CN109334653A - A kind of pilotless automobile chassis braking system backup method - Google Patents
A kind of pilotless automobile chassis braking system backup method Download PDFInfo
- Publication number
- CN109334653A CN109334653A CN201811351257.6A CN201811351257A CN109334653A CN 109334653 A CN109334653 A CN 109334653A CN 201811351257 A CN201811351257 A CN 201811351257A CN 109334653 A CN109334653 A CN 109334653A
- Authority
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- China
- Prior art keywords
- vehicle
- braking
- braking system
- pilotless automobile
- automobile chassis
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of pilotless automobile chassis braking system backup methods, include: initialization, obtain external information and intelligent decision, fault detection, system performance degradation, system execution control instruction, to realize the back-up job of motor vehicle braking system, prevent motor vehicle braking system from going wrong rear vehicle the phenomenon that paralysing immediately, causing traffic accident or traffic congestion generation.
Description
Technical field
The present invention relates to a kind of pilotless automobile chassis braking system backup methods, and in particular to one kind has highly reliable
The carrying out safety backup method of the automatic driving vehicle chassis braking system of property.
Background technique
With the development and propulsion of unmanned technology, automatic driving vehicle chassis structure is increasingly becomed with control method
Instantly research hotspot, the relevant technologies achievement is also constantly to marketing.Common unmanned chassis structure is based on biography
The chassis of system vehicle is reequiped, and the braking system of vehicle is monistic braking system, once braking system breaks down, vehicle
Then it is unable to complete normal driveability.
Driver is not present in pilotless automobile, vehicle cannot timely take maintenance and emergency measure once paralysing,
It is easy to produce traffic accident and traffic congestion.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of pilotless automobile chassis braking system backup method.
Include:
A. it initializes: completing to power on vehicle movement, Unmanned Systems' starting, and complete system initialization,
B. obtain external information and intelligent decision: domain controller receives external information and order, and completes corresponding analysis
It calculates,
C. fault detection: fault detection is carried out to pilotless automobile chassis braking system, is entered if without failure
Step e, if there is problem, system then carries out performance degradation step d,
D. braking system performance degradation: vehicle braking system carries out different degradation strategies for different fault modes,
E. system executes control instruction: each executing agency of pilotless automobile completes corresponding control instruction, and constantly will
Vehicle real time is fed back into domain controller；
More preferred, the braking system performance degradation includes:
When line control brake system failure, electronic brake device complete independently vehicle braking, vehicle continues to work as
Preceding driving status, alert, stop-for-waiting is repaired after completing assigned tasks,
When electronic brake plant failure, the braking of line control brake system complete independently, vehicle continues to current
Driving status, alert, stop-for-waiting is repaired after completing assigned tasks,
When line control brake system and electronic brake device whole failure, vehicle utilizes the anti-dragged brake of drive system
The braking maneuver for completing vehicle jointly with collaboration steering system, makes vehicle execute pulling over observing, alert and vehicle at once
Position, waiting repair.
Or it is one such in above-mentioned three kinds of degraded modes.
Wherein, the alert includes:
By the acoustic-optic alarm alert of vehicle itself,
Vehicle trouble warning message is sent to terminal platform by way of vehicle remote data interaction；
Wherein, system execution control instruction includes:
Vehicle is driven, including advances, retreat,
Vehicle is turned to,
Vehicle is braked, parking；
Detailed description of the invention
Fig. 1 is automatic driving vehicle chassis system structural schematic diagram
Fig. 2 is automatic driving vehicle chassis system control flow chart
Fig. 3 is braking system performance degradation flow chart
Specific embodiment
Pilotless automobile chassis braking system backup method of the invention is described in detail with reference to the accompanying drawing.
Fig. 1 is automatic driving vehicle chassis system structural schematic diagram, including domain controller 100, drive-by-wire chassis 200, line traffic control
Chassis master controller 300, safe pilot controller 400, drive-by-wire chassis 200 include the driving dress of first driving device 211, second again
Set the 212, first steer by wire apparatus 221, the second steer by wire apparatus 222, line control brake system 230, electronic brake dress
240, power supply system 250 is set, line control brake system 230 includes including brake-by-wire device 231 and wheel cylinder 232, power supply again
System 250 includes the first power supply system 251 and the second power supply system 252 again.
The signal data that wherein domain controller 100 is mainly passed to outside is handled, judged and is analyzed, and is ultimately formed certainly
Drive-by-wire chassis master controller 300 and safe pilot controller 400 are distributed in plan order；
Drive-by-wire chassis 200 includes driving device 210, transfer 220 and line control brake system 230, electronic parking system
Dynamic device 240, and these devices can independent control, while drive-by-wire chassis 200 further includes power supply system 250, brake-by-wire system
System 230 includes brake-by-wire device 231 (BBW) and wheel cylinder 232.
Wherein, driving device 210 includes first driving device 211 and the second driving device 212；
Wherein, transfer 220 includes the first steer by wire apparatus 221 and the second steer by wire apparatus 222；
Drive-by-wire chassis master controller 300 is by receiving domain controller 100, safe pilot controller 400, drive-by-wire chassis 200
The control instruction information and car status information that interior each system and device is sent control first driving device 211, the first steering-by-wire
Device 221 and line control brake system 230；Safe pilot controller 400 is by receiving domain controller 100, drive-by-wire chassis main control
The control instruction information and car status information that each system and device is sent in device 300, drive-by-wire chassis 200 control the second driving device
212, the second steer by wire apparatus 222 and electronic brake device 240；
Relevant information is fed back to domain controller 100 and drive-by-wire chassis master controller 300 by safe pilot controller 400；Line
Control chassis master controller 300 and safe pilot controller 400 can both cooperate, and can also work independently；
Fig. 2 is automatic driving vehicle chassis system control flow chart, and Fig. 3 is then to drop in Fig. 2 to braking system performance
The control flow chart that grade is further spread out.
Domain controller 100 receives external information and order, and carries out comprehensive analysis to information, form decision and send control
System instruction is to drive-by-wire chassis master controller 300 and safe pilot controller 400.
The upper control command information of the reception domain controller 100 of drive-by-wire chassis master controller 300 and safe pilot controller
400 auxiliary sent drive information of vehicles, according to dynamics of vehicle and kinematics characteristic, send control instruction and assist controlling to safety
Device 400 processed, and line control brake system 230, the first steer by wire apparatus 221 and first driving device 211 are controlled, realize vehicle
Dynamics and kinematics control
Safe pilot controller 400 receive the control instruction that domain controller 100 and drive-by-wire chassis master controller 300 send,
The information such as peripheral environment, vehicle-state are modified simultaneously the control instruction of vehicle by assisting the verifying of control algolithm safely
Drive-by-wire chassis master controller 300 is fed back to, while controlling electronic brake device 240, the second steer by wire apparatus 222 and
Two driving devices 212, cooperation drive-by-wire chassis master controller 400 realize the dynamics and kinematics control of vehicle.
Drive-by-wire chassis master controller 300 and safe pilot controller 400 Collaborative Control vehicle in the case where working properly
State, realize high-freedom degree, high-comfort, high security, low energy consumption drive demand, when one of controller fail
When, another set of controller can control a set of line control system executing agency in drive-by-wire chassis, realize the failure of motor vehicle braking system
The needs of backup, various driving performances degrade when meeting vehicle trouble.
Specific method the following steps are included:
Include:
A. it initializes: completing to power on vehicle movement, Unmanned Systems' starting, and complete system initialization,
B. obtain external information and intelligent decision: domain controller 100 receives external information and order, and completes corresponding point
Analysis calculates,
C. fault detection: fault detection is carried out to pilotless automobile chassis braking system, is entered if without failure
Step e, if there is problem, system then carries out performance degradation step d,
D. braking system performance degradation: vehicle braking system carries out different degradation strategies for different fault modes,
E. system executes control instruction: each executing agency of pilotless automobile completes corresponding control instruction, and constantly will
Vehicle real time is fed back into domain controller；
More preferred, the braking system performance degradation includes:
When 230 failure of line control brake system, electronic brake device complete independently vehicle braking, vehicle is continued to
Current driving status, alert, stop-for-waiting is repaired after completing assigned tasks,
When electronic brake 240 failure of device, line control brake system complete independently braking, vehicle is continued to currently
Driving status, alert, complete assigned tasks after stop-for-waiting repair,
When 240 whole failure of line control brake system 230 and electronic brake device, vehicle utilizes drive system 210
Anti-dragged brake and collaboration steering system complete the braking maneuver of vehicle jointly, so that vehicle is executed pulling over observing at once, issue report
Alert information and vehicle location, waiting repair.
Or it is one such in above-mentioned three kinds of degraded modes.
Wherein, the alert includes:
By the acoustic-optic alarm alert of vehicle itself,
Vehicle trouble warning message is sent to terminal platform by way of vehicle remote data interaction；
Wherein, system execution control instruction may include:
By the driving device 210 of vehicle, vehicle is driven, drive mode includes advancing, retreating；
By the transfer 220 of vehicle, course changing control is carried out to vehicle；
By the line control brake system 230 of vehicle, the control for brake of vehicle is completed；
By the electronic brake device 240 of vehicle, the parking parking toll of vehicle is completed.
Claims (8)
1. a kind of pilotless automobile chassis braking system backup method, which comprises the following steps:
A. it initializes: completing to power on vehicle movement, Unmanned Systems' starting, and complete system initialization,
B. obtain external information and intelligent decision: domain controller receives external information and order, and completes corresponding analytical calculation,
C. fault detection: fault detection is carried out to pilotless automobile chassis braking system, is entered step if without failure
E, if there is problem, system then carries out performance degradation step d,
D. braking system performance degradation: vehicle braking system carries out different degradation strategies for different fault modes,
E. system executes control instruction: each executing agency of pilotless automobile completes corresponding control instruction, and constantly by vehicle
Real time information is fed back into domain controller.
2. pilotless automobile chassis braking system backup method according to claim 1, the braking system performance
Degradation includes:
When line control brake system failure, electronic brake device complete independently vehicle braking, vehicle continues to current
Driving status, alert, stop-for-waiting is repaired after completing assigned tasks.
3. pilotless automobile chassis braking system backup method according to claim 1, the braking system performance
Degradation includes:
When electronic brake plant failure, line control brake system complete independently braking, vehicle continues to current traveling
State, alert, stop-for-waiting is repaired after completing assigned tasks.
4. pilotless automobile chassis braking system backup method according to claim 1, the braking system performance
Degradation includes:
When line control brake system and electronic brake device whole failure, anti-dragged brake and association of the vehicle using drive system
The braking maneuver for completing vehicle jointly with steering system makes vehicle execute pulling over observing, alert and vehicle position at once
It sets, waiting repair.
5. pilotless automobile chassis braking system backup method according to claim 1, the braking system performance
Degradation includes:
When line control brake system failure, electronic brake device complete independently vehicle braking, vehicle continues to current
Driving status, alert, stop-for-waiting is repaired after completing assigned tasks,
When electronic brake plant failure, line control brake system complete independently braking, vehicle continues to current traveling
State, alert, stop-for-waiting is repaired after completing assigned tasks,
When line control brake system and electronic brake device whole failure, anti-dragged brake and association of the vehicle using drive system
The braking maneuver for completing vehicle jointly with steering system makes vehicle execute pulling over observing, alert and vehicle position at once
It sets, waiting repair.
6. braking backup method, the sending report according to any one pilotless automobile chassis described in claim 2-5
Warning information includes:
By the acoustic-optic alarm alert of vehicle itself,
Vehicle trouble warning message is sent to terminal platform by way of vehicle remote data interaction.
7. any one pilotless automobile chassis braking system backup method described in -5 according to claim 1, described is
System executes control instruction
Vehicle is driven, including advances, retreat,
Vehicle is turned to,
Vehicle is braked, parking.
8. pilotless automobile chassis braking system backup method according to claim 6, the system execute control
Instruction includes:
Vehicle is driven, including advances, retreat,
Vehicle is turned to,
Vehicle is braked, parking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811351257.6A CN109334653A (en) | 2018-11-12 | 2018-11-12 | A kind of pilotless automobile chassis braking system backup method |
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| CN201811351257.6A CN109334653A (en) | 2018-11-12 | 2018-11-12 | A kind of pilotless automobile chassis braking system backup method |
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| CN109334653A true CN109334653A (en) | 2019-02-15 |
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| CN201811351257.6A Pending CN109334653A (en) | 2018-11-12 | 2018-11-12 | A kind of pilotless automobile chassis braking system backup method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110606070A (en) * | 2019-08-30 | 2019-12-24 | 驭势科技（北京）有限公司 | Intelligent driving vehicle and braking method thereof, vehicle-mounted equipment and storage medium |
| CN114506303A (en) * | 2022-02-16 | 2022-05-17 | 江铃汽车股份有限公司 | Automatic driving and braking control system and method for pure electric logistic vehicle |
| CN114701518A (en) * | 2022-04-11 | 2022-07-05 | 中国重汽集团济南动力有限公司 | Heavy truck brake-by-wire braking device and braking method |
| CN114701469A (en) * | 2022-03-30 | 2022-07-05 | 中兴智能汽车有限公司 | High-redundancy line-controlled chassis braking system architecture and method |
| CN114701470A (en) * | 2022-04-12 | 2022-07-05 | 福建盛海智能科技有限公司 | Double-line control brake system and method for unmanned vehicle |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110606070A (en) * | 2019-08-30 | 2019-12-24 | 驭势科技（北京）有限公司 | Intelligent driving vehicle and braking method thereof, vehicle-mounted equipment and storage medium |
| CN110606070B (en) * | 2019-08-30 | 2021-11-02 | 驭势科技（北京）有限公司 | Intelligent driving vehicle and braking method thereof, vehicle-mounted equipment and storage medium |
| CN114506303A (en) * | 2022-02-16 | 2022-05-17 | 江铃汽车股份有限公司 | Automatic driving and braking control system and method for pure electric logistic vehicle |
| CN114701469A (en) * | 2022-03-30 | 2022-07-05 | 中兴智能汽车有限公司 | High-redundancy line-controlled chassis braking system architecture and method |
| CN114701518A (en) * | 2022-04-11 | 2022-07-05 | 中国重汽集团济南动力有限公司 | Heavy truck brake-by-wire braking device and braking method |
| CN114701518B (en) * | 2022-04-11 | 2024-09-13 | 中国重汽集团济南动力有限公司 | Brake device and brake method for heavy truck brake-by-wire |
| CN114701470A (en) * | 2022-04-12 | 2022-07-05 | 福建盛海智能科技有限公司 | Double-line control brake system and method for unmanned vehicle |
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| CB02 | Change of applicant information |
Address after: Room 1110-b, 11 / F, building 5, 2266 Taiyang Road, high speed rail new town, Xiangcheng District, Suzhou City, Jiangsu Province Applicant after: Qingzhi automobile technology (Suzhou) Co.,Ltd. Address before: No. 15, Hongcheng Road, Huaming high tech Zone, Dongli District, Tianjin Applicant before: TIANJIN TSINTEL TECHNOLOGY Co.,Ltd. |
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Application publication date: 20190215 |
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