CN114701470A - Double-line control brake system and method for unmanned vehicle - Google Patents
Double-line control brake system and method for unmanned vehicle Download PDFInfo
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- CN114701470A CN114701470A CN202210382585.2A CN202210382585A CN114701470A CN 114701470 A CN114701470 A CN 114701470A CN 202210382585 A CN202210382585 A CN 202210382585A CN 114701470 A CN114701470 A CN 114701470A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000005070 sampling Methods 0.000 claims abstract description 31
- 238000004891 communication Methods 0.000 claims description 26
- 238000001514 detection method Methods 0.000 claims description 20
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 1
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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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
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
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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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a two-way line control brake system and a two-way line control brake method for an unmanned vehicle, a main brake control device and an auxiliary brake control device. The main brake control device comprises a main control unit, a main motor driving module, a main motor sampling module and a main driving motor which are connected together, the auxiliary brake control device comprises an auxiliary control unit, an auxiliary motor driving module, an auxiliary motor sampling module and an auxiliary driving motor which are connected together, and the main driving motor and the auxiliary driving motor are respectively connected with a brake actuating mechanism of the unmanned vehicle. When the main brake control device executes a brake instruction, the auxiliary brake control device supervises the execution condition of the main brake control device, if the main brake control device does not complete the brake instruction, the brake system fails, and the auxiliary brake control device completes the brake instruction.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a two-way line control brake system and a two-way line control brake method for an unmanned vehicle.
Background
In recent years, with the development of unmanned technology, there is an increasing demand for unmanned vehicles. Brake-by-wire systems are an indispensable important part of unmanned vehicles. A common unmanned chassis structure is obtained by modifying a chassis of a traditional vehicle, and once a braking system of the common unmanned chassis structure fails, the vehicle cannot complete normal braking, so that safety accidents are easily caused. Therefore, how to ensure that the unmanned vehicle can brake normally becomes an urgent problem to be solved.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the two-way line control brake system and the two-way line control brake method for the unmanned vehicle are provided, so that the unmanned vehicle can be normally braked, and the driving safety of the unmanned vehicle is improved.
In order to solve the technical problems, the invention adopts the technical scheme that:
a two-way line control brake system of an unmanned vehicle comprises a main brake control device and an auxiliary brake control device;
the main brake control device comprises a main control unit, a main motor driving module, a main motor sampling module and a main driving motor, wherein the main control unit is electrically connected with the main driving motor through the main motor driving module and is electrically connected with the main motor sampling module, and the main motor sampling module is arranged on the main driving motor;
the auxiliary brake control device comprises an auxiliary control unit, an auxiliary motor driving module, an auxiliary motor sampling module and an auxiliary driving motor, wherein the auxiliary control unit is electrically connected with the auxiliary driving motor through the auxiliary motor driving module and is electrically connected with the auxiliary motor sampling module, and the auxiliary motor sampling module is arranged on the auxiliary driving motor;
the main driving motor and the auxiliary driving motor are respectively connected with a brake actuating mechanism of the unmanned vehicle;
the main control unit is in communication connection with the auxiliary control unit, and both the main control unit and the auxiliary control unit are in communication connection with the vehicle control terminal of the unmanned vehicle.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
a two-way line-control braking method of an unmanned vehicle is applied to the two-way line-control braking system of the unmanned vehicle, and comprises the following steps:
s1, the main control unit receives and controls the main drive motor to execute a brake command sent by the vehicle control terminal through the main motor drive module;
s2, while the step S1 is carried out, the auxiliary control unit receives the braking command and judges whether the main driving motor completes the braking command within a preset time, if not, the step S3 is executed;
and S3, the auxiliary control unit controls an auxiliary driving motor to complete the braking instruction through an auxiliary motor driving module.
The invention has the beneficial effects that: the two-way line control brake system and the method for the unmanned vehicle are characterized in that a main brake control device and an auxiliary brake control device which are identical in composition structure are arranged on the unmanned vehicle, when the main brake control device executes a brake instruction, the auxiliary brake control device supervises the execution condition of the main brake control device, if the main brake control device does not complete the brake instruction, the brake system is in failure, the auxiliary brake control device completes the brake instruction, and more secure two-line control is adopted, so that the unmanned vehicle can be normally braked, and the driving safety of the unmanned vehicle is improved.
Drawings
FIG. 1 is a system block diagram of a two-way by-wire brake system for an unmanned vehicle, in accordance with an embodiment of the present invention;
fig. 2 is a schematic step diagram of a two-way line-control braking method for an unmanned vehicle according to an embodiment of the present invention.
Description of reference numerals:
1. a main brake control device; 2. a sub brake control device; 3. a main control unit; 4. a main motor drive module; 5. an angle sensor; 6. a main drive motor; 7. a sub-control unit; 8. a secondary motor drive module; 9. a secondary drive motor; 10. a brake actuator; 11. a vehicle control terminal; 12. a current detection module; 13. a controllable switch; 14. a protection unit; 15. a CAN communication module; 16. a power management unit; 17. a storage unit.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1, a two-way brake-by-wire system for an unmanned vehicle includes a main brake control device 1 and a sub-brake control device 2;
the main brake control device 1 comprises a main control unit 3, a main motor driving module 4, a main motor sampling module and a main driving motor 6, wherein the main control unit 3 is electrically connected with the main driving motor 6 through the main motor driving module 4 and is electrically connected with the main motor sampling module, and the main motor sampling module is arranged on the main driving motor 6;
the auxiliary brake control device 2 comprises an auxiliary control unit 7, an auxiliary motor driving module 8, an auxiliary motor sampling module and an auxiliary driving motor 9, wherein the auxiliary control unit 7 is electrically connected with the auxiliary driving motor 9 through the auxiliary motor driving module 8 and is electrically connected with the auxiliary motor sampling module, and the auxiliary motor sampling module is arranged on the auxiliary driving motor 9;
the main driving motor 6 and the auxiliary driving motor 9 are respectively connected with a brake actuating mechanism 10 of the unmanned vehicle;
the main control unit 3 and the auxiliary control unit 7 are in communication connection, and are in communication connection with a vehicle control terminal 11 of the unmanned vehicle.
From the above description, the beneficial effects of the present invention are: the unmanned vehicle is provided with a main brake control device 1 and an auxiliary brake control device 2 which are identical in composition structure, when the main brake control device 1 executes a brake instruction, the auxiliary brake control device 2 supervises the execution condition of the main brake control device, if the main brake control device 1 does not complete the brake instruction, the brake system fails, the auxiliary brake control device 2 completes the brake instruction, and more safe double-line control is adopted, so that the unmanned vehicle can be normally braked, and the unmanned driving safety is improved.
Further, the main motor sampling module and the auxiliary motor sampling module are both angle sensors 5;
as can be seen from the above description, the angle sensor 5 is used to obtain the rotation angle of the driving motor, so as to accurately determine whether the driving motor is rotated in place.
Further, the main brake control device 1 and the auxiliary brake control device 2 each further include a current detection module 12;
the input ends of the two current detection modules 12 are respectively connected with the output end of the main motor driving module 4 and the output end of the auxiliary motor driving module 8, and the output ends are respectively connected with the main control unit 3 and the auxiliary control unit 7.
As can be seen from the above description, the main brake control device 1 and the auxiliary brake control device 2 further include a current detection module 12, which can detect whether the output current of the motor driving module is normal, so as to avoid the fault caused by the overload and other problems of the equipment, and ensure the normal operation of the braking function.
Further, the main brake control device 1 and the auxiliary brake control device 2 each further comprise a controllable switch 13 and a protection unit 14;
the main motor driving module 4 and the auxiliary motor driving module 8 are respectively connected with the main driving motor 6 and the auxiliary driving motor 9 through one controllable switch 13;
the control signal inputs of the two controllable switches 13 are connected to the main control unit 3 and the secondary control unit 7 via one of the protection units 14, respectively.
As can be seen from the above description, the controllable switch 13 is added between the motor driving module and the driving motor and is controlled by the control unit and the protection unit 14, and the controllable switch 13 is turned on only after the control unit outputs a signal to the protection unit 14, so as to control the driving motor, thereby ensuring that the issued braking command can be correctly executed and ensuring the driving safety of the unmanned vehicle.
Further, the main brake control device 1 and the auxiliary brake control device 2 also comprise a CAN communication module 15;
the main control unit 3 and the auxiliary control unit 7 are respectively in communication connection with a vehicle control terminal 11 of the unmanned vehicle through the CAN communication module 15.
As CAN be seen from the above description, the communication with the vehicle control terminal 11 of the unmanned vehicle using the CAN communication module 15 has low communication cost, low power consumption and high real-time performance.
Referring to fig. 2, a two-way line-control braking method for an unmanned vehicle is applied to the two-way line-control braking system for an unmanned vehicle, and is characterized by comprising the following steps:
s1, the main control unit 3 receives and controls the main drive motor 6 to execute a brake instruction sent by the vehicle control terminal 11 through the main motor drive module 4;
s2, while the step S1 is carried out, the auxiliary control unit 7 receives the braking instruction and judges whether the main driving motor 6 completes the braking instruction within a preset time, if not, the step S3 is executed;
and S3, the auxiliary control unit 7 controls the auxiliary driving motor 9 through the auxiliary motor driving module 8 to complete the braking instruction.
From the above description, the beneficial effects of the present invention are: when the main brake control device 1 executes a brake instruction, the auxiliary brake control device 2 supervises the execution condition of the main brake control device, if the main brake control device 1 does not complete the brake instruction, the brake system fails, and the auxiliary brake control device 2 completes the brake instruction, so that the safer double-line control is adopted, the normal braking of the unmanned vehicle can be guaranteed, and the driving safety of the unmanned vehicle is improved.
Further, the step S2 is specifically:
s21, the sub control unit 7 receives the braking instruction while performing the step S1;
s22, the sub-control unit 7 obtains and determines whether the real-time angle data of the angle sensor 5 of the sub-brake control device 2 is equal to the angle corresponding to the brake command, if so, the determination is terminated, otherwise, the real-time angle data is obtained again and determined, and the step S3 is executed until the preset time is over.
As can be seen from the above description, the sub-control unit 7 repeatedly obtains and verifies the detection data of the angle sensor 5 of the main control unit 3 within a preset time to determine whether to execute the braking command, so as to increase the fault tolerance while maintaining the execution time of the main controller, thereby accurately determining whether the main motor driving module 4 and the driving motor are faulty.
Further, step S1 is preceded by:
s00, the vehicle control terminal 11 sequentially sends self-checking brake instructions to the main control unit 3 and the auxiliary control unit 7 for execution;
and S01, the vehicle control terminal 11 sequentially receives and checks whether the detection data of the angle sensors 5 of the main brake control device 1 and the auxiliary brake control device 2 are equal to the angle corresponding to the self-checking brake instruction, if so, the self-checking is passed, and otherwise, the self-checking is failed.
From the above description, the system performs self-checking before operation, and checks whether the main brake control device 1 and the auxiliary brake control device 2 can normally complete braking by using a self-checking braking instruction, so that the braking function of the unmanned vehicle is ensured to be normal, and the driving safety is ensured.
Further, step S1 is preceded by:
the main control unit 3 and the sub control unit 7 respectively send enable signals to the corresponding protection units 14, so that the controllable switches 13 are closed through the protection units 14.
As can be seen from the above description, the controllable switch 13 can be turned on only after the control unit outputs a signal to the protection unit 14, so as to control the driving motor, so as to ensure that the issued braking command can be correctly executed, and ensure the driving safety of the unmanned vehicle.
Further, the step S3 is followed by:
and S4, the auxiliary control unit 7 reports the fault of the main brake control device 1 to the vehicle control terminal 11.
As is apparent from the above description, when it is found that the main drive motor 6 cannot complete the braking command within the preset time, it indicates that the main brake control device 1 is malfunctioning. The sub-control unit 7 reports the situation to the vehicle control terminal 11 and the relevant person performs the repair.
The two-way line-control brake system and the two-way line-control brake method for the unmanned vehicle can be applied to an unmanned scene, and are explained by specific embodiments as follows:
referring to fig. 1, a first embodiment of the present invention is:
a two-way brake-by-wire system for an unmanned vehicle, as shown in FIG. 1, includes a main brake control device 1 and a sub-brake control device 2. The main brake control device 1 comprises a main control unit 3, a main motor driving module 4, a main motor sampling module, a main driving motor 6, a current detection module 12, a controllable switch 13, a protection unit 14 and a CAN communication module 15. The main control unit 3 is electrically connected with a main drive motor 6 through a main motor drive module 4, the main control unit 3 is electrically connected with a main motor sampling module, and the main motor sampling module is arranged on the main drive motor 6;
as shown in fig. 1, the auxiliary brake control device 2 includes an auxiliary control unit 7, an auxiliary motor driving module 8, an auxiliary motor sampling module, an auxiliary driving motor 9, a current detection module 12, a controllable switch 13, a protection unit 14, and a CAN communication module 15. The auxiliary control unit 7 is electrically connected with the auxiliary driving motor 9 through the auxiliary motor driving module 8, the auxiliary control unit 7 is electrically connected with the auxiliary motor sampling module, and the auxiliary motor sampling module is arranged on the auxiliary driving motor 9.
In this embodiment, the main driving motor 6 and the auxiliary driving motor 9 are both bidirectional motors, and have two independent and symmetrical windings inside. The main driving motor 6 and the auxiliary driving motor 9 are respectively connected with a brake actuating mechanism 10 of the unmanned vehicle.
Both the primary control unit 3 and the secondary control unit 7 use an M4 processor. The two are in communication connection through the SPI, so that the control states of the two control units are known mutually, and whether the driving of the control units breaks down or not is known. The main control unit 3 and the auxiliary control unit 7 are in communication connection with a vehicle control terminal 11 of the unmanned vehicle through a CAN communication module 15. The main and auxiliary motor sampling modules are angle sensors 5, and the two angle sensors 5 are respectively arranged on a main driving motor 6 and an auxiliary driving motor 9 and are respectively electrically connected with the main control unit 3 and the auxiliary control unit 7. The input ends of the two current detection modules 12 are respectively connected with the output end of the main motor driving module 4 and the output end of the auxiliary motor driving module 8, and the output ends are respectively connected with the main control unit 3 and the auxiliary control unit 7. The main control unit 3 and the sub control unit 7 are each internally provided with an ASAD (automatic data acquisition module) so as to automatically acquire data of the angle sensor 5 and the current detection module 12.
In this embodiment, in order to ensure the stability of the system operation, the main motor driving module 4 and the auxiliary motor driving module 8 are respectively connected with the main driving motor 6 and the auxiliary driving motor 9 through a controllable switch 13. The control signal inputs of the two controllable switches 13 are connected to the main control unit 3 and the secondary control unit 7 via a protective unit 14, respectively.
In the present embodiment, the main control unit 3 and the sub-control unit 7 are both connected in communication with the vehicle control terminal 11 of the unmanned vehicle through the CAN communication module 15. In other equivalent embodiments, other communication modules such as RS485 may also be used.
Further, in the present embodiment, the main brake control device 1 and the sub-brake control device 2 further include a power management unit 16 and a storage unit 17. One power management unit 16 is connected with the main control unit 3 and the main motor driving module 4, and the other power management unit is connected with the auxiliary control unit 7 and the auxiliary motor driving module 8, so that power supply management is provided for the device, and stable operation of the device is ensured. The main control unit 3 and the secondary control unit 7 are both connected with a storage unit 17 for storing the operation data of the device.
Referring to fig. 2, the second embodiment of the present invention is:
a two-way line-control braking method of an unmanned vehicle is applied to a two-way line-control braking system of the unmanned vehicle in the first embodiment, as shown in FIG. 2, and comprises the following steps:
s00, the vehicle control terminal 11 sequentially sends self-checking brake instructions to the main control unit 3 and the auxiliary control unit 7 to execute;
in the present embodiment, before performing self-test, the main control unit 3 and the sub-control unit 7 respectively send an enable signal to the corresponding protection unit 14 to close the controllable switch 13 through the protection unit 14. Only after the protection unit 14 receives the enable signal, the controllable switch 13 can be closed, so that the motor drive control is guaranteed.
And S01, the vehicle control terminal 11 sequentially receives and checks whether the detection data of the angle sensors 5 of the main brake control device 1 and the auxiliary brake control device 2 are equal to the angle corresponding to the self-checking brake instruction, if so, the self-checking is passed, and otherwise, the self-checking is failed.
S1, the main control unit 3 receives and controls the main driving motor 6 to execute a braking instruction sent by the vehicle control terminal 11 through the main motor driving module 4;
s2, when the step S1 is carried out, the auxiliary control unit 7 receives the braking instruction and judges whether the main driving motor 6 completes the braking instruction within the preset time, if not, the step S3 is executed;
in this embodiment, step S2 specifically includes:
s21, the sub control unit 7 receives the brake command while executing step S1;
s22, the sub-control unit 7 obtains and determines whether the real-time angle data of the angle sensor 5 of the main brake control device 1 is equal to the angle corresponding to the braking command, if yes, the determination is terminated, otherwise, the real-time angle data is obtained again and determined, and step S3 is executed until the preset time is over.
In this embodiment, the preset time may be selected to be 2 to 3 seconds, preferably 2 seconds. In addition, the main control unit 3 and the sub control unit 7 can also obtain the detection data on the current detection module 12 to judge whether the current output of the main motor driving module 4 and the sub motor driving module 8 is normal or not, so that the excessive work is avoided, and the overload protection is provided. Data communication between the main control unit 3 and the sub control unit 7 is transmitted and received through the SPI ports.
And S3, the auxiliary control unit 7 controls the auxiliary driving motor 9 to complete a braking instruction through the auxiliary motor driving module 8.
And S4, the auxiliary control unit 7 reports the fault of the main brake control device 1 to the vehicle control terminal 11.
In this embodiment, the sub-control unit 7 may also determine whether the main drive motor 6 is out of order or the main motor drive module 4 is out of order by combining the detection data of the current detection module 12 of the main control unit 3.
In summary, the invention discloses a two-way line control brake system and a method for an unmanned vehicle, a main brake control device and an auxiliary brake control device which have the same composition and structure are arranged on the unmanned vehicle, when the main brake control device executes a brake command, the auxiliary brake control device supervises the execution condition, specifically, whether the main drive motor rotates by an angle corresponding to the brake command is detected by an angle sensor, if the main brake control device does not finish the brake command is found, the failure of the brake system is indicated, and the auxiliary brake control device completes the brake instruction and reports the failure condition in time by means of the CAN communication module, the current detection module is utilized to provide overload protection, the protection unit and the controllable switch are additionally arranged, and more insurance double-line control is adopted, so that the unmanned vehicle can be normally braked, and the unmanned driving safety is improved.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (10)
1. A two-way line control brake system of an unmanned vehicle is characterized by comprising a main brake control device and an auxiliary brake control device;
the main brake control device comprises a main control unit, a main motor driving module, a main motor sampling module and a main driving motor, wherein the main control unit is electrically connected with the main driving motor through the main motor driving module and is electrically connected with the main motor sampling module, and the main motor sampling module is arranged on the main driving motor;
the auxiliary brake control device comprises an auxiliary control unit, an auxiliary motor driving module, an auxiliary motor sampling module and an auxiliary driving motor, wherein the auxiliary control unit is electrically connected with the auxiliary driving motor through the auxiliary motor driving module and is electrically connected with the auxiliary motor sampling module, and the auxiliary motor sampling module is arranged on the auxiliary driving motor;
the main driving motor and the auxiliary driving motor are respectively connected with a brake actuating mechanism of the unmanned vehicle;
the main control unit is in communication connection with the auxiliary control unit, and both the main control unit and the auxiliary control unit are in communication connection with a vehicle control terminal of the unmanned vehicle.
2. The two-wire brake-by-wire system of an unmanned vehicle of claim 1, wherein the primary motor sampling module and the secondary motor sampling module are both angle sensors.
3. The two-wire brake-by-wire system of an unmanned vehicle of claim 1, wherein the primary brake control means and the secondary brake control means each further comprise a current detection module;
the input end of the main current detection module and the input end of the auxiliary current detection module are respectively connected with the output end of the main motor driving module and the output end of the auxiliary motor driving module, and the output end of the main motor driving module and the output end of the auxiliary motor driving module are respectively connected with the main control unit and the auxiliary control unit.
4. The two-wire control brake system for an unmanned vehicle of claim 1, wherein the primary brake control means and the secondary brake control means each further comprise a controllable switch and a guard unit;
the main motor driving module and the auxiliary motor driving module are respectively connected with the main driving motor and the auxiliary driving motor through the controllable switch;
and the control signal input ends of the two controllable switches are respectively connected with the main control unit and the auxiliary control unit through one protection unit.
5. The two-wire-control brake system for an unmanned vehicle of claim 1, wherein the primary brake control means and the secondary brake control means each further comprise a CAN communication module;
the main control unit and the auxiliary control unit are in communication connection with a vehicle control terminal of the unmanned vehicle through the CAN communication module respectively.
6. A two-way-by-wire brake method for an unmanned vehicle, applied to the two-way-by-wire brake system for the unmanned vehicle according to any one of claims 1 to 5, comprising the steps of:
s1, the main control unit receives and controls the main drive motor to execute a brake command sent by the vehicle control terminal through the main motor drive module;
s2, while the step S1 is carried out, the auxiliary control unit receives the braking instruction and judges whether the main driving motor completes the braking instruction within a preset time, if not, the step S3 is executed;
and S3, the auxiliary control unit controls an auxiliary driving motor to complete the braking instruction through an auxiliary motor driving module.
7. The two-wire control braking method for the unmanned vehicle according to claim 6, wherein the step S2 is specifically as follows:
s21, the sub control unit receives the braking instruction while the step S1 is performed;
and S22, the auxiliary control unit acquires and judges whether the real-time angle data of the angle sensor of the main brake control device is equal to the angle corresponding to the brake command, if so, the judgment is terminated, otherwise, the real-time angle data is acquired again and judged until the preset time is reached, and the step S3 is executed.
8. The two-wire control braking method for the unmanned vehicle according to claim 7, wherein the step S1 is preceded by:
s00, the vehicle control terminal sequentially sends self-checking brake instructions to the main control unit and the auxiliary control unit to execute;
and S01, sequentially receiving and checking whether the detection data of the angle sensors of the main brake control device and the auxiliary brake control device are equal to the angles corresponding to the self-checking brake instructions by the vehicle control terminal, if so, displaying that the self-checking is passed, and otherwise, displaying that the self-checking fails.
9. The two-wire control braking method for the unmanned vehicle according to claim 6, wherein the step S1 is preceded by:
the main control unit and the auxiliary control unit respectively send enabling signals to the corresponding protection units so as to close the controllable switches through the protection units.
10. The two-wire control braking method for the unmanned vehicle according to claim 6, further comprising after the step S3:
and S4, the auxiliary control unit reports the fault of the main brake control device to the vehicle control terminal.
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| CN202210382585.2A CN114701470A (en) | 2022-04-12 | 2022-04-12 | Double-line control brake system and method for unmanned vehicle |
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| CN202210382585.2A CN114701470A (en) | 2022-04-12 | 2022-04-12 | Double-line control brake system and method for unmanned vehicle |
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