CN112677939A - Emergency braking device and method of intelligent driving vehicle based on edge-touching switch - Google Patents
Emergency braking device and method of intelligent driving vehicle based on edge-touching switch Download PDFInfo
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- CN112677939A CN112677939A CN202110016536.2A CN202110016536A CN112677939A CN 112677939 A CN112677939 A CN 112677939A CN 202110016536 A CN202110016536 A CN 202110016536A CN 112677939 A CN112677939 A CN 112677939A
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Abstract
The invention provides an emergency braking device and method of an intelligent driving vehicle based on a touch edge switch, comprising the following steps: the intelligent parking system comprises a mode switch for setting driving mode information, a vehicle speed sensor for detecting the wheel rotating speed of a vehicle, a motor controller for controlling the motor revolution of the vehicle, a touch switch for detecting the collision state of the vehicle in real time, an electronic hydraulic brake controller for generating a brake instruction according to an emergency stop signal, a brake actuator for braking the brake instruction, an electronic parking brake controller for receiving a parking signal, a parking actuator for parking according to the parking instruction, a CAN bus and an intelligent driving controller; the touch switch is adopted to trigger the emergency brake, so that the emergency brake device and the method for the intelligent driving vehicle based on the touch switch can be effectively applicable to a driving mode and a parking mode of intelligent driving, and the device is simple in structure, low in cost, convenient and fast to install and easy to replace and maintain.
Description
Technical Field
The invention belongs to the technical field of vehicle control, and particularly relates to an emergency braking device and method of an intelligent driving vehicle based on a touch edge switch.
Background
In the field of automatic driving, when a drive-by-wire vehicle is built and modified, the drive-by-wire modification and modification are often performed based on the existing mature vehicle. At present, even though the execution systems of many mature vehicles support electronic control, the control logic and the interaction logic of the vehicles in use are often artificially dominant, that is, people are required to actively operate the vehicles to realize the running of the vehicles. And then the upper system can be handed over to carry out electronic control. The automatic driving automobile is required to have higher-level automation and autonomy, manual operation and control and taking over of the automobile are reduced, and higher requirements are provided for wire control modification based on mature electric vehicles.
For example, chinese patent publication No. CN111873975A discloses a method, an apparatus, a system, a device, and a medium for controlling an electronic parking brake, the method comprising: acquiring driving mode information, and receiving a release request sent by an automatic driving control module when the driving mode information is in an automatic driving mode; and the whole vehicle control module is used for calculating accelerator opening information according to the analog signal and sending the accelerator opening information to the electronic parking braking system, and the electronic parking braking system is used for releasing electronic parking according to the accelerator opening information.
It can be seen that, in the prior art, the electronic parking brake system is mainly driven by the accelerator opening, the problem of emergency braking by using an electronic hydraulic brake controller is not considered, and the problems of braking and parking after collision are not considered.
Disclosure of Invention
The invention aims to provide an emergency braking device and method of an intelligent driving vehicle based on a touch edge switch, and aims to solve the problem of safe and sudden stop of the vehicle after collision in an intelligent driving or parking mode.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
the invention provides an emergency braking device of an intelligent driving vehicle based on a touch edge switch, which comprises:
the mode switching switch is used for setting driving mode information, and the driving mode information comprises an automatic driving mode, a remote control driving mode and a manual driving mode;
the vehicle speed sensor is used for detecting the wheel rotating speed of the vehicle and generating a speed signal according to the wheel rotating speed;
a motor controller for controlling the number of revolutions of a motor of the automobile;
the edge-touching switch is used for detecting the collision state of the automobile in real time and generating an emergency stop signal according to the collision state;
the electronic hydraulic brake controller is used for receiving the emergency stop signal, generating a brake instruction according to the emergency stop signal and generating brake state information;
the brake actuator is used for braking according to the brake command;
the electronic parking brake controller is used for receiving a parking signal and generating a parking instruction according to the parking signal;
the parking actuator is used for parking according to the parking instruction;
the intelligent driving controller is used for acquiring driving mode information, acquiring braking state information of the electronic hydraulic brake controller, sending a stop signal to the motor controller according to the braking state information, acquiring a speed signal and judging the vehicle speed, sending a parking signal to the electronic parking brake controller when the vehicle speed is 0, sending a release signal to the electronic hydraulic brake controller after parking, and sending exit signals to the electronic hydraulic brake controller, the electronic parking brake controller and the motor controller;
and the CAN bus is used for establishing communication channels among the intelligent driving controller, the hydraulic brake controller, the electronic parking brake controller and the motor controller.
As a further improvement of the invention, the method also comprises the following steps: the emergency stop switch is connected with the parking controller after being connected with the edge contact switch in parallel, and the parking controller is in communication connection with the CAN bus.
As a further improvement of the invention, two electrodes of the edge touching switch are connected in parallel with two ends of the emergency stop switch and then are respectively connected to a signal input end of the electronic hydraulic brake controller, a signal input end of the parking controller, a signal grounding end of the electronic hydraulic brake controller and a signal grounding end of the parking controller.
The invention also provides an emergency braking method of the intelligent driving vehicle based on the edge-touching switch, which is characterized by comprising the following steps:
s1: the intelligent driving controller controls the automobile to run according to the driving mode information, and the vehicle speed sensor detects the rotating speed of the wheels in real time, converts the rotating speed into a speed signal and feeds the speed signal back to the intelligent driving controller;
s2: the electronic hydraulic brake controller receives an emergency stop signal of the edge touching switch in real time, and when the emergency stop signal is generated, the electronic hydraulic brake controller sends a brake instruction to the brake actuator to brake, and feeds back brake state information to the intelligent driving controller through the CAN bus;
s3: after receiving the braking state information, the intelligent driving controller sends a shutdown signal to the motor controller through the CAN bus; meanwhile, the speed of the received speed signal is judged, when the speed of the vehicle is 0, a parking signal is sent to the electronic parking brake controller through the CAN bus, and the electronic parking brake controller sends a parking instruction to a parking actuator according to the parking signal to park the vehicle;
s4: after parking, the intelligent driving controller sends a release signal to the electronic hydraulic brake controller, and sends an exit signal to the electronic hydraulic brake controller, the electronic parking brake controller and the motor controller.
As a further improvement of the present invention, in step S2, the electronic hydraulic brake controller receives the emergency stop signal generated by the edge touching switch and/or the emergency stop switch in real time.
As a further improvement of the invention, the parking controller receives the emergency stop signal generated by the edge touching switch and/or the emergency stop switch in real time, and the parking controller exits the parking state after the emergency stop signal is generated.
The invention has the advantages that:
the touch switch is adopted to trigger the emergency brake, so that the emergency brake device and the method for the intelligent driving vehicle based on the touch switch can be effectively applicable to a driving mode and a parking mode of intelligent driving, and the device is simple in structure, low in cost, convenient and fast to install and easy to replace and maintain.
Drawings
Fig. 1 is a schematic structural view of an emergency brake apparatus according to the present invention;
FIG. 2 is a schematic view of the installation position of the edge contact switch according to the present invention;
FIG. 3 is a schematic structural diagram of a touch edge switch according to the present invention;
fig. 4 is a schematic wiring diagram of the edge contact switch according to the present invention.
In the figure: 100-automobile, 200-intelligent driving controller, 201-mode selector switch, 202-vehicle speed sensor, 300-CAN bus, 400-electronic hydraulic brake controller, 401-brake actuator, 500-electronic parking brake controller, 501-parking actuator, 600-motor controller, 700-edge touch switch, 701-first electrode, 702-second electrode, 800-parking controller and 900-emergency stop switch.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail by embodiments with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
An embodiment of the present invention provides an emergency braking device for an intelligent driving vehicle based on a touch edge switch, as shown in fig. 1, including:
the mode change-over switch 201 is used for setting driving mode information, the driving mode information comprises an automatic driving mode, a remote control driving mode and a manual driving mode, the mode change-over switch 201 is connected with the intelligent driving controller 200 through a line, a driver CAN select automatic driving, remote control driving or manual driving through the mode change-over switch 201 before the automobile starts, and after the selection of the driver is completed, the intelligent driving controller 200 acquires the driving mode information and sends a driving signal to the motor controller 600 through the CAN bus 300 to drive the automobile 100 to run;
the vehicle speed sensor 202 is used for detecting the wheel rotating speed of the vehicle 100 and generating a speed signal according to the wheel rotating speed, the vehicle speed sensor 202 is connected with the intelligent driving controller 200 through a line, and the vehicle speed sensor 202 detects the wheel rotating speed in real time, converts the wheel rotating speed into the speed signal and feeds the speed signal back to the intelligent driving controller 200;
a motor controller 600 for controlling the number of revolutions of a motor of the automobile 100, the motor controller 600 receiving a driving signal and a stop signal of the intelligent driving controller 200 through the CAN bus 300;
the trigger switch 700 is used for detecting the collision state of the automobile 100 in real time, as shown in fig. 2, the trigger switch 700 may be arranged in front of, on two sides of, or behind the automobile 100, and the number of steps of the trigger switch 700 may be customized according to actual requirements, as shown in fig. 3, the trigger switch 700 has a first electrode 701 and a second electrode 702, when a collision occurs, due to deformation, the first electrode 701 and the second electrode 702 are in contact conduction and generate an emergency stop signal, and the trigger switch 700 is connected with the electronic hydraulic brake controller 400 through a wire to send the emergency stop signal to the electronic hydraulic brake controller 400; in fig. 3, a shell of the edge-touching switch 700 is made of an adhesive tape, the first electrode 701 is convex, the second electrode 702 is concave arc, and when collision occurs, the convex first electrode 701 impacts the concave arc second electrode 702, so that two ends of the concave arc second electrode 702 are bent upwards and deformed to clamp the convex first electrode 701, and a generated emergency stop signal is more stable;
the electronic hydraulic brake controller 400 is connected with the brake actuator 401 through a wire, the electronic hydraulic brake controller 400 generates a brake instruction according to the emergency stop signal and sends the brake instruction to the brake actuator 401, meanwhile, brake state information is generated and fed back to the intelligent driving controller 200 through the CAN bus 300, and the brake actuator 401 performs braking according to the brake instruction;
the intelligent driving controller 200 acquires the braking state information of the electronic hydraulic brake controller 400 through the CAN bus 300, sends a stop signal to the motor controller 600 through the CAN bus 300 according to the braking state information, acquires a speed signal and judges the vehicle speed, and sends a parking signal to the electronic parking brake controller 500 through the CAN bus 300 when the vehicle speed is 0; the electronic parking brake controller 500 is configured to generate a parking instruction according to the parking signal and send the parking instruction to the parking actuator 501, and the parking actuator 501 performs parking according to the received parking instruction;
after parking, the intelligent driving controller 200 sends a release signal to the electronic hydraulic brake controller 400 through the CAN bus 300, and the electronic hydraulic brake controller 400 receives the release signal and then controls the brake actuator 401 to quit pressure maintenance;
the intelligent driving controller 200 also sends an exit signal to the electronic hydraulic brake control 400, the electronic parking brake controller 500, and the motor controller 600 through the CAN bus 300 to exit the current driving mode.
In one embodiment, with continuing reference to fig. 1, in order to further introduce a touchdown scram during parking and to implement the scram by a button, a parking controller 800 and a scram switch 900 may be further disposed, the scram switch 900 is connected to the parking controller 800 after being connected in parallel with the touchdown switch 700, the parking controller 800 is communicatively connected to the CAN bus 300, and the touchdown switch 700 and/or the scram switch 900 are turned on during parking or driving, so as to generate a scram signal, thereby terminating the parking process or driving process.
In one embodiment, in order to further achieve a better touch edge emergency stop or switch emergency stop effect, as shown in fig. 4, a touch edge switch 700 and one emergency stop switch 900 are arranged, two or more touch edge switches 700 may be arranged, and two electrodes of the touch edge switch 700 are connected in parallel with two ends of the emergency stop switch 900 and then respectively connected to a signal input terminal SIG of the electronic hydraulic brake controller 400, a signal input terminal SIG of the parking controller 800, a signal ground terminal GND of the electronic hydraulic brake controller 400, and a signal ground terminal GND of the parking controller 800; through the above connection line arrangement, after any one or more of the edge touching switch 700 and the emergency stop switch 900 is turned on, the signal input terminal SIG of the electronic hydraulic brake controller 400 and the signal input terminal SIG of the parking controller 800 can generate the emergency stop signal of low level.
The invention also provides an emergency braking method of the intelligent driving vehicle based on the edge-touching switch, which is characterized by comprising the following steps:
s1: the driving mode information is set through the mode switching switch 201, the intelligent driving controller 200 controls the automobile to run according to the driving mode information, and the vehicle speed sensor 202 detects the rotating speed of the wheels in real time, converts the rotating speed into a speed signal and feeds the speed signal back to the intelligent driving controller 200;
s2: the electronic hydraulic brake controller 400 receives an emergency stop signal of the edge touching switch 700 in real time, when the emergency stop signal is generated, the electronic hydraulic brake controller 400 sends a brake instruction to the brake actuator 401 for braking, and feeds back brake state information to the intelligent driving controller 200 through the CAN bus 300;
s3: after receiving the braking state information, the intelligent driving controller 200 sends a stop signal to the motor controller 600 through the CAN bus 300; meanwhile, the speed of the received speed signal is judged, when the speed of the vehicle is 0, a parking signal is sent to the electronic parking brake controller 500 through the CAN bus 300, and the electronic parking brake controller 500 sends a parking instruction to the parking actuator 501 according to the parking signal to park the vehicle;
s4: after parking, the intelligent driving controller 200 sends a release signal to the electronic hydraulic brake controller 400, the electronic hydraulic brake controller 400 receives the release signal and then controls the brake actuator 401 to exit from pressure maintenance, and the intelligent driving controller 200 further sends exit signals to the electronic hydraulic brake controller 400, the electronic parking brake controller 500 and the motor controller 600 through the CAN bus 300 to exit from the current driving mode.
In one embodiment, in step S2, the electronic hydraulic brake controller 400 receives in real time the scram signal generated by the touchedge switch 700 and/or the scram switch 900.
In one embodiment, the parking controller 800 receives the emergency stop signal generated by the edge touch switch 700 and/or the emergency stop switch 900 in real time, and the parking controller 800 exits the parking state when the emergency stop signal is generated.
Reference in the specification to "some embodiments," "one embodiment," or "an embodiment," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrases "in some embodiments," "in one embodiment," or "in an embodiment," or the like, in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Additionally, the various elements of the drawings of the present application are merely schematic illustrations and are not drawn to scale.
Having thus described several aspects of at least one embodiment of this invention, it is to be appreciated various alterations, modifications, and improvements will readily occur to those skilled in the art. Such alterations, modifications, and improvements are intended to be within the spirit and scope of the invention.
Claims (6)
1. The utility model provides an emergency braking device of intelligence driving car based on touch limit switch which characterized in that includes:
the mode switching switch is used for setting driving mode information, and the driving mode information comprises an automatic driving mode, a remote control driving mode and a manual driving mode;
the vehicle speed sensor is used for detecting the wheel rotating speed of the vehicle and generating a speed signal according to the wheel rotating speed;
a motor controller for controlling the number of revolutions of a motor of the automobile;
the edge-touching switch is used for detecting the collision state of the automobile in real time and generating an emergency stop signal according to the collision state;
the electronic hydraulic brake controller is used for receiving the emergency stop signal, generating a brake instruction according to the emergency stop signal and generating brake state information;
the brake actuator is used for braking according to the brake command;
the electronic parking brake controller is used for receiving a parking signal and generating a parking instruction according to the parking signal;
the parking actuator is used for parking according to the parking instruction;
the intelligent driving controller is used for acquiring driving mode information, acquiring braking state information of the electronic hydraulic brake controller, sending a stop signal to the motor controller according to the braking state information, acquiring a speed signal and judging the vehicle speed, sending a parking signal to the electronic parking brake controller when the vehicle speed is 0, sending a release signal to the electronic hydraulic brake controller after parking, and sending exit signals to the electronic hydraulic brake controller, the electronic parking brake controller and the motor controller;
and the CAN bus is used for establishing communication channels among the intelligent driving controller, the hydraulic brake controller, the electronic parking brake controller and the motor controller.
2. The intelligent driving vehicle emergency brake device based on the touch edge switch as claimed in claim 1, further comprising:
the emergency stop switch is connected with the parking controller after being connected with the edge contact switch in parallel, and the parking controller is in communication connection with the CAN bus.
3. The smart car emergency brake device based on the edge-touching switch as claimed in claim 2, wherein:
two electrodes of the edge touching switch are connected with two ends of the emergency stop switch in parallel and then are respectively connected with a signal input end of the electronic hydraulic brake controller, a signal input end of the parking controller, a signal grounding end of the electronic hydraulic brake controller and a signal grounding end of the parking controller.
4. An emergency braking method of an intelligent driving vehicle based on a touch edge switch is characterized by comprising the following steps:
s1: the intelligent driving controller controls the automobile to run according to the driving mode information, and the vehicle speed sensor detects the rotating speed of the wheels in real time, converts the rotating speed into a speed signal and feeds the speed signal back to the intelligent driving controller;
s2: the electronic hydraulic brake controller receives an emergency stop signal of the edge touching switch in real time, and when the emergency stop signal is generated, the electronic hydraulic brake controller sends a brake instruction to the brake actuator to brake, and feeds back brake state information to the intelligent driving controller through the CAN bus;
s3: after receiving the braking state information, the intelligent driving controller sends a shutdown signal to the motor controller through the CAN bus; meanwhile, the speed of the received speed signal is judged, when the speed of the vehicle is 0, a parking signal is sent to the electronic parking brake controller through the CAN bus, and the electronic parking brake controller sends a parking instruction to a parking actuator according to the parking signal to park the vehicle;
s4: after parking, the intelligent driving controller sends a release signal to the electronic hydraulic brake controller, and sends an exit signal to the electronic hydraulic brake controller, the electronic parking brake controller and the motor controller.
5. The emergency braking method for intelligent driving vehicle based on the touch edge switch as claimed in claim 4, wherein: in step S2, the electronic hydraulic brake controller receives the scram signal generated by the edge-touching switch and/or the scram switch in real time.
6. The emergency braking method for intelligent driving vehicle based on the touch edge switch as claimed in claim 5, wherein: the parking controller receives the emergency stop signal generated by the edge touching switch and/or the emergency stop switch in real time, and the parking controller quits the parking state after the emergency stop signal is generated.
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| CN202110016536.2A CN112677939A (en) | 2021-01-07 | 2021-01-07 | Emergency braking device and method of intelligent driving vehicle based on edge-touching switch |
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| CN202110016536.2A CN112677939A (en) | 2021-01-07 | 2021-01-07 | Emergency braking device and method of intelligent driving vehicle based on edge-touching switch |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113044010A (en) * | 2021-04-22 | 2021-06-29 | 郑州郑飞特种装备有限公司 | Vehicle collision braking control system and control method |
| CN113911137A (en) * | 2021-11-10 | 2022-01-11 | 清华大学苏州汽车研究院（吴江） | Vehicle sudden stop system and vehicle control method |
| CN114291054A (en) * | 2021-12-31 | 2022-04-08 | 广西汽车集团有限公司 | Service brake joint control system, service brake control method and vehicle |
| CN114559911A (en) * | 2022-04-26 | 2022-05-31 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle collision control system and method |
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Application publication date: 20210420 |