but is not limited to the network equipment be responsible for operation or manage the vehicle；It is described to drive Information warning is sailed to include but is not limited to the vehicle lost contact, please remind and drive with caution.In one implementation, similar Different prompt informations can be presented according to the duration length for the heartbeat package informatin that the last time receives in ground.
In one implementation, the method also includes the emergency stop portable equipments 10 to monitor power state information；When The power state information is lower than scheduled power supply status threshold value, and the emergency stop portable equipment 10 presents portable about the emergency stop The failure information warning of equipment.
Here, the power state information includes but is not limited to remaining capacity or voltage available of power supply etc., the monitoring Device is monitored power state information by the modes such as regular；The failure presentation device include but is not limited to indicator light, The devices such as display panel, buzzer, and ought such as battery voltage available lower than working normally threshold value or remaining capacity lower than pre- When determining electricity, then the failure presentation device reminds operator by visual effect or sound effect, described in prompting Emergency stop portable equipment 10 will fail, and please operate with caution, prevent the generation surprisingly failed.
Fig. 6 shows the exemplary system that can be used for implementing each embodiment described herein.
In some embodiments, system 600 can be used as Fig. 1, Fig. 2, Fig. 3, Fig. 4, embodiment shown in fig. 5 or other institutes State any one remote equipment or AVP vehicle arrangement in embodiment.In some embodiments, system 600 may include having to refer to One or more computer-readable mediums (for example, system storage or NVM/ store equipment 620) of order and with this or Multiple computer-readable mediums couple and are configured as executing instruction to realize module thereby executing movement described herein One or more processors (for example, (one or more) processor 605).
For one embodiment, system control module 610 may include any suitable interface controller, with to (one or It is multiple) at least one of processor 605 and/or any suitable equipment or component that communicate with system control module 610 mentions For any suitable interface.
System control module 610 may include Memory Controller module 630, to provide interface to system storage 615.It deposits Memory controller module 630 can be hardware module, software module and/or firmware module.
System storage 615 can be used for for example, load of system 600 and storing data and/or instruction.For a reality Example is applied, system storage 615 may include any suitable volatile memory, for example, DRAM appropriate.In some embodiments In, system storage 615 may include four Synchronous Dynamic Random Access Memory of Double Data Rate type (DDR4SDRAM).
For one embodiment, system control module 610 may include one or more input/output (I/O) controller, with Equipment 620 is stored to NVM/ and (one or more) communication interface 625 provides interface.
For example, NVM/ storage equipment 620 can be used for storing data and/or instruction.NVM/ storage equipment 620 may include appointing It anticipates nonvolatile memory appropriate (for example, flash memory) and/or to may include that any suitable (one or more) is non-volatile deposit Equipment is stored up (for example, one or more hard disk drives (HDD), one or more CD (CD) drivers and/or one or more Digital versatile disc (DVD) driver).
NVM/ storage equipment 620 may include a part for the equipment being physically mounted on as system 600 Storage resource or its can by the equipment access without a part as the equipment.For example, NVM/ storage equipment 620 can It is accessed by network via (one or more) communication interface 625.
(one or more) communication interface 625 can be provided for system 600 interface with by one or more networks and/or with Other any equipment communications appropriate.System 600 can be according to any mark in one or more wireless network standards and/or agreement Quasi- and/or agreement is carried out wireless communication with the one or more components of wireless network.
For one embodiment, at least one of (one or more) processor 605 can be with system control module 610 The logic of one or more controllers (for example, Memory Controller module 630) is packaged together.For one embodiment, (one It is a or multiple) at least one of processor 605 can encapsulate with the logic of one or more controllers of system control module 610 Together to form system in package (SiP).For one embodiment, at least one of (one or more) processor 605 It can be integrated on same mold with the logic of one or more controllers of system control module 610.For one embodiment, At least one of (one or more) processor 605 can be with the logic of one or more controllers of system control module 610 It is integrated on same mold to form system on chip (SoC).
In various embodiments, system 600 can be, but not limited to be：Server, work station, desk-top calculating equipment or movement It calculates equipment (for example, lap-top computing devices, handheld computing device, tablet computer, net book etc.).In various embodiments, System 600 can have more or fewer components and/or different frameworks.For example, in some embodiments, system 600 includes One or more video cameras, keyboard, liquid crystal display (LCD) screen (including touch screen displays), nonvolatile memory port, Mutiple antennas, graphic chips, specific integrated circuit (ASIC) and loudspeaker.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies Within, then the application is also intended to include these modifications and variations.
It should be noted that the application can be carried out in the assembly of software and/or software and hardware, for example, can adopt With specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment In, the software program of the application can be executed to implement the above steps or functions by processor.Similarly, the application Software program (including relevant data structure) can be stored in computer readable recording medium, for example, RAM memory, Magnetic or optical driver or floppy disc and similar devices.In addition, hardware can be used to realize in some steps or function of the application, example Such as, as the circuit cooperated with processor thereby executing each step or function.
In addition, a part of the application can be applied to computer program product, such as computer program instructions, when its quilt When computer executes, by the operation of the computer, it can call or provide according to the present processes and/or technical solution. Those skilled in the art will be understood that the existence form of computer program instructions in computer-readable medium includes but is not limited to Source file, executable file, installation package file etc., correspondingly, the mode that computer program instructions are computer-executed include but It is not limited to：The computer directly execute the instruction or the computer compile the instruction after execute program after corresponding compiling again, Perhaps the computer reads and executes the instruction or after the computer reads and install and execute corresponding installation again after the instruction Program.Here, computer-readable medium can be for computer access any available computer readable storage medium or Communication media.
Communication media includes thereby including, for example, computer readable instructions, data structure, program module or other data Signal of communication is transmitted to the medium of another system from a system.Communication media may include having the transmission medium led (such as electric Cable and line (for example, optical fiber, coaxial etc.)) and can propagate wireless (not having the transmission the led) medium of energy wave, such as sound, electricity Magnetic, RF, microwave and infrared.Computer readable instructions, data structure, program module or other data can be embodied as example wireless Medium (such as carrier wave or be such as embodied as spread spectrum technique a part similar mechanism) in modulated message signal. Term " modulated message signal " refers to that one or more feature is modified or is set in a manner of encoded information in the signal Fixed signal.Modulation can be simulation, digital or Hybrid Modulation Technology.
As an example, not a limit, computer readable storage medium may include such as computer-readable finger for storage Enable, the volatile and non-volatile that any method or technique of the information of data structure, program module or other data is realized, can Mobile and immovable medium.For example, computer readable storage medium includes, but are not limited to volatile memory, such as with Machine memory (RAM, DRAM, SRAM)；And nonvolatile memory, such as flash memory, various read-only memory (ROM, PROM, EPROM, EEPROM), magnetic and ferromagnetic/ferroelectric memory (MRAM, FeRAM)；And magnetic and optical storage apparatus (hard disk, Tape, CD, DVD)；Or other currently known media or Future Development can store the computer used for computer system Readable information/data.
Here, including a device according to one embodiment of the application, which includes for storing computer program The memory of instruction and processor for executing program instructions, wherein when the computer program instructions are executed by the processor When, trigger method and/or technology scheme of the device operation based on aforementioned multiple embodiments according to the application.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned exemplary embodiment, Er Qie In the case where without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and scope of the present application is by appended power Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims Variation is included in the application.Any reference signs in the claims should not be construed as limiting the involved claims.This Outside, it is clear that one word of " comprising " does not exclude other units or steps, and odd number is not excluded for plural number.That states in device claim is multiple Unit or device can also be implemented through software or hardware by a unit or device.The first, the second equal words are used to table Show title, and does not indicate any particular order.
The various aspects of each embodiment are defined in detail in the claims.Each reality is defined in following number clause Apply these and other aspects of example：
1. a kind of method for realizing the control of vehicle emergency stop in vehicle end, wherein the vehicle includes braking system and bottom Emergency stop controller, the method includes：
The emergency stop control letter that the corresponding emergency stop portable equipment of the vehicle is sent is received by the bottom emergency stop controller Number；
Signal is controlled according to the emergency stop, and corresponding brake operating is executed by the braking system.
2. according to method described in clause 1, wherein the bottom emergency stop controller includes cable reception device and wirelessly connect Receiving apparatus；
Wherein, described that the urgency that the corresponding emergency stop portable equipment of the vehicle is sent is received by the bottom emergency stop controller Stop controlling signal, including：
When there are wired connections for bottom emergency stop controller emergency stop portable equipment corresponding with the vehicle, by described Cable reception device receives the emergency stop control signal that wireline transmission device is sent in the emergency stop portable equipment；Otherwise, pass through institute It states radio receiver and receives the emergency stop control signal that wireless launcher is sent in the emergency stop portable equipment.
3. the method according to clause 1 or 2, wherein the braking system includes running brake and parking brake.
4. according to method described in clause 3, wherein the braking system further includes third brake.
5. the method according to any one of clause 1 to 4, wherein described to be received by the bottom emergency stop controller The emergency stop that the corresponding emergency stop portable equipment of the vehicle is sent controls signal, including：
Receive what the corresponding one or more emergency stop portable equipments of the vehicle were sent by the bottom emergency stop controller One or more emergency stops control signal；
Wherein, described that signal is controlled by the corresponding brake operating of braking system execution according to the emergency stop, including：
Signal is controlled according to one or more of emergency stops, corresponding brake operating is executed by the braking system.
6. according to method described in clause 5, wherein each emergency stop portable equipment is believed with corresponding emergency stop control authority Breath；
Wherein, described to control signal according to one or more of emergency stops, corresponding system is executed by the braking system Dynamic operation, including：
Signal is controlled according to one or more of emergency stops, and sends the emergency stop portable equipment of each emergency stop control signal With corresponding emergency stop control authority information, corresponding brake operating is executed by the braking system.
7. the method according to any one of clause 1 to 6, wherein the method also includes：
Receive the reseting controling signal that the emergency stop portable equipment is sent；
The emergency stop state of the vehicle is cancelled by the braking system according to emergency stop control signal.
8. the method according to any one of clause 1 to 7, wherein the method also includes：
Obtain the vehicle-related information of the vehicle, wherein the vehicle-related information includes the traveling shape of the vehicle State information and/or environmental state information；
Wherein, described that signal is controlled by the corresponding brake operating of braking system execution according to the emergency stop, including：
Signal is controlled according to the emergency stop, and is less than or equal to interval threshold with the time interval of emergency stop control letter The vehicle-related information, determine the emergency information of the vehicle；
Corresponding brake operating is executed by the braking system according to the emergency information.
9. according to method described in clause 8, wherein the brake operating includes following at least any one：
The power device for closing the vehicle controls the vehicle by the brake apparatus and transfer of the vehicle and exists Safety zone parking；
The power device for closing the vehicle controls the vehicle by the brake apparatus and/or transfer of the vehicle Outermost lane stop；
The power device for closing the vehicle activates the brake apparatus of the vehicle to control the vehicle and stops in current lane Vehicle.
10. the method according to clause 8 or 9, wherein it is described according to the emergency stop control signal, and with the urgency The time interval for stopping control letter is less than or equal to the vehicle-related information of interval threshold, determines the emergency of the vehicle Information executes corresponding brake operating by the braking system according to the emergency information, further includes：
Assist control operation is executed to the vehicle according to the emergency information；
Wherein, the assist control operation includes following at least any one：
The height of the draft hitch of the vehicle is adjusted according to the environmental state information；
Open the sound-light alarm information of the vehicle；
The current state information of the vehicle is sent to corresponding remote equipment by the wireless communication device of the vehicle.
11. the method according to any one of clause 1 to 10, wherein the method also includes：
The heartbeat package informatin that the emergency stop portable equipment is sent is received by the bottom emergency stop controller；
When the duration of the last heartbeat package informatin received of distance is equal to or more than scheduled first time interval threshold Value, is presented corresponding driving information warning.
12. the method according to any one of clause 1 to 11, wherein the method also includes：
Heartbeat package informatin is sent to the emergency stop portable equipment by the bottom emergency stop controller.
13. a kind of method for realizing the control of vehicle emergency stop at emergency stop portable equipment end, wherein the emergency stop portable equipment packet Emergency stop interactive device, wireline transmission device and wireless base station apparatus are included, the method includes：
Obtain the emergency stop trigger action that user is submitted by the emergency stop interactive device；
Pass through the wireline transmission device with the wireless base station apparatus respectively to described according to the emergency stop trigger action Bottom emergency stop controller in vehicle sends emergency stop and controls signal.
14. according to method described in clause 13, wherein when bottom emergency stop controller emergency stop corresponding with the vehicle There are wired connections for portable equipment, and emergency stop control signal is transmitted to the bottom emergency stop by the wireline transmission device The cable reception device of controller.
15. according to method described in clause 13, wherein the emergency stop portable equipment further includes charging unit, the charging Device is by the wired connection between the emergency stop portable equipment and the bottom emergency stop controller from the bottom emergency stop controller It charges.
16. according to method described in clause 13, wherein the method also includes：
The user is obtained to operate by the reset trigger that the emergency stop interactive device is submitted；
Pass through the wireline transmission device with the wireless base station apparatus respectively to described according to reset trigger operation Bottom emergency stop controller in vehicle sends reseting controling signal.
17. the method according to any one of clause 13 to 16, wherein the method also includes：
Bottom emergency stop controller into the vehicle sends heartbeat package informatin.
18. the method according to any one of clause 13 to 17, wherein the method also includes：
Receive the heartbeat package informatin that the bottom emergency stop controller in the vehicle is sent；
When the duration of the last heartbeat package informatin received of distance is equal to or more than scheduled second time interval threshold Value provides corresponding driving information warning to the corresponding network equipment or the user.
19. the method according to any one of clause 13 to 18, wherein the method also includes：
Monitor the power state information of the emergency stop portable equipment；
When the power state information is lower than scheduled power supply status threshold value, mistake of the presentation about the emergency stop portable equipment Imitate information warning.
20. a kind of control equipment for realizing the control of vehicle emergency stop in vehicle end, wherein the control equipment is configured in institute It states on vehicle, the control equipment includes：
Bottom emergency stop controller controls signal for receiving the emergency stop that the corresponding emergency stop portable equipment of the vehicle is sent；
Braking system executes corresponding brake operating for controlling signal according to the emergency stop.
21. according to control equipment described in clause 20, wherein the bottom emergency stop controller include cable reception device with Radio receiver；
It is described wired when there are wired connections for bottom emergency stop controller emergency stop portable equipment corresponding with the vehicle Reception device is used to receive the emergency stop control signal that wireline transmission device is sent in the emergency stop portable equipment；Otherwise, the nothing Line reception device is used to receive the emergency stop control signal that wireless launcher is sent in the emergency stop portable equipment.
22. the control equipment according to clause 20 or 21, wherein the braking system includes running brake and parking Brake.
23. according to control equipment described in clause 22, wherein the braking system further includes third brake.
24. the control equipment according to any one of clause 20 to 23, wherein the bottom emergency stop controller is for connecing Receive one or more emergency stops control signal that the corresponding one or more emergency stop portable equipments of the vehicle are sent；The braking system System executes corresponding brake operating for controlling signal according to one or more of emergency stops, by the braking system.
25. according to control equipment described in clause 24, wherein each emergency stop portable equipment has corresponding emergency stop control Limit information；
Wherein, the braking system is used for：
Signal is controlled according to one or more of emergency stops, and sends the emergency stop portable equipment of each emergency stop control signal With corresponding emergency stop control authority information, corresponding brake operating is executed by the braking system.
26. the control equipment according to any one of clause 20 to 25, wherein the control equipment further includes：
Reception device is resetted, the reseting controling signal sent for receiving the emergency stop portable equipment；
Emergency stop cancels device, for cancelling the urgency of the vehicle by the braking system according to emergency stop control signal Stop state.
27. the control equipment according to any one of clause 20 to 26, wherein the control equipment further includes：
Relative acquiring unit, for obtaining the vehicle-related information of the vehicle, wherein the vehicle-related information includes The running condition information and/or environmental state information of the vehicle；
Wherein, the braking system is used for：
Signal is controlled according to the emergency stop, and is less than or equal to interval threshold with the time interval of emergency stop control letter The vehicle-related information, determine the emergency information of the vehicle；
Corresponding brake operating is executed by the braking system according to the emergency information.
28. according to control equipment described in clause 27, wherein the brake operating includes following at least any one：
The power device for closing the vehicle controls the vehicle by the brake apparatus and transfer of the vehicle and exists Safety zone parking；
The power device for closing the vehicle controls the vehicle by the brake apparatus and/or transfer of the vehicle Outermost lane stop；
The power device for closing the vehicle activates the brake apparatus of the vehicle to control the vehicle and stops in current lane Vehicle.
29. the control equipment according to clause 27 or 28, wherein the braking system further includes：
Sub-controlling unit, for executing assist control operation to the vehicle according to the emergency information；
Wherein, the assist control operation includes following at least any one：
The height of the draft hitch of the vehicle is adjusted according to the environmental state information；
Open the sound-light alarm information of the vehicle；
The current state information of the vehicle is sent to corresponding remote equipment by the wireless communication device of the vehicle.
30. the control equipment according to any one of clause 20 to 29, wherein the bottom emergency stop controller also wraps It includes：
First heartbeat reception device, the heartbeat package informatin sent for receiving the emergency stop portable equipment；
Wherein, the control equipment further includes：
Presentation device is warned, for when the duration of the last heartbeat package informatin received of distance is equal to or more than predetermined First time interval threshold value, corresponding driving information warning is presented.
31. the control equipment according to any one of clause 20 to 30, wherein the bottom emergency stop controller also wraps It includes：
First heartbeat sending device, for sending heartbeat package informatin to the emergency stop portable equipment.
32. a kind of emergency stop portable equipment for realizing the control of vehicle emergency stop, wherein the emergency stop portable equipment includes：
Emergency stop interactive device, for obtaining the emergency stop trigger action of user's submission；
Wireline transmission device, for being sent according to bottom emergency stop controller of the emergency stop trigger action into the vehicle Emergency stop controls signal；
Wireless launcher, for being sent according to bottom emergency stop controller of the emergency stop trigger action into the vehicle Emergency stop controls signal；
Wherein, the bottom emergency stop that the wireline transmission device and the wireless base station apparatus can respectively into the vehicle Controller sends emergency stop and controls signal.
33. according to emergency stop portable equipment described in clause 32, wherein when the bottom emergency stop controller and the vehicle pair There are wired connection, the wireline transmission device is used to for emergency stop control signal being transmitted to described the emergency stop portable equipment answered The cable reception device of bottom emergency stop controller.
34. according to emergency stop portable equipment described in clause 32, wherein the emergency stop portable equipment further includes charging unit, The charging unit is used for through the wired connection between the emergency stop portable equipment and the bottom emergency stop controller from the bottom Layer emergency stop controller charges.
35. according to emergency stop portable equipment described in clause 32, wherein the emergency stop portable equipment further includes：
Acquisition device is resetted, is operated for obtaining the user by the reset trigger that the emergency stop interactive device is submitted；
Sending device is resetted, for passing through the wireline transmission device and the wireless hair according to reset trigger operation Bottom emergency stop controller of the device respectively into the vehicle is sent to send reseting controling signal.
36. the emergency stop portable equipment according to any one of clause 32 to 35, wherein the emergency stop portable equipment also wraps It includes：
Second heartbeat sending device sends heartbeat package informatin for the bottom emergency stop controller into the vehicle.
37. the emergency stop portable equipment according to any one of clause 32 to 36, wherein the emergency stop portable equipment also wraps It includes：
Second heartbeat reception device, for receiving the heartbeat package informatin of the transmission of the bottom emergency stop controller in the vehicle；
Warning provides device, and the duration of the heartbeat package informatin for receiving when distance the last time is equal to or more than predetermined The second time interval threshold value, provide corresponding driving information warning to the corresponding network equipment or the user.
38. the emergency stop portable equipment according to any one of clause 32 to 37, wherein the emergency stop portable equipment also wraps It includes：
Monitoring device, for monitoring the power state information of the emergency stop portable equipment；
Fail presentation device, for being lower than scheduled power supply status threshold value when the power state information, presents about institute State the failure information warning of emergency stop portable equipment.
39. a kind of vehicle for realizing the control of vehicle emergency stop, wherein any one of described vehicle configuration such as clause 20 to 31 institute The control equipment stated.
40. a kind of system for realizing the control of vehicle emergency stop, wherein the system comprises any in such as clause 20 to 31 Control equipment described in, and the emergency stop portable equipment as described in any one of clause 32 to 38.
41. a kind of control equipment in vehicle end realization vehicle emergency stop control, including：
One or more processors；
Memory；And
One or more programs wherein one or more of programs are stored in the memory, and are configured It is executed at by one or more of processors, described program includes for executing the side as described in any one of clause 1-12 Method.
42. a kind of computer readable storage medium, is stored thereon with computer program, the computer program can be processed Device executes the method as described in any one of clause 1-12.
43. a kind of emergency stop portable equipment for realizing the control of vehicle emergency stop, including：
One or more processors；
Memory；And
One or more programs wherein one or more of programs are stored in the memory, and are configured It is executed at by one or more of processors, described program includes for executing the side as described in any one of clause 13-19 Method.
44. a kind of computer readable storage medium, is stored thereon with computer program, the computer program can be processed Device executes the method as described in any one of clause 13-19.

Claims (10)

1. a kind of method for realizing the control of vehicle emergency stop in vehicle end, wherein the vehicle includes braking system and bottom emergency stop Controller, the method includes：
The emergency stop that the corresponding emergency stop portable equipment of the vehicle is sent, which is received, by the bottom emergency stop controller controls signal；
Signal is controlled according to the emergency stop, and corresponding brake operating is executed by the braking system.
2. according to the method described in claim 1, wherein, the bottom emergency stop controller includes cable reception device and wirelessly connect Receiving apparatus；
Wherein, described that the emergency stop control that the corresponding emergency stop portable equipment of the vehicle is sent is received by the bottom emergency stop controller Signal processed, including：
When there are wired connections for bottom emergency stop controller emergency stop portable equipment corresponding with the vehicle, by described wired Reception device receives the emergency stop control signal that wireline transmission device is sent in the emergency stop portable equipment；Otherwise, pass through the nothing Line reception device receives the emergency stop control signal that wireless launcher is sent in the emergency stop portable equipment.
3. method according to claim 1 or 2, wherein the braking system includes running brake and parking brake.
4. according to the method described in claim 3, wherein, the braking system further includes third brake.
5. method according to claim 1 to 4, wherein described to be received by the bottom emergency stop controller The emergency stop that the corresponding emergency stop portable equipment of the vehicle is sent controls signal, including：
One that the corresponding one or more emergency stop portable equipments of the vehicle are sent is received by the bottom emergency stop controller Or multiple emergency stops control signal；
Wherein, described that signal is controlled by the corresponding brake operating of braking system execution according to the emergency stop, including：
Signal is controlled according to one or more of emergency stops, corresponding brake operating is executed by the braking system.
6. according to the method described in claim 5, wherein, each emergency stop portable equipment is believed with corresponding emergency stop control authority Breath；
Wherein, described to control signal according to one or more of emergency stops, corresponding braking behaviour is executed by the braking system Make, including：
Signal is controlled according to one or more of emergency stops, and the emergency stop portable equipment for sending each emergency stop control signal has Corresponding emergency stop control authority information executes corresponding brake operating by the braking system.
7. method according to any one of claim 1 to 6, wherein the method also includes：
Receive the reseting controling signal that the emergency stop portable equipment is sent；
The emergency stop state of the vehicle is cancelled by the braking system according to emergency stop control signal.
8. method according to any one of claim 1 to 7, wherein the method also includes：
Obtain the vehicle-related information of the vehicle, wherein the vehicle-related information includes the driving status letter of the vehicle Breath and/or environmental state information；
Wherein, described that signal is controlled by the corresponding brake operating of braking system execution according to the emergency stop, including：
Signal is controlled according to the emergency stop, and is less than or equal to the institute of interval threshold with the time interval of emergency stop control letter Vehicle-related information is stated, determines the emergency information of the vehicle；
Corresponding brake operating is executed by the braking system according to the emergency information.
9. according to the method described in claim 8, wherein, the brake operating includes following at least any one：
The power device for closing the vehicle controls the vehicle in safety by the brake apparatus and transfer of the vehicle Region parking；
The power device for closing the vehicle controls the vehicle by the brake apparatus and/or transfer of the vehicle and exists The parking of outermost lane；
The power device for closing the vehicle activates the brake apparatus of the vehicle to control the vehicle and stops in current lane.
10. method according to claim 8 or claim 9, wherein it is described according to the emergency stop control signal, and with the urgency The time interval for stopping control letter is less than or equal to the vehicle-related information of interval threshold, determines the emergency of the vehicle Information executes corresponding brake operating by the braking system according to the emergency information, further includes：
Assist control operation is executed to the vehicle according to the emergency information；
Wherein, the assist control operation includes following at least any one：
The height of the draft hitch of the vehicle is adjusted according to the environmental state information；
Open the sound-light alarm information of the vehicle；
The current state information of the vehicle is sent to corresponding remote equipment by the wireless communication device of the vehicle.
CN201810661946.0A 2018-06-25 2018-06-25 Method, equipment and system for realizing vehicle emergency stop control Active CN108860014B (en)

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CN110824900A (en) * 2019-11-12 2020-02-21 佛山智能装备技术研究院 Automatic switching circuit of external scram device
CN110941216A (en) * 2019-11-25 2020-03-31 江苏徐工工程机械研究院有限公司 Wireless emergency stop system and method
CN113879335A (en) * 2021-09-30 2022-01-04 北京百度网讯科技有限公司 Parallel driving vehicle control method, device, equipment and storage medium
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CN110824900A (en) * 2019-11-12 2020-02-21 佛山智能装备技术研究院 Automatic switching circuit of external scram device
CN110941216A (en) * 2019-11-25 2020-03-31 江苏徐工工程机械研究院有限公司 Wireless emergency stop system and method
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