CN111439245A - Unmanned vehicle and safety detection method of brake system of unmanned vehicle - Google Patents
Unmanned vehicle and safety detection method of brake system of unmanned vehicle Download PDFInfo
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- CN111439245A CN111439245A CN202010298696.6A CN202010298696A CN111439245A CN 111439245 A CN111439245 A CN 111439245A CN 202010298696 A CN202010298696 A CN 202010298696A CN 111439245 A CN111439245 A CN 111439245A
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- Automation & Control Theory (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention relates to the field of automatic driving, unmanned driving and unmanned vehicles, and discloses an unmanned vehicle and a safety detection method of a brake system of the unmanned vehicle. Therefore, the working state of the brake system can be judged in real time by detecting the brake parameters of the brake system of the unmanned vehicle (such as an unmanned vehicle), and the safety of the whole vehicle is ensured.
Description
Technical Field
The invention relates to the fields of automatic driving, unmanned driving and unmanned vehicles, in particular to an unmanned vehicle and a safety detection method of a brake system of the unmanned vehicle.
Background
With the development of scientific and technological technology, unmanned vehicles slowly enter the lives of people, and safety hazards are brought to people while the lives of people are improved, so that the improvement of the safety performance of unmanned vehicles is an important task in the unmanned industry, the brake system is directly related to the safety performance of unmanned vehicles, and the diagnosis method for self-checking of the brake system is very important as no people directly feel braking.
The existing brake systems are mainly divided into a mechanical brake-by-wire system and a hydraulic brake-by-wire system. The current Electro-mechanical brake (EMB) technology presents many advantages, such as: the whole system is not connected with a brake pipeline, the structure is simple, the size is small, signals are transmitted through electricity, the response is sensitive, the braking distance is reduced, the work is stable, the maintenance is simple, no hydraulic oil pipeline exists, the problem of hydraulic oil leakage does not exist, and the like. But at the present time, the technology is not mature and few are fitted on conventional vehicles.
In the existing scheme, most of traditional hydraulic brake-by-wire schemes are based on an electronic brake pedal and a drive-by-wire brake scheme, for a low-speed unmanned vehicle, a cab is not arranged, and a brake pedal is lacked, so that a brake force is generated in a vehicle brake system by means of brake hydraulic pressure to brake the vehicle, the state of the brake system cannot be detected in real time only without participation of personnel in the vehicle using process of the unmanned vehicle, the safety of the brake system is judged only through fault information reported by a brake system controller, and the safety of the brake system is not detected dynamically in real time. When brake fluid leaks or the brake distance is lengthened due to air intake, quick response cannot be realized, and potential safety hazards exist.
Disclosure of Invention
In order to solve the technical problems, the invention provides the unmanned vehicle and the safety detection method of the brake system thereof, which can judge the working state of the brake system in real time by detecting the brake parameters of the brake system, thereby ensuring the safety of the whole vehicle.
In one aspect the present invention provides an unmanned vehicle comprising a braking system, a braking system controller, a vehicle controller, and a detection module mounted on the braking system, wherein,
the vehicle controller sends a braking detection request to the braking system controller, the braking system controller controls the detection module to obtain braking parameters of the braking system, and if the braking parameters exceed a preset threshold range, the vehicle controller judges that the braking system is abnormal.
Preferably, the braking parameters comprise brake pressure information and/or brake fluid level information.
Preferably, the detection module comprises:
a liquid level sensor for sensing a brake liquid level of the unmanned vehicle, the vehicle controller determining that the braking system is abnormal in response to the brake liquid level being below a preset liquid level threshold.
Preferably, the detection module further comprises:
a pressure sensor that senses a brake pressure when the unmanned vehicle is in a first state, the vehicle controller determining that the brake system is abnormal if a time taken for the brake pressure to reach a target brake pressure is greater than a safety time threshold,
wherein the first state comprises at least one of:
after the unmanned vehicle is powered on, the unmanned vehicle does not start to run;
the unmanned vehicle changes from traveling to decelerating or stationary.
Preferably, the vehicle controller is further configured to, after determining that the brake system is abnormal, perform at least one of:
reporting an exception to a server if the unmanned vehicle is determined to be in the first state, or reporting an exception to the server after the unmanned vehicle is decelerated to a stationary state;
if it is determined that the unmanned vehicle is in the second state, decelerating the unmanned vehicle to a stationary state, reporting an anomaly to a server,
wherein the second state is that the unmanned vehicle is in a constant speed driving or acceleration driving state.
In another aspect, the present invention provides a safety detection method for a brake system of an unmanned vehicle, including:
sending a braking request to the braking system;
obtaining braking parameters of the braking system;
if the braking parameter exceeds the preset threshold range, the braking system is judged to be abnormal,
preferably, the braking parameters comprise brake pressure information and/or brake fluid level information.
Preferably, the determining that the braking system is abnormal if the braking parameter exceeds a preset threshold range includes:
the pressure sensor senses brake pressure when the unmanned vehicle is in a first state; and
if the time taken for the brake pressure to reach the target brake pressure is greater than a safety time threshold, it is determined that the brake system is abnormal,
wherein the first state comprises at least one of:
after the unmanned vehicle is powered on, the unmanned vehicle does not start to run;
the unmanned vehicle changes from traveling to decelerating or stationary.
Preferably, if the braking parameter exceeds a preset threshold range, determining that the braking system is abnormal further includes:
sensing, by the level sensor, a brake level; and
and responding to the condition that the brake liquid level is lower than a preset liquid level threshold value, and determining that the brake system is abnormal.
Preferably, after determining that the brake system is abnormal, the method further includes at least one of:
reporting an exception to a server if the unmanned vehicle is determined to be in the first state, or reporting an exception to the server after the unmanned vehicle is decelerated to a stationary state;
if it is determined that the unmanned vehicle is in the second state, decelerating the unmanned vehicle to a stationary state, reporting an anomaly to a server,
wherein the second state is that the unmanned vehicle is in a constant speed driving or acceleration driving state.
The invention has the beneficial effects that: the invention provides an unmanned vehicle and a safety detection method of a brake system thereof, wherein a brake request is sent to a brake system controller through a vehicle controller, the brake system controller controls a detection module to acquire brake parameters (such as brake pressure information and brake liquid level information) of the brake system, if the brake parameters exceed a preset threshold range, the vehicle controller judges that the brake system is abnormal and reports the brake system to a server, or reports the abnormality to the server after the unmanned vehicle is decelerated to a static state, and in this way, the working state of the brake system is judged in real time through the brake parameters of the brake system, so that the safety of the whole vehicle is ensured.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings.
FIG. 1 illustrates a schematic structural diagram of an unmanned vehicle provided by an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating a safety detection method for a brake system of an unmanned vehicle according to an embodiment of the present invention;
fig. 3 is a schematic flow chart illustrating a safety detection method for a brake system of an unmanned vehicle according to a second embodiment of the present invention;
fig. 4 is a schematic flow chart illustrating a safety detection method for a brake system of an unmanned vehicle according to a third embodiment of the present invention;
fig. 5 is a schematic flow chart illustrating a safety detection method for a brake system of an unmanned vehicle according to a fourth embodiment of the present invention;
fig. 6 is a schematic flow chart illustrating a safety detection method for a brake system of an unmanned vehicle according to a fifth embodiment of the present invention;
fig. 7 shows a schematic flow chart of a safety detection method of a brake system of an unmanned vehicle according to a sixth embodiment of the present invention;
fig. 8 is a flowchart illustrating a safety detection method for a brake system of an unmanned vehicle according to a seventh embodiment of the present invention;
fig. 9 is a schematic flow chart illustrating a safety detection method for a brake system of an unmanned vehicle according to an eighth embodiment of the present invention;
fig. 10 shows a flow chart of a safety detection method of a brake system of an unmanned vehicle according to a ninth embodiment of the present invention;
fig. 11 is a flowchart illustrating a safety detection method for a brake system of an unmanned vehicle according to a tenth embodiment of the present invention;
fig. 12 is a flowchart illustrating a safety detection method for a brake system of an unmanned vehicle according to an eleventh embodiment of the present invention;
fig. 13 is a flowchart illustrating a safety detection method for a brake system of an unmanned vehicle according to a twelfth embodiment of the present invention.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The present invention will be described in detail below with reference to the accompanying drawings.
Fig. 1 shows a schematic structural diagram of an unmanned vehicle provided by an embodiment of the present invention.
Referring to fig. 1, an embodiment of the present invention provides an unmanned vehicle 100, where the unmanned vehicle 100 includes, but is not limited to, a brake system 130, a brake system controller 120, a vehicle controller 110, and a detection module 140 installed on the brake system, and the detection module 140 includes, but is not limited to, a pressure sensor 142, for example, where the pressure sensor 142 is used to detect a brake pressure of the brake system and transmit it to the vehicle controller 110, or transmit it to the brake system controller 120 first, and then the brake system controller 120 performs signal processing and outputs it to the vehicle controller 110, which is not limited herein.
The vehicle 100 may be, but is not limited to, an unmanned vehicle or an unmanned ship, and in the embodiment of the present invention, the unmanned vehicle is taken as an example, wherein the vehicle controller 110 is a vehicle controller.
In this embodiment, the communication between the braking system 130 and the braking system controller 120, and between the braking system controller 120 and the vehicle controller 110 may be performed through a CAN bus, for example, the communication may be performed through one CAN bus or through two or even multiple CAN buses, which is convenient for safely, stably and rapidly transmitting the control command. Specifically, the vehicle controller 110 may control functions of powering on and powering off, vehicle control state, energy management, braking, parking, driving, light management, and the like of the vehicle through a network bus CAN or a hard wire, and the vehicle is effectively controlled to execute the control command by obtaining real-time and continuous operations matched and determined through the control command.
In this embodiment, the vehicle control unit 110 sends a braking request to the braking system controller 120 in the first state of the unmanned vehicle 100, for example, the braking system controller 120 controls the braking system 130 to perform corresponding actions to form braking through a control command, the pressure sensor 142 senses braking pressure, obtains target braking pressure, and obtains time taken by the braking pressure to reach the target braking pressure, if the time taken by the braking pressure to reach the target braking pressure is greater than a safety time threshold, the vehicle control unit 110 determines that the braking system 130 is abnormal, and then reports the abnormality of the braking system 130 to a server, or reports the abnormality of the braking system 130 to the server after the unmanned vehicle 100 is decelerated to a stationary state.
As a preferred technical solution, the first state includes at least one of:
after the unmanned vehicle 100 is powered on, but does not start to travel;
the unmanned vehicle 100 will change from a driving condition to a decelerating or stationary condition.
As a preferred solution, the target brake pressure may be obtained by, but not limited to, using a fixed pressure value as the target brake pressure, and/or determining the target brake pressure according to vehicle parameters,
wherein the vehicle parameter is at least one selected from, but not limited to: vehicle type, vehicle model, vehicle engine power, vehicle age, vehicle weight.
As a preferred technical solution, the detection module 140 further includes a liquid level sensor 141 installed on the brake system 130, where the liquid level sensor 141 is configured to sense a brake liquid level in real time or at regular time and transmit detected brake liquid level information to the vehicle controller 110, or transmit the detected brake liquid level information to the brake system controller 120, and then the brake system controller 120 performs signal processing and outputs the processed brake liquid level information to the vehicle controller 110, which is not limited herein.
In this embodiment, the vehicle control unit 110 may be further configured to determine that the braking system is abnormal in response to the brake liquid level being lower than a preset liquid level threshold, and then report the abnormality of the braking system 130 to a server, or report the abnormality of the braking system 130 to the server after the unmanned vehicle 100 decelerates to a stationary state.
As a preferred technical solution, the preset liquid level threshold is preset according to a vehicle parameter, wherein the vehicle parameter is at least one selected from but not limited to the following: vehicle type, vehicle model, vehicle engine power, vehicle age, vehicle weight.
As a preferred technical solution, after determining that the braking system 130 is abnormal, the vehicle control unit 110 is further configured to execute at least one of the following: reporting an abnormality to a server if it is determined that the unmanned vehicle 100 is in the first state, or reporting an abnormality of the brake system 130 to the server after decelerating the unmanned vehicle 100 to a stationary state; if it is determined that the unmanned vehicle 100 is in the second state, the unmanned vehicle 100 is decelerated to a stationary state, and an abnormality is reported to a server, wherein the second state is that the unmanned vehicle 100 is in a constant-speed running state or an acceleration running state.
Specifically, in an implementation manner of this embodiment, the vehicle control unit 110 may determine that the brake system 130 is normal or abnormal according to a real-time or timed detection result of a brake liquid level, and after determining that the brake system 130 is normal, send a braking request to the brake system controller 120, detect a braking pressure in a braking action phase of the brake system 130, determine that the brake system 130 is normal or abnormal according to the detection result, and after determining that the brake system 130 is abnormal, directly send the abnormality of the brake system 130 to a server according to that the unmanned vehicle 100 is in the first state, or report the abnormality of the brake system 130 to the server after decelerating the unmanned vehicle 100 to a stationary state; according to the second state of the unmanned vehicle 100, sending an abnormality of the brake system 130 to a server after the unmanned vehicle 100 is decelerated to a stationary state by command control.
In another implementation manner of this embodiment, the vehicle control unit 110 may determine the state of the unmanned vehicle 100, send a braking request to the braking system controller 120, the braking system 130 first detects a braking pressure, determines a detection result, determines that the braking system 130 is normal or abnormal, and after determining that the braking system 130 is abnormal, send the abnormality of the braking system 130 to a server directly or after controlling to decelerate the unmanned vehicle 100 to a stationary state by a command according to the state (the first state or the second state) of the unmanned vehicle 100; after the brake system 130 is determined to be normal, the brake system 130 performs real-time or timed detection of a brake fluid level, determines a detection result, determines that the brake system 130 is normal or abnormal, and after the brake system 130 is determined to be abnormal, transmits the abnormality of the brake system 130 to a server directly or after the unmanned vehicle 100 is decelerated to a stationary state by command control according to a state (a first state or a second state) in which the unmanned vehicle 100 is in.
In summary, the unmanned vehicle provided in the embodiment of the present invention determines the working state of the brake system by responding to the active braking request and by using the obtained brake pressure information (the time taken for the brake pressure to reach the target brake pressure) and/or the brake liquid level information in the brake system, thereby ensuring the safety of the entire vehicle.
In another aspect, an embodiment of the present invention provides a safety detection method for a brake system of an unmanned vehicle, including:
sending a braking request to the braking system;
obtaining braking parameters of the braking system;
and if the braking parameter exceeds a preset threshold range, judging that the braking system is abnormal.
Wherein the braking parameters comprise braking pressure information and/or braking liquid level information.
As a preferable technical solution, if the braking parameter exceeds a preset threshold range, the determining that the braking system is abnormal includes:
the pressure sensor senses brake pressure when the unmanned vehicle is in a first state; and
if the time taken for the brake pressure to reach the target brake pressure is greater than a safety time threshold, it is determined that the brake system is abnormal,
wherein the first state comprises at least one of:
after the unmanned vehicle is powered on, the unmanned vehicle does not start to run;
the unmanned vehicle changes from traveling to decelerating or stationary.
In this embodiment, the vehicle may be, but is not limited to, an unmanned vehicle or an unmanned ship, and in the following embodiments of the invention, the unmanned vehicle is taken as an example, where the vehicle controller corresponding to the above embodiment is a vehicle control unit.
The first implementation mode comprises the following steps:
as shown in fig. 2, a safety detection method for a brake system of an unmanned vehicle according to an embodiment of the present invention includes:
after the unmanned vehicle is powered on but does not start to run, sending a braking request to a braking system through the vehicle control unit;
sensing a brake pressure by a pressure sensor in the brake system;
taking the fixed pressure value as a target brake pressure, and/or determining the target brake pressure according to the unmanned vehicle parameters;
acquiring the time taken for the monitored brake pressure to reach a target brake pressure;
if the time is less than or equal to the safe time threshold;
sensing brake fluid level by a fluid level sensor in the brake system;
if the brake liquid level is higher than or equal to a preset liquid level threshold value, judging that the brake system is normal;
and reporting the system to a server to be normal.
In this embodiment, first, in response to a detection of a braking request for a time when a braking pressure reaches a target braking pressure, a magnitude relation between the time and a preset safety time threshold is determined, if the time is less than or equal to the preset safety time threshold, then a braking liquid level is detected, when the braking liquid level is in a safety state, that is, when the time is greater than or equal to the preset liquid level threshold, it is determined that a braking system is normal, and then the braking system is reported to a server as normal, where the safety time threshold may be a detected safety value before a finished vehicle leaves a factory, or may be set and modified according to vehicle parameters.
As a preferred technical solution, the target brake pressure is obtained by determining the target brake pressure according to a vehicle parameter, and as a preferred technical solution, the preset liquid level threshold may also be preset according to a vehicle parameter, where the vehicle parameter is at least one selected from but not limited to the following: vehicle type, vehicle model, vehicle engine power, vehicle age, vehicle weight.
It should be noted that, in the following embodiments, the selection of the vehicle parameters and the determination of the safe time threshold and the preset liquid level threshold are the same as those in the present embodiment, and are not described in detail below.
Based on the embodiment, the brake pressure and the brake liquid level are checked in sequence through the active brake request before the vehicle does not run, so that the safety of the working state of the brake system is ensured, and the potential safety hazard caused by the fact that the brake system cannot respond quickly due to brake liquid leakage or air intake in the running process is effectively eliminated, and the brake distance is lengthened and then the potential safety hazard is caused.
The second embodiment:
fig. 3 shows a safety detection method for a brake system of an unmanned vehicle according to a second embodiment of the present invention.
Specifically, the safety detection method of the brake system of the unmanned vehicle according to the present embodiment basically adopts the same steps as those of the first embodiment.
The difference lies in that: the vehicle control unit sends a braking request to the braking system when the unmanned vehicle is about to change from a driving state to a decelerating or stationary state.
Based on the embodiment, when the unmanned vehicle runs, when the vehicle brakes and decelerates or needs to stop when reaching a specified place (namely the vehicle is parked), the braking request is actively initiated, the braking pressure and the braking liquid level are checked in sequence, so that the safety of the working state of the braking system is ensured, the situation that the braking system cannot respond quickly due to brake liquid leakage or air intake in the deceleration or parking process is effectively eliminated, and the potential safety hazard caused by the fact that the braking distance is lengthened is further caused.
The third embodiment is as follows:
as shown in fig. 4, a safety detection method for a brake system of an unmanned vehicle according to a third embodiment of the present invention includes:
after the unmanned vehicle is powered on but does not start to run, sending a braking request to a braking system through the vehicle control unit;
sensing a brake pressure by a pressure sensor in the brake system;
taking the fixed pressure value as a target brake pressure, and/or determining the target brake pressure according to the unmanned vehicle parameters;
acquiring the time taken for the monitored brake pressure to reach a target brake pressure;
if the time is less than or equal to the safe time threshold;
sensing brake fluid level by a fluid level sensor in the brake system;
if the brake liquid level is lower than a preset liquid level threshold value, judging that the brake system is abnormal;
and reporting the exception to a server.
In this embodiment, first, in a state where the unmanned vehicle is powered on and has not started to run, the time taken for the brake pressure to reach the target brake pressure is detected in response to the brake request, the magnitude relation between the time and a preset safe time threshold is determined, if the time is less than or equal to the preset safe time threshold, the brake liquid level is detected again, and when the brake liquid level is lower than the preset liquid level threshold, it is determined that the brake system is abnormal, and then the abnormality of the brake system is reported to the server.
Based on the embodiment, the brake pressure and the brake liquid level are checked in sequence through the active brake request before the vehicle does not run, so that the safety of the working state of the brake system is ensured, and the safety problem caused by the fact that the brake system cannot respond quickly due to brake liquid leakage or air intake in the running process and the brake distance is lengthened is effectively avoided.
The fourth embodiment:
fig. 5 shows a safety detection method for a brake system of an unmanned vehicle according to a fourth embodiment of the present invention.
Specifically, the safety detection method of the brake system of the unmanned vehicle according to the present embodiment basically adopts the same steps as those of the third embodiment.
The difference lies in that: the vehicle control unit sends a braking request to the braking system when the unmanned vehicle is about to change from a running state to a decelerating or static state, and executes deceleration of the unmanned vehicle to the static state after judging that the braking system is abnormal, and reports the abnormality to the server.
In this embodiment, after determining that the braking system is abnormal, for example, an emergency braking instruction may be sent to a braking system controller in time through a vehicle control unit, the braking system controller sends a braking signal to the braking system in response to the emergency braking instruction, and the braking system performs braking in response to the braking signal to decelerate the unmanned vehicle to a stationary state, and then reports the abnormality of the braking system to a server.
Based on the embodiment, when the unmanned vehicle is in the running process, when the vehicle decelerates or reaches a specified place and needs to stop (namely the vehicle is parked in the front), the braking request is initiatively initiated, the braking pressure and the braking liquid level are checked in sequence, so that the safety of the working state of the braking system is ensured, the problem that the braking system cannot respond quickly due to brake liquid leakage or air intake in the deceleration or parking process is effectively eliminated, and the potential safety hazard caused by the fact that the braking distance is lengthened is further caused.
The fifth embodiment:
a safety detection method for a brake system of an unmanned vehicle according to a fifth embodiment of the present invention is, as shown in fig. 6, a safety detection method including:
after the unmanned vehicle is powered on but does not start to run, sending a braking request to a braking system through the vehicle control unit;
sensing a brake pressure by a pressure sensor in the brake system;
taking the fixed pressure value as a target brake pressure, and/or determining the target brake pressure according to the unmanned vehicle parameters;
acquiring the time taken for the monitored brake pressure to reach a target brake pressure;
if the time is larger than a safe time threshold value, judging that the brake system is abnormal;
and reporting the exception to a server.
In this embodiment, first, in a state where the unmanned vehicle is powered on and has not yet started running, the magnitude relationship between the time taken for the brake pressure to reach the target brake pressure and a preset safe time threshold is determined in response to the detection of the brake request for the time, and the abnormality of the brake system is determined in response to the time being greater than the preset safe time threshold, and then the abnormality of the brake system is reported to a server.
Based on the embodiment, the brake pressure is checked through the active brake request before the unmanned vehicle does not run, so that the safety of the working state of the brake system is ensured, and the safety problem caused by the fact that the brake system cannot respond quickly and the brake distance is lengthened in the running process is effectively avoided.
Embodiment six:
fig. 7 shows a safety detection method for a brake system of an unmanned vehicle according to a sixth embodiment of the present invention.
Specifically, the safety detection method of the brake system of the unmanned vehicle according to the present embodiment basically adopts the same steps as those of the fifth embodiment.
The difference lies in that: the vehicle control unit sends a braking request to the braking system when the unmanned vehicle is about to change from a running state to a decelerating or static state, and after the braking system is judged to be abnormal, the unmanned vehicle is decelerated to the static state, and the abnormality is reported to the server.
In this embodiment, after determining that the braking system is abnormal, for example, an emergency braking instruction may be sent to a braking system controller in time through a vehicle control unit, the braking system controller sends a braking signal to the braking system in response to the emergency braking instruction, and the braking system performs braking in response to the braking signal to decelerate the unmanned vehicle to a stationary state, and then reports the abnormality of the braking system to a server.
Based on the embodiment, when the unmanned vehicle runs, when the vehicle decelerates or needs to stop when reaching a specified place (namely the vehicle is parked), the braking request is actively initiated to check the braking pressure, so that the safety of the working state of the braking system is ensured, and the safety problem caused by the fact that the braking system cannot quickly respond to the condition and the braking distance is lengthened in the deceleration or parking process is effectively avoided.
Embodiment seven:
a safety detection method for a brake system of an unmanned vehicle according to a seventh embodiment of the present invention is, as shown in fig. 8, a safety detection method including:
determining the state that the unmanned vehicle does not start to run after being powered on, and sending a braking request to a braking system through a vehicle control unit;
sensing brake fluid level by a fluid level sensor in the brake system;
sensing a brake pressure by a pressure sensor in the brake system if the brake liquid level is greater than or equal to a preset liquid level threshold;
taking the fixed pressure value as a target brake pressure, and/or determining the target brake pressure according to the unmanned vehicle parameters;
acquiring the time taken for the monitored brake pressure to reach a target brake pressure;
if the time is less than or equal to the safe time threshold, judging that the brake system is normal;
and reporting the system to a server to be normal.
In this embodiment, the state of the unmanned vehicle is determined, when it is determined that the unmanned vehicle is in a state of being powered on but not starting to run, a braking request is sent to a braking system through a vehicle control unit, a braking liquid level is detected in real time or at regular time through a liquid level sensor, when the braking liquid level is in a safe liquid level state, that is, the braking liquid level is higher than or equal to a preset liquid level threshold value, the relation between the time taken by the braking pressure to reach a target braking pressure and the preset threshold value is judged, if the time is smaller than or equal to a safe time threshold value, the braking system is judged to be normal, and then the braking system is reported to a server to be normal.
Based on the embodiment, the brake liquid level is detected in real time or in a timing mode, and the brake pressure is detected when the brake liquid level is at the safety liquid level height, so that the safety of the working state of the brake system is guaranteed, and the potential safety hazard caused by the fact that the brake system cannot respond quickly and the brake distance is lengthened in the driving process of the vehicle is effectively eliminated.
The eighth embodiment:
a safety detection method for a brake system of an unmanned vehicle according to an eighth embodiment of the present invention is shown in fig. 9.
Specifically, the safety detection method of the brake system of the unmanned vehicle according to the present embodiment basically adopts the same steps as those of the seventh embodiment.
The difference lies in that: the vehicle control unit sends a braking request to the braking system under the condition that the unmanned vehicle is determined to be about to change from a driving state to a decelerating or static state.
Based on the embodiment, the invention can detect the brake liquid level in real time or at regular time and check the brake pressure when the brake liquid level is at the safety liquid level height, thereby ensuring the safety of the working state of the brake system and effectively eliminating the potential safety hazard caused by the fact that the brake system cannot respond quickly and the brake distance is lengthened in the deceleration or parking process of the vehicle.
The ninth embodiment:
a safety detection method for a brake system of an unmanned vehicle according to a ninth embodiment of the present invention is shown in fig. 10.
Specifically, the safety detection method of the brake system of the unmanned vehicle according to the present embodiment basically adopts the same steps as those of the seventh embodiment.
The difference lies in that: and if the time taken for the brake pressure to reach the target brake pressure is greater than the safety time threshold, judging that the brake system is abnormal, and reporting the system abnormality to a server.
Based on the embodiment, the brake liquid level is detected in real time or in a timing mode, and the brake pressure is detected when the brake liquid level is at the safety liquid level height, so that the safety of the working state of the brake system is guaranteed, and the safety problem caused by the fact that the brake system cannot respond quickly and the brake distance is lengthened in the driving process of the vehicle is effectively avoided.
Embodiment ten:
fig. 11 shows a safety detection method for a brake system of an unmanned vehicle according to a tenth embodiment of the present invention.
Specifically, the safety detection method of the brake system of the unmanned vehicle according to the present embodiment basically adopts the same steps as those of the eighth embodiment.
The difference lies in that: and if the time taken for the brake pressure to reach the target brake pressure is greater than a safety time threshold value, judging that the brake system is abnormal, decelerating the unmanned vehicle to a static state, and reporting the abnormality to a server.
In the embodiment, the state of the unmanned vehicle is determined firstly, when the unmanned vehicle is determined to be changed from a running state to a decelerating or static state, a braking request is sent to a braking system through a vehicle control unit, a braking liquid level is detected in real time or at regular time through a liquid level sensor, when the braking liquid level is in a safe liquid level state, namely the braking liquid level is higher than or equal to a preset liquid level threshold value, the relation between the time for the braking pressure to reach a target braking pressure and the preset threshold value is judged, if the time is larger than the safe time threshold value, the braking system is judged to be abnormal, then the unmanned vehicle is decelerated to the static state through command control, and the abnormality of the braking system is reported to a server.
Based on the embodiment, the brake liquid level is detected in real time or in a timing mode, and the brake pressure is detected when the brake liquid level is at the safety liquid level height, so that the safety of the working state of the brake system is guaranteed, and the safety problem caused by the fact that the brake system cannot respond quickly and the brake distance is lengthened in the deceleration or parking process of a vehicle is effectively avoided.
Embodiment eleven:
a safety detection method for a brake system of an unmanned vehicle according to an eleventh embodiment of the present invention is, as shown in fig. 12, configured to include:
sending a braking request to a braking system through a vehicle control unit;
sensing brake fluid level by a fluid level sensor in the brake system;
if the brake liquid level is lower than a preset liquid level threshold value, judging that the brake system is abnormal;
and determining the state that the unmanned vehicle does not start to run after being powered on, and reporting system abnormality to a server.
In the embodiment, the invention detects the brake liquid level in real time or at regular time by responding to the brake request, judges the brake system to be abnormal when the liquid level height is lower than the preset liquid level threshold value, and directly reports the abnormality of the brake system to the server by vehicle state detection when the vehicle is electrified and does not run.
Based on the embodiment, whether the brake system is in an abnormal working state or not is judged according to the real-time or timing detection result of the brake liquid level, so that the safety of the working state of the brake system of the vehicle is ensured, and the potential safety hazard caused by the fact that the brake system cannot respond quickly due to brake liquid leakage or air intake in the running process of the vehicle is eliminated, and the brake distance is lengthened and the potential safety hazard is further caused.
Embodiment twelve:
a safety detection method for a brake system of an unmanned vehicle according to a twelfth embodiment of the present invention is shown in fig. 13.
Specifically, the safety detection method of the brake system of the unmanned vehicle according to the present embodiment basically adopts the same steps as those of the eleventh embodiment.
The difference lies in that: after the abnormity of the braking system is judged, the fact that the unmanned vehicle is about to change from a running state to a decelerating or static state is determined, then the unmanned vehicle is decelerated to the static state, and the abnormity is reported to a server.
Based on the embodiment, the invention judges whether the brake system is in an abnormal working state by responding to the brake request, acquiring and judging the real-time or timing detection result of the brake liquid level, thereby ensuring the safety of the working state of the brake system of the vehicle, and eliminating the potential safety hazard caused by the fact that the brake system cannot respond quickly due to brake liquid leakage or air intake in the parking process of the vehicle, and the brake distance is lengthened.
In summary, the safety detection method for the unmanned vehicle according to the embodiment of the present invention can obtain the brake pressure information (the time taken for the brake pressure of the brake system to reach the target brake pressure) and/or the brake liquid level information through the active brake request to determine the working state of the brake system, thereby ensuring the safety of the entire vehicle.
It should be noted that in the description of the present invention, it is to be understood that the terms "upper", "lower", "inner", and the like, indicate orientation or positional relationship, are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Further, in this document, the contained terms "include", "contain" or any other variation thereof are intended to cover a non-exclusive inclusion, so that a process, a method, an article or an apparatus including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such process, method, article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: it should be understood that the above examples are only for clearly illustrating the present invention and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the scope of the invention.
Claims (10)
1. An unmanned vehicle comprising a braking system, a braking system controller, a vehicle controller, and a detection module mounted on the braking system, wherein,
the vehicle controller sends a braking detection request to the braking system controller, the braking system controller controls the detection module to obtain braking parameters of the braking system, and if the braking parameters exceed a preset threshold range, the vehicle controller judges that the braking system is abnormal.
2. The unmanned vehicle of claim 1, wherein the braking parameters comprise brake pressure information and/or brake fluid level information.
3. The unmanned vehicle of claim 1, wherein the detection module comprises:
a liquid level sensor for sensing a brake liquid level of the unmanned vehicle, the vehicle controller determining that the braking system is abnormal in response to the brake liquid level being below a preset liquid level threshold.
4. The unmanned vehicle of claim 1, wherein the detection module further comprises:
a pressure sensor that senses a brake pressure when the unmanned vehicle is in a first state, the vehicle controller determining that the brake system is abnormal if a time taken for the brake pressure to reach a target brake pressure is greater than a safety time threshold,
wherein the first state comprises at least one of:
after the unmanned vehicle is powered on, the unmanned vehicle does not start to run;
the unmanned vehicle changes from traveling to decelerating or stationary.
5. The unmanned vehicle of claim 1, wherein the vehicle controller, after determining that the braking system is abnormal, is further configured to perform at least one of:
reporting an exception to a server if the unmanned vehicle is determined to be in the first state, or reporting an exception to the server after the unmanned vehicle is decelerated to a stationary state;
if it is determined that the unmanned vehicle is in the second state, decelerating the unmanned vehicle to a stationary state, reporting an anomaly to a server,
wherein the second state is that the unmanned vehicle is in a constant speed driving or acceleration driving state.
6. A safety detection method of a brake system of an unmanned vehicle, comprising:
sending a braking request to the braking system;
obtaining braking parameters of the braking system;
and if the braking parameter exceeds a preset threshold range, judging that the braking system is abnormal.
7. The safety detection method according to claim 6, wherein the braking parameter comprises brake pressure information and/or brake fluid level information.
8. The safety detection method according to claim 6, wherein the determining that the brake system is abnormal if the brake parameter exceeds a preset threshold value range includes:
the pressure sensor senses brake pressure when the unmanned vehicle is in a first state; and
if the time taken for the brake pressure to reach the target brake pressure is greater than a safety time threshold, it is determined that the brake system is abnormal,
wherein the first state comprises at least one of:
after the unmanned vehicle is powered on, the unmanned vehicle does not start to run;
the unmanned vehicle changes from traveling to decelerating or stationary.
9. The safety detection method according to claim 6, wherein the determining that the brake system is abnormal if the braking parameter exceeds a preset threshold value further comprises:
sensing, by the level sensor, a brake level; and
and responding to the condition that the brake liquid level is lower than a preset liquid level threshold value, and determining that the brake system is abnormal.
10. The safety detection method according to claim 6, wherein after determining that the brake system is abnormal, the method further comprises at least one of:
reporting an exception to a server if the unmanned vehicle is determined to be in the first state, or reporting an exception to the server after the unmanned vehicle is decelerated to a stationary state;
if it is determined that the unmanned vehicle is in the second state, decelerating the unmanned vehicle to a stationary state, reporting an anomaly to a server,
wherein the second state is that the unmanned vehicle is in a constant speed driving or acceleration driving state.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010298696.6A CN111439245A (en) | 2020-04-16 | 2020-04-16 | Unmanned vehicle and safety detection method of brake system of unmanned vehicle |
| PCT/CN2020/097354 WO2021208235A1 (en) | 2020-04-16 | 2020-06-22 | Unmanned means of transport, and safety checking method for brake system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010298696.6A CN111439245A (en) | 2020-04-16 | 2020-04-16 | Unmanned vehicle and safety detection method of brake system of unmanned vehicle |
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| CN111439245A true CN111439245A (en) | 2020-07-24 |
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| CN202010298696.6A Pending CN111439245A (en) | 2020-04-16 | 2020-04-16 | Unmanned vehicle and safety detection method of brake system of unmanned vehicle |
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| WO (1) | WO2021208235A1 (en) |
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| WO2021208235A1 (en) | 2021-10-21 |
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