CN109062197A - A kind of emergency backup methods of driverless electric automobile - Google Patents
A kind of emergency backup methods of driverless electric automobile Download PDFInfo
- Publication number
- CN109062197A CN109062197A CN201811305090.XA CN201811305090A CN109062197A CN 109062197 A CN109062197 A CN 109062197A CN 201811305090 A CN201811305090 A CN 201811305090A CN 109062197 A CN109062197 A CN 109062197A
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- interface
- executing agency
- disabled vehicle
- electric automobile
- hoc
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of emergency backup methods of driverless electric automobile, one ad hoc interface being connected with executing agency is increased to driverless electric automobile, ad hoc interface includes power end and signal end, is connected with executing agency constitutes power circuit and signal line respectively.When driverless electric automobile is due to short of electricity, the failures such as sensor, control computer cannot obtain external network information and lose unmanned function, but when executing agency does not damage, relief car is connected using rescue cable with disabled vehicle ad hoc interface, it is that executing agency conveys electric energy by power circuit, control instruction is provided for executing agency by signal line, realizes disabled vehicle for the servo-actuated traveling of relief car.By ad hoc interface, electric energy can also be provided for disabled vehicle using reserve battery, and the devices such as external steering wheel, plus-minus speed pedal, brake transmit control instruction, realize the rescue for disabled vehicle.
Description
Technical field
The present invention relates to vehicle control technology field, specially a kind of emergency relief side of driverless electric automobile
Method.
Background technique
Currently, not only major automobile vendor carries out unmanned test one after another with the rapid development of unmanned technology
The research and development of sample car, internet and mobile operator also actively set foot in this field, in external Google's pilotless automobile certainly
More than 1,300,000 miles of road tests are had been completed under dynamic model formula, Baidu's automatic driving car project started to walk in 2013 at home, and
The full-automatic driving under city, loop and super expressway mixing road conditions was realized in 2015, this has further speeded up nobody and has driven
Sail the process that vehicle is applied on real road；When automatic driving vehicle enters real road traveling, automatic driving vehicle occurs
How to carry out rescuing when failure just should further consider the problems of as us, before the present invention, application No. is
It is proposed in the patent of 201610621478.5 and 201711285179.X using unmanned technology, additional various rescues are set
It is standby, disabled vehicle is rescued, but carries out the case where two patents of invention are not similarly pilotless automobile to disabled vehicle special
Other places reason, for driverless electric automobile due to short of electricity, sensor controls the failures such as computer or cannot obtain external network letter
It ceases and loses unmanned function this is likely to the problem in road driving, need a kind of emergency backup methods, it should
Method should make full use of driverless electric automobile itself, not need additional various rescue aids, thus simplify rescue operations, contracting
Short rescue time, rescue driverless electric automobile timely and effectively.
Summary of the invention
It is an object of the invention to be directed to driverless electric automobile, due to short of electricity, the failures such as sensor, control computer or
External network information cannot be obtained and lose unmanned function this is likely to the problem in road driving, propose one
Kind emergency backup methods, method make full use of driverless electric automobile itself, do not need additional various rescue aids, Neng Goujian
Change rescue operations, shortens rescue time, rescue driverless electric automobile timely and effectively, avoid due to vehicle trouble
And vehicle is caused to cause danger with occupant, and account for road for a long time and impact to normal traffic.
Object of the present invention is to be achieved through the following technical solutions: increase by one and executing agency to driverless electric automobile
Connected ad hoc interface, ad hoc interface include power end and signal end, can convey electric energy by power end, can by signal end
To transmit control instruction.
The ad hoc interface considers that on-off switch is arranged in practical situations in crew module, is controlled by occupant, if connecting
Then interface can convey electric energy, transmission control instruction, and interface is invalid if closing, and prevents the hidden danger such as electric leakage.
As disabled vehicle, ad hoc interface power end and signal end are connected with executing agency respectively constitutes power circuit and signal
Route, wherein the route of power circuit and power supply to executing agency is parallel line, signal line and control computer to executing machine
The route of structure is parallel line.
As relief car, ad hoc interface (tailstock port) and own power source and rescue vehicle control are connected, the interface and
Ad hoc interface on disabled vehicle is general-purpose interface, can convey electric energy, transmission control instruction by the interface.
The ad hoc interface, when driverless electric automobile is due to the failures such as short of electricity or sensor, controller, or cannot
External network information is obtained to losing unmanned function, but when executing agency does not damage, wherein executing agency is driving electricity
Machine, steering motor and braking motor；Disabled vehicle occupant is sent an SOS by vehicle-mounted or mobile device, surrounding breakdown lorry
Can be arrived rapidly implementation rescue；Relief car is connected using rescue cable with disabled vehicle ad hoc interface, is event by power circuit
Hinder vehicle and electric energy be provided, provides control acceleration and deceleration, braking and course changing control by signal line for the executing agency of disabled vehicle and instruct,
Realize disabled vehicle for the servo-actuated traveling of relief car.
The ad hoc interface, when driverless electric automobile power supply delivers power to driving motor, steering motor, braking electricity
When the route damage of machine, electric energy can be conveyed by the power circuit that ad hoc interface power end and said mechanism are constituted；Control electricity
Brain transmit signals to driving motor, steering motor, braking motor route damage when, can by ad hoc interface signal end with it is upper
State the signal line transmission of control signals of mechanism composition.
The ad hoc interface can use reserve battery as disabled vehicle and provide electric energy, and external steering wheel, acceleration and deceleration are stepped on
The devices such as plate, brake send control instruction, rescue disabled vehicle.
Detailed description of the invention
Fig. 1 is disabled vehicle ad hoc interface of the present invention and executing agency's connection schematic diagram.
Fig. 2 is relief car of the present invention and disabled vehicle connection line schematic diagram.
Fig. 3 is the rescue cable schematic diagram that realization relief car of the present invention is connect with disabled vehicle.
Fig. 4 is realization disabled vehicle of the present invention traveling feed speed control block diagram servo-actuated for relief car.
Fig. 5 is realization disabled vehicle of the present invention traveling course changing control block diagram servo-actuated for relief car.
Specific embodiment
Specific introduction is done to the present invention below in conjunction with attached drawing and vehicle driving control process:
Ad hoc interface power end and signal end are connected with driving motor, braking motor, steering motor composition respectively as shown in Figure 1:
Power circuit and signal line, power circuit and power supply to above-mentioned executing agency power supply line and signal line and control computer extremely
The signal wire of above-mentioned executing agency is to be arranged in parallel；When driverless electric automobile is without failure, the vehicle own power source
It is that above-mentioned executing agency conveys electric energy by power supply line, itself control computer is its driving motor, braking motor by signal wire
And steering motor provides acceleration and deceleration, braking, course changing control instruction, realizes unmanned function, ad hoc interface, which is in, at this time closes
State, the power circuit and signal line that ad hoc interface to executing agency is constituted do not play a role.
When driverless electric automobile is due to the failures such as short of electricity or sensor, controller, or external network cannot be obtained
Information can enable the ad hoc interface to losing unmanned function, but when executing agency does not damage.
As shown in Figure 2: relief car is connected using rescue cable with disabled vehicle ad hoc interface, is disabled vehicle by power circuit
Electric energy is conveyed, is that acceleration and deceleration, braking and course changing control instruction are transmitted in disabled vehicle executing agency by signal line, realizes disabled vehicle
The traveling being servo-actuated for relief car.
As shown in Figure 3: relief car and disabled vehicle are attached using the reinforcing tow strap of power cable, signal cable one.
Realization disabled vehicle traveling feed speed control servo-actuated for relief car is illustrated in conjunction with Fig. 1, Fig. 2 and Fig. 4: in event
During barrier vehicle follows relief car to travel, two vehicles keep in low speed traveling, pre-set minimum front-and-rear vehicle distance S1 and most
Big front-and-rear vehicle distance S2, relief car obtain front-and-rear vehicle distance information S by sensor in real time.
As front-and-rear vehicle distance S < S1, rescue vehicle control issues control instruction, passes through the signal being connected with ad hoc interface
Route is applied to the driving motor and braking motor of disabled vehicle, implements to brake and reduces driving motor revolving speed；When actual measurement front and back vehicle
When being between S1 and S2 away from S, rescue vehicle control issues control instruction and is made by the signal line being connected with ad hoc interface
The driving motor of disabled vehicle is used, keeps driving motor revolving speed constant；When surveying front-and-rear vehicle distance S > S2, vehicle control is rescued
The driving motor that control instruction is applied to disabled vehicle by the signal line being connected with ad hoc interface is issued, driving motor is improved
Turn；Realize that two following distances are maintained between S1 and S2, it is ensured that servo-actuated traveling of the disabled vehicle for relief car.
Realization disabled vehicle traveling course changing control servo-actuated for relief car is illustrated in conjunction with Fig. 1, Fig. 2 and Fig. 5: being run over
Relief car changes in a certain position front wheel angle δ in journey, and rescue vehicle control receives the transition information of front wheel angle δ simultaneously
Control instruction is issued after doing respective handling, by lag time t, wherein lag time t is by rescue vehicle control according to rescue
The information such as truck position, travel speed and front-and-rear vehicle distance are calculated, and are applied to event by the signal line being connected with ad hoc interface
Hinder the steering motor of vehicle, control disabled vehicle front-wheel rotates equal angular in the position that relief car front wheel angle changes, and realizes
Two vehicles turn to consistent in same position, it is ensured that servo-actuated traveling of the disabled vehicle for relief car.
Claims (4)
1. a kind of emergency backup methods of driverless electric automobile, it is characterized in that: increasing by one to driverless electric automobile
The ad hoc interface being connected with executing agency, ad hoc interface include power end and signal end, respectively with driving motor, braking motor,
Steering motor, which is connected, constitutes the power supply line and signal of power circuit and signal line, power circuit and power supply to above-mentioned executing agency
Route and the signal wire of control computer to above-mentioned executing agency are to be arranged in parallel, and can convey electric energy by power end, pass through
Signal end can transmit control instruction；
The ad hoc interface, is arranged on-off switch in crew module, is controlled by occupant, if connect if interface can convey electric energy,
Control instruction is transmitted, interface is invalid if closing, and prevents the hidden danger such as electric leakage；
As disabled vehicle, ad hoc interface power end and signal end are connected with executing agency respectively constitutes power circuit and signal wire
Road, wherein power circuit and the route of power supply to executing agency are parallel line, signal line and control computer to executing agency
Route be parallel line；
As relief car, ad hoc interface is connected with own power source and rescue vehicle control, the interface with it is ad hoc on disabled vehicle
Interface is general-purpose interface, can convey electric energy, transmission control instruction by the interface；
The ad hoc interface when driverless electric automobile is due to the failures such as short of electricity or sensor, controller, or cannot obtain
External network information is to losing unmanned function, but when executing agency does not damage, and wherein executing agency is driving motor, turns
To motor and braking motor, relief car is connected using rescue cable with disabled vehicle ad hoc interface, is disabled vehicle by power circuit
Electric energy is provided, control acceleration and deceleration, braking and course changing control is provided by signal line for the executing agency of disabled vehicle and instructs, realize
Servo-actuated traveling of the disabled vehicle for relief car.
2. a kind of emergency backup methods of driverless electric automobile according to claim 1, it is characterized in that: relief car with
Disabled vehicle is attached using the reinforcing tow strap of power cable, signal cable one.
3. the emergency backup methods of a kind of driverless electric automobile according to claim 1, it is characterized in that: described ad hoc
Interface, when driverless electric automobile power supply delivers power to the route damage of driving motor, braking motor and steering motor,
Electric energy can be conveyed by the power circuit that ad hoc interface power end and said mechanism are constituted；Computer transmission signal is controlled to driving
When the route damage of motor, braking motor and steering motor, the letter of ad hoc interface signal end and said mechanism composition can be passed through
Number line transmission control instruction.
4. the emergency backup methods of a kind of driverless electric automobile according to claim 1, it is characterized in that: described ad hoc
Interface can use reserve battery as disabled vehicle and provide electric energy, and the devices such as external steering wheel, plus-minus speed pedal, brake are sent
Control instruction rescues disabled vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811305090.XA CN109062197A (en) | 2018-11-05 | 2018-11-05 | A kind of emergency backup methods of driverless electric automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811305090.XA CN109062197A (en) | 2018-11-05 | 2018-11-05 | A kind of emergency backup methods of driverless electric automobile |
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| Publication Number | Publication Date |
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| CN109062197A true CN109062197A (en) | 2018-12-21 |
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| CN201811305090.XA Pending CN109062197A (en) | 2018-11-05 | 2018-11-05 | A kind of emergency backup methods of driverless electric automobile |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111798657A (en) * | 2020-06-22 | 2020-10-20 | 广州赛特智能科技有限公司 | Automatic rescue system and method for unmanned sweeper |
| CN111857095A (en) * | 2020-07-24 | 2020-10-30 | 深圳市元征科技股份有限公司 | Self-service method and system for unmanned vehicle and related equipment |
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| CN106740057A (en) * | 2016-07-18 | 2017-05-31 | 深圳天才动力科技有限公司 | The standby electric wheel of vehicle and remote control |
| CN108725411A (en) * | 2017-04-13 | 2018-11-02 | 宁波轩悦行电动汽车服务有限公司 | The processing method of emergency situations is encountered when a kind of electric vehicle traction |
| CN108725222A (en) * | 2017-04-13 | 2018-11-02 | 宁波轩悦行电动汽车服务有限公司 | A kind of traction method when electric vehicle short of electricity |
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2018
- 2018-11-05 CN CN201811305090.XA patent/CN109062197A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130079964A1 (en) * | 2011-09-27 | 2013-03-28 | Saturna Green Systems Inc. | Vehicle communication, analysis and operation system |
| CN104333108A (en) * | 2014-11-14 | 2015-02-04 | 国网电力科学研究院武汉南瑞有限责任公司 | Electrical system of emergency rescue charging vehicle for electrical automobile and working method of electrical system |
| CN106740057A (en) * | 2016-07-18 | 2017-05-31 | 深圳天才动力科技有限公司 | The standby electric wheel of vehicle and remote control |
| CN108725411A (en) * | 2017-04-13 | 2018-11-02 | 宁波轩悦行电动汽车服务有限公司 | The processing method of emergency situations is encountered when a kind of electric vehicle traction |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111798657A (en) * | 2020-06-22 | 2020-10-20 | 广州赛特智能科技有限公司 | Automatic rescue system and method for unmanned sweeper |
| CN111798657B (en) * | 2020-06-22 | 2022-05-17 | 广州赛特智能科技有限公司 | Automatic rescue system and method for unmanned sweeper |
| CN111857095A (en) * | 2020-07-24 | 2020-10-30 | 深圳市元征科技股份有限公司 | Self-service method and system for unmanned vehicle and related equipment |
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Application publication date: 20181221 |