CN113928281A - Auxiliary braking system for instructional car and control method - Google Patents
Auxiliary braking system for instructional car and control method Download PDFInfo
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- CN113928281A CN113928281A CN202111384815.0A CN202111384815A CN113928281A CN 113928281 A CN113928281 A CN 113928281A CN 202111384815 A CN202111384815 A CN 202111384815A CN 113928281 A CN113928281 A CN 113928281A
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- braking
- learner
- brake
- driven vehicle
- condition
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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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/16—Control of vehicles or other craft
- G09B19/167—Control of land vehicles
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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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/03—Brake assistants
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses an auxiliary braking system for a learner-driven vehicle and a control method, wherein the system is applied to the learner-driven vehicle and comprises the following components: the acquisition unit is used for acquiring driving data of the learner-driven vehicle; wherein the driving data comprises environmental data and vehicle data; the control unit is used for processing the driving data to judge whether a preset braking condition is met or not; if the braking condition is met, generating a first braking signal; the action execution unit is used for controlling an execution device arranged on the learner-driven vehicle to act according to the first brake signal so as to realize auxiliary braking of the learner-driven vehicle; the executing device is connected to a brake pedal of the learner-driven vehicle through a transmission mechanism; the effect is as follows: the driving training of subject two is integrated into the actual vehicle teaching, and when abnormal conditions occur, emergency braking can be performed under the condition that no coach exists, so that the safety in the process is ensured.
Description
Technical Field
The invention relates to the technical field of auxiliary teaching of vehicles, in particular to an auxiliary braking system for a learner-driven vehicle and a control method.
Background
At present, in the driving training process of a motor vehicle, particularly in the teaching process of subject two, trainers are used for one-to-one teaching and training of trainees. Even in the later stage of the teaching stage, the coach can always supervise and guide the student on the vehicle, so that on one hand, the corresponding labor cost is increased, and on the other hand, the real driving environment is not easy to simulate. Although some training schemes of vehicle simulators appear in the prior art, the schemes are simulated through some structural arrangements, depart from real vehicle driving scenes, and are not applied to real vehicle teaching.
Therefore, how to integrate the driving training of subject two into the actual vehicle teaching and ensure the safety in the process, and when an abnormal condition occurs, the technical scheme that a coach brakes on the instructional car is the same as that of the coach can be realized is a problem to be solved at present.
Disclosure of Invention
In order to solve the above problems, the present invention provides an auxiliary braking system and a control method for a learner-driven vehicle, which integrate driving training of subject two into actual vehicle teaching and ensure safety during the process.
In a first aspect: an auxiliary braking system for a learner-driven vehicle, the system being applied to the learner-driven vehicle, the system comprising:
the acquisition unit is used for acquiring driving data of the learner-driven vehicle; wherein the driving data comprises environmental data and vehicle data;
the control unit is used for processing the driving data to judge whether a preset braking condition is met or not; if the braking condition is met, generating a first braking signal;
the action execution unit is used for controlling an execution device arranged on the learner-driven vehicle to act according to the first brake signal so as to realize auxiliary braking of the learner-driven vehicle; wherein, the actuating device is connected with the brake pedal of the instructional car through a transmission mechanism.
Preferably, the auxiliary brake system for the learner-driven vehicle further comprises an upper computer installed in the learner-driven vehicle, wherein the upper computer is used for:
and realizing data interaction with the control unit, carrying out differential positioning on the learner-driven vehicle to judge whether a second brake signal is generated or not, and transmitting the second brake signal to the control unit so as to drive the execution device to act to realize auxiliary braking.
Preferably, the control unit is further configured to:
after the auxiliary braking is finished, judging whether a preset brake releasing condition is met or not by acquiring the driving data; if the brake release condition is met, generating a brake release signal;
and the action execution unit controls the action of the execution device according to the brake release signal so as to release the auxiliary brake of the learner-driven vehicle.
Preferably, the braking conditions are multiple, different priorities are set for the braking conditions, and if two or more braking conditions occur simultaneously, processing is executed according to the priorities.
In a second aspect: a control method applied to the auxiliary braking system for the instructional car of the first aspect, the method comprising:
acquiring driving data of the learner-driven vehicle; wherein the driving data comprises environmental data and vehicle data;
processing the driving data to judge whether a preset braking condition is met; if the braking condition is met, generating a first braking signal;
controlling an executing device arranged on the learner-driven vehicle to act according to the first brake signal so as to realize auxiliary braking of the learner-driven vehicle; wherein, the actuating device is connected with the brake pedal of the instructional car through a transmission mechanism.
Preferably, the method further comprises:
through the upper computer arranged in the instructional car, data interaction is realized with a control unit in a system, differential positioning is carried out on the instructional car so as to judge whether a second brake signal is generated or not, and the second brake signal is transmitted to the control unit, so that the execution device is driven to act to realize auxiliary braking.
Preferably, the method further comprises: after the auxiliary braking is finished, judging whether a preset brake releasing condition is met or not by acquiring the driving data; if the brake release condition is met, generating a brake release signal;
and controlling the actuating device to act according to the brake release signal so as to release the auxiliary brake of the learner-driven vehicle.
Preferably, the braking conditions are multiple, different priorities are set for the braking conditions, and if two or more braking conditions occur simultaneously, processing is executed according to the priorities.
By adopting the technical scheme, the auxiliary braking system and the control method for the instructional car provided by the invention have the advantages that the system is deployed on the instructional car, the generated driving data is processed to judge whether the preset braking condition is met, and the auxiliary braking control is carried out on the instructional car when the braking condition is met; the driving training of the subject II is integrated into the actual vehicle teaching in the driving training process of the subject II, and when abnormal conditions occur, emergency braking can be performed under the condition of no coach, so that the safety in the process is ensured.
Drawings
Fig. 1 is a schematic structural diagram of an auxiliary braking system for a learner-driven vehicle according to an embodiment of the present invention;
FIG. 2 is a logic diagram for determining a braking condition according to an embodiment of the present invention;
FIG. 3 is a logic diagram of an auxiliary brake according to an embodiment of the present invention;
FIG. 4 is a logic diagram for brake release according to an embodiment of the present invention;
fig. 5 is a flowchart of a control method according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following detailed description is made with reference to the accompanying drawings and specific embodiments, and it is obvious that the described embodiments are a part of embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1 to 4, an embodiment of the present invention provides an auxiliary braking system for a learner-driven vehicle, where the system is applied to the learner-driven vehicle, and the system includes:
the acquisition unit is used for acquiring driving data of the learner-driven vehicle; wherein the driving data comprises environmental data and vehicle data.
Specifically, the acquisition unit comprises a plurality of sensors arranged on the learner-driven vehicle, including a radar sensor, a stroke acquisition sensor, a learner-driven vehicle gear and hand brake signal acquisition module, an OBD vehicle speed and rotation speed acquisition module and the like, and details are not repeated herein;
wherein, the radar distribution is as follows: the front 2 millimeter waves + the 6 ultrasonic waves on the side and the back 1 millimeter wave + the 6 ultrasonic waves on the side;
the gear and the hand brake state can be acquired through a gear sensor and a hand brake signal wire connected into the vehicle;
and reading the vehicle state through a vehicle OBD interface by adopting a CAN protocol, and monitoring the vehicle state to make a corresponding response.
The control unit is used for processing the driving data to judge whether a preset braking condition is met or not; and if the braking condition is reached, generating a first braking signal.
Specifically, referring to fig. 2, a braking condition of an obstacle is given by way of example, a corresponding safety distance is calculated according to radar data and by combining a gear and a vehicle speed, and when the distance is lower than the safety distance, corresponding braking is generated;
when the brake is applied, the first brake signal is generated according to obstacles (such as pedestrians, guardrails, trees and the like) or misoperation (suddenly stepping on an accelerator, speeding and not fastening a safety belt).
The action execution unit is used for controlling an execution device arranged on the learner-driven vehicle to act according to the first brake signal so as to realize auxiliary braking of the learner-driven vehicle; wherein, the actuating device is connected with the brake pedal of the instructional car through a transmission mechanism.
Specifically, actuating device includes brake mechanism, brake mechanism comprises two big torque motor, stroke sensor and mechanical transmission, and two motors act on learner-driven vehicle brake pedal and separation and reunion footboard through mechanical transmission, stroke sensor is used for judging whether the motor stroke targets in place or the return.
In another embodiment, the system further comprises an upper computer installed in the learner-driven vehicle, wherein the upper computer is used for:
and realizing data interaction with the control unit, carrying out differential positioning on the learner-driven vehicle to judge whether a second brake signal is generated or not, and transmitting the second brake signal to the control unit so as to drive the execution device to act to realize auxiliary braking.
Specifically, the control unit is provided with two RS232 communication interfaces and one USB communication interface and is used for receiving brake command signals of the acquisition unit and the upper computer, and the USB is used for setting the strokes and debugging information of the brake motor and the clutch motor;
when data interaction is realized, as shown in fig. 2, the generated brake information is uploaded to an upper computer and is broadcasted by the upper computer; the position of the current vehicle can be obtained according to the 3D live-action scene of the subject second field, when the vehicle is positioned on a ramp, whether the vehicle advances or retreats can be judged according to differential positioning, and when the retreating exceeds 30cm, the vehicle is judged to slip backwards, and the upper computer sends a braking command (namely the second braking signal) to the control unit; and further, an electronic fence is arranged in the upper computer, and the second brake signal is generated to perform emergency braking after the vehicle exits the range of the electronic fence by utilizing differential positioning.
In summary, the preset braking conditions include:
braking by an obstacle;
overspeed brake and mistaken stepping on the accelerator brake;
braking without fastening a safety belt: acquiring current safety belt information through a vehicle OBD, and not fastening a safety belt to brake the vehicle;
sliding the brake after the slope;
and triggering the electronic fence to brake.
As shown in fig. 3, when any braking condition is generated, the control unit controls the motor to rotate forward to brake, the stroke of the motor is obtained through the arranged stroke sensor, and when the stroke reaches, the motor stops rotating.
Correspondingly, as shown in fig. 4, the control unit is further configured to:
after the auxiliary braking is finished, judging whether a preset brake releasing condition is met or not by acquiring the driving data; if the brake release condition is met, generating a brake release signal;
and the action execution unit controls the action of the execution device according to the brake release signal so as to release the auxiliary brake of the learner-driven vehicle.
Specifically, after braking is finished, waiting is carried out, brake release is waited, whether the hand brake is pulled or the neutral gear is taken is judged according to driving data, after conditions are met, the motor is controlled to rotate reversely to release the brake, whether the stroke returns or not is judged, and the motor stops rotating after returning;
namely, the motor is controlled to release the braking state only when the gear is placed in the neutral gear and the hand brake is pulled up, so that the safety of the vehicle is ensured.
Further, a memory is adopted to record the brake information so as to analyze and record the vehicle operation condition.
According to the scheme, the system is deployed on the learner-driven vehicle, the generated driving data are processed to judge whether the preset brake condition is met, and when the preset brake condition is met, auxiliary brake control is carried out on the learner-driven vehicle; the driving training of the subject II is integrated into the actual vehicle teaching in the driving training process of the subject II, and when abnormal conditions occur, emergency braking can be performed under the condition of no coach, so that the safety in the process is ensured.
Furthermore, there are a plurality of braking conditions, different priorities are set for the braking conditions, and if two or more braking conditions occur simultaneously, processing is executed according to the priorities. That is, who normally happens first, is executed, while two or more conditions occur that are executed in priority.
Based on the same inventive concept, referring to fig. 5, a control method applied to the auxiliary braking system for a learner-driven vehicle as described above includes:
s101, obtaining driving data of the learner-driven vehicle; wherein the driving data comprises environmental data and vehicle data;
s102, processing the driving data to judge whether a preset braking condition is met; if the braking condition is met, generating a first braking signal;
s103, controlling an executing device arranged on the learner-driven vehicle to act according to the first brake signal so as to realize auxiliary braking of the learner-driven vehicle; wherein, the actuating device is connected with the brake pedal of the instructional car through a transmission mechanism.
Specifically, when the method is applied, in order to realize braking under various conditions, the method further comprises the following steps:
through the upper computer arranged in the instructional car, data interaction is realized with a control unit in a system, differential positioning is carried out on the instructional car so as to judge whether a second brake signal is generated or not, and the second brake signal is transmitted to the control unit, so that the execution device is driven to act to realize auxiliary braking.
Further, after the auxiliary braking is finished, whether a preset brake release condition is met or not is judged through acquiring the driving data; if the brake release condition is met, generating a brake release signal;
and the action execution unit controls the action of the execution device according to the brake release signal so as to release the auxiliary brake of the learner-driven vehicle.
Meanwhile, different priorities are set for each braking condition, and if two or more braking conditions occur simultaneously, processing is executed according to the priorities.
Further, a memory is adopted to record the brake information so as to analyze and record the vehicle operation condition.
It should be noted that, during the process of stroke judgment, returning, brake release and braking, corresponding time judgment is performed to determine whether the time is out.
It should be noted that, for the sake of brief description, parts and details of the embodiments of the method provided by the embodiments of the present invention that are not mentioned in the embodiments may refer to the relevant text in the foregoing system embodiments.
It should be understood that in the embodiments of the present invention, the control Unit includes a Processor, which may be a Central Processing Unit (CPU), and the Processor may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may include read-only memory and random access memory, and provides data to the processor. The portion of memory may also include non-volatile random access memory.
In the several embodiments provided in the present application, it should be understood that the disclosed units and methods may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. An auxiliary braking system for a learner-driven vehicle, the system being applied to the learner-driven vehicle, the system comprising:
the acquisition unit is used for acquiring driving data of the learner-driven vehicle; wherein the driving data comprises environmental data and vehicle data;
the control unit is used for processing the driving data to judge whether a preset braking condition is met or not; if the braking condition is met, generating a first braking signal;
the action execution unit is used for controlling an execution device arranged on the learner-driven vehicle to act according to the first brake signal so as to realize auxiliary braking of the learner-driven vehicle; wherein, the actuating device is connected with the brake pedal of the instructional car through a transmission mechanism.
2. The auxiliary braking system for the learner-driven vehicle of claim 1, further comprising an upper computer installed in the learner-driven vehicle, the upper computer being configured to:
and realizing data interaction with the control unit, carrying out differential positioning on the learner-driven vehicle to judge whether a second brake signal is generated or not, and transmitting the second brake signal to the control unit so as to drive the execution device to act to realize auxiliary braking.
3. The auxiliary braking system for a learner-driven vehicle according to claim 2, wherein the control unit is further configured to:
after the auxiliary braking is finished, judging whether a preset brake releasing condition is met or not by acquiring the driving data; if the brake release condition is met, generating a brake release signal;
and the action execution unit controls the action of the execution device according to the brake release signal so as to release the auxiliary brake of the learner-driven vehicle.
4. The auxiliary braking system for instructional cars as claimed in any one of claims 1 to 3, wherein said braking conditions are plural and different priorities are set for each braking condition, and if two or more braking conditions occur simultaneously, the processing is performed according to the priorities.
5. A control method applied to the auxiliary braking system for the instructional car of claim 1, the method comprising:
acquiring driving data of the learner-driven vehicle; wherein the driving data comprises environmental data and vehicle data;
processing the driving data to judge whether a preset braking condition is met; if the braking condition is met, generating a first braking signal;
controlling an executing device arranged on the learner-driven vehicle to act according to the first brake signal so as to realize auxiliary braking of the learner-driven vehicle; wherein, the actuating device is connected with the brake pedal of the instructional car through a transmission mechanism.
6. A control method according to claim 5, characterized in that the method further comprises:
through the upper computer arranged in the instructional car, data interaction is realized with a control unit in a system, differential positioning is carried out on the instructional car so as to judge whether a second brake signal is generated or not, and the second brake signal is transmitted to the control unit, so that the execution device is driven to act to realize auxiliary braking.
7. A control method according to claim 6, characterized in that the method further comprises: after the auxiliary braking is finished, judging whether a preset brake releasing condition is met or not by acquiring the driving data; if the brake release condition is met, generating a brake release signal;
and controlling the actuating device to act according to the brake release signal so as to release the auxiliary brake of the learner-driven vehicle.
8. The control method according to claim 7, wherein the braking conditions are plural, and different priorities are set for the braking conditions, and if two or more braking conditions occur simultaneously, the processing is performed in accordance with the priorities.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111384815.0A CN113928281B (en) | 2021-11-22 | 2021-11-22 | Auxiliary braking system for learner-driven vehicle and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111384815.0A CN113928281B (en) | 2021-11-22 | 2021-11-22 | Auxiliary braking system for learner-driven vehicle and control method |
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| CN113928281A true CN113928281A (en) | 2022-01-14 |
| CN113928281B CN113928281B (en) | 2023-07-18 |
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| CN106114478A (en) * | 2016-07-29 | 2016-11-16 | 北京车和家信息技术有限责任公司 | brake control method, device and vehicle |
| CN106585592A (en) * | 2016-10-31 | 2017-04-26 | 安徽嘻哈网络技术有限公司 | Electronic coach active safety braking system |
| CN107187336A (en) * | 2017-04-10 | 2017-09-22 | 深圳市沃特玛电池有限公司 | A kind of electric automobile ramp accessory system and control method based on gyroscope |
| CN111081112A (en) * | 2018-10-19 | 2020-04-28 | 上海肩并肩电子科技有限公司 | Automatic driving instruction car and control method thereof |
| CN210437169U (en) * | 2019-06-28 | 2020-05-01 | 易显智能科技有限责任公司 | Instructional car auxiliary brake structure and auxiliary brake system |
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2021
- 2021-11-22 CN CN202111384815.0A patent/CN113928281B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106114478A (en) * | 2016-07-29 | 2016-11-16 | 北京车和家信息技术有限责任公司 | brake control method, device and vehicle |
| CN106585592A (en) * | 2016-10-31 | 2017-04-26 | 安徽嘻哈网络技术有限公司 | Electronic coach active safety braking system |
| CN107187336A (en) * | 2017-04-10 | 2017-09-22 | 深圳市沃特玛电池有限公司 | A kind of electric automobile ramp accessory system and control method based on gyroscope |
| CN111081112A (en) * | 2018-10-19 | 2020-04-28 | 上海肩并肩电子科技有限公司 | Automatic driving instruction car and control method thereof |
| CN210437169U (en) * | 2019-06-28 | 2020-05-01 | 易显智能科技有限责任公司 | Instructional car auxiliary brake structure and auxiliary brake system |
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| CN113928281B (en) | 2023-07-18 |
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