CN114872665A - Brake system for driverless motor vehicles - Google Patents
Brake system for driverless motor vehicles Download PDFInfo
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- CN114872665A CN114872665A CN202210735612.XA CN202210735612A CN114872665A CN 114872665 A CN114872665 A CN 114872665A CN 202210735612 A CN202210735612 A CN 202210735612A CN 114872665 A CN114872665 A CN 114872665A
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- brake
- unmanned
- connecting rod
- braking
- cam
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- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 230000009471 action Effects 0.000 claims abstract description 8
- 230000000694 effects Effects 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
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Classifications
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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
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/06—Disposition of pedal
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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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Elements And Transmission Devices (AREA)
- Braking Arrangements (AREA)
Abstract
The invention discloses a brake system for unmanned driving of an automobile, which comprises a brake pedal, a brake oil cylinder movably connected with the brake pedal, a first brake mechanism, a second brake mechanism and a connecting rod, wherein the first brake mechanism and the second brake mechanism are respectively hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the brake pedal; when the brake is in the unmanned state, the first brake mechanism rotates the connecting rod to push the brake pedal to generate brake action; when the brake is in an emergency state during unmanned driving, the second brake mechanism pushes the connecting rod to enable the brake pedal to generate brake action. The invention connects the two working conditions of manual braking and unmanned braking in parallel, and the two working conditions are not interfered with each other on the mechanical structure; meanwhile, normal braking and emergency braking are realized under the working condition of unmanned driving, and interference is not generated. The problems of controllability, control flexibility, accuracy and the like of the braking force are solved.
Description
Technical Field
The invention relates to the technical field of brakes of unmanned automobiles, in particular to an unmanned brake system for automobiles.
Background
With the progress of technology and the rapid development of the times, the automobile industry is developing towards networking, intellectualization, electromotion and personalization, wherein the unmanned technology is one of the most important development directions in recent years. The unmanned automobile is an intelligent automobile and can be called as a wheeled mobile robot, the information of road conditions around the automobile is obtained mainly by an environment perception sensor, and then an intelligent decision and control command is completed by a computer, so that the unmanned driving of the automobile is realized. The unmanned automobile is a product of cross fusion of multiple subjects such as computer science, mechanical engineering, control science, environmental science and even biological science, and has wide application prospects in national defense and national life.
At present, automobile companies and even internet enterprises in various countries increase research, development and investment on unmanned vehicles, many researchers pay attention to the unmanned vehicles in specific scenes, and the unmanned vehicles have higher requirements on safety and reliability in the specific scenes.
The existing unmanned brake system adopts a steel wire rope-connecting rod mechanism, and the principle of the unmanned brake system is that a steering engine flange pulls a pull wire, the pull wire pulls a pull rod, and the pull rod drives a brake pedal to rotate so as to complete braking. The braking scheme is brake-by-wire, the braking effect can be achieved at will, however, the tensioning force of the rope is strictly required, the control precision is reduced along with the reduction of the tensioning force of the rope, and the accurate control of the braking force by the steel wire rope connecting rod mechanism is difficult to achieve.
Another type of unmanned braking system employs a spring-link arrangement. The principle of this scheme is that the spring links to each other with the connecting rod at brake pedal place, and the steering wheel drives the spring, thereby the spring pulling connecting rod drives brake pedal and realizes the braking. The braking effect can be achieved by the braking scheme, but when the braking emergency degree or the pedal propelling speed is changed, the braking force is rapidly changed, and the spring-linkage mechanism cannot respond rapidly.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide an unmanned braking system for an automobile, and the two working conditions of manual braking and unmanned braking are connected in parallel through the system and do not interfere with each other in mechanical structure; meanwhile, normal braking and emergency braking are realized under the working condition of unmanned driving, and interference is not generated. The problems of controllability, control flexibility, accuracy and the like of the braking force are solved.
In order to solve the technical problems, the invention provides the following technical scheme:
the brake system for the unmanned driving of the automobile comprises a brake pedal, a brake oil cylinder movably connected with the brake pedal, a first brake mechanism, a second brake mechanism and a connecting rod, wherein the first brake mechanism and the second brake mechanism are respectively hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the brake pedal; when the brake is in the unmanned state, the first brake mechanism rotates the connecting rod to push the brake pedal to generate brake action; when the brake is in an emergency state during unmanned driving, the second brake mechanism pushes the connecting rod to enable the brake pedal to generate brake action.
The first brake mechanism comprises a flange, a ball bearing, a mounting bracket, a shifting sheet, a brake steering engine and a cam, wherein the shifting sheet is embedded on one side of the flange, the ball bearing is connected with an outer ring of the flange, the cam is connected with the outer ring of the ball bearing, one side of the mounting bracket is fixed in the automobile, the brake steering engine is arranged in the mounting bracket, and the output end of the brake steering engine is connected with the other side of the flange; the cam is provided with an extension part, and the extension part is hinged with one end of the connecting rod.
The cam is characterized by further comprising a retainer ring, wherein the retainer ring is connected with the ball bearing and arranged in the cam; wherein the retainer ring is configured to limit axial movement of the ball bearing.
The cam mechanism further comprises a collar, wherein the collar is connected with the cam, and the collar and the retainer ring jointly limit the axial movement of the cam.
The second brake mechanism comprises a cylinder and a shifting fork which are fixed in the automobile, and the shifting fork is fixedly arranged at the free end of a piston rod of the cylinder; the side wall surface of one end of the connecting rod is provided with a cross rod, and the shifting fork is inserted on the cross rod.
It should be noted that, when the brake condition of the emergency state in unmanned driving is realized, a specific brake speed needs to be satisfied, and the brake distance must be within 10 meters.
The invention has the advantages that the manned braking system and the unmanned braking system are designed to be connected in parallel, the manned mode braking, the unmanned normal braking system and the unmanned emergency braking system are independent respectively in control effect, and do not interfere with each other on respective braking mechanical structures, and the emergency braking can be realized under the condition of the unmanned mode. In a manned state, the brake steering engine does not work; after entering an unmanned state, the steering engine is braked to operate, so that external interference is effectively isolated, and a control signal is ensured to be used as a unique source. Compared with a simple link mechanism in the prior art, the cam-link mechanism provided by the invention has the advantages that the braking force of the unmanned braking system is controllable, the switching flexibility, the control flexibility and the control accuracy among different brakes are ensured, and the arrangement is easy.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the first brake mechanism and the link rod of FIG. 1;
fig. 3 is a schematic structural view of an exploded state of the first brake mechanism in fig. 2.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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 invention should have various sensors participating in the unmanned braking system and an industrial personal computer, and the industrial personal computer is used for receiving the information collected by the various sensors after operation and sending braking instructions to the first braking mechanism and the second braking mechanism. While the various sensors and industrial control computers described above are similar to those provided by the prior art.
As shown in fig. 1, the present invention is a brake system for unmanned driving of an automobile, the system includes a brake pedal 13, a brake cylinder 12 movably connected to the brake pedal 13, a first brake mechanism, a second brake mechanism and a connecting rod 11, wherein the first brake mechanism and the second brake mechanism are respectively hinged to one end of the connecting rod 11, and the other end of the connecting rod 11 is hinged to the brake pedal 13; when the brake is in the brake working condition in the unmanned state, the first brake mechanism rotates the connecting rod 11 to push the brake pedal 13 to generate brake action; when the brake is in an emergency state during unmanned driving, the second brake mechanism pushes 11 the connecting rod to enable the brake pedal 13 to generate brake action.
Further, as shown in fig. 2 and 3, the first brake mechanism of the present invention includes a flange 2, a ball bearing 3, a mounting bracket 6, a dial 7, a brake steering gear 8 and a cam 9, wherein the dial 7 is embedded in one side of the flange 2, the ball bearing 3 is connected to an outer ring of the flange 2, the cam 9 is connected to an outer ring of the ball bearing 3, one side of the mounting bracket 6 is fixed in the automobile, the brake steering gear 8 is disposed in the mounting bracket 6, and an output end of the brake steering gear 8 is connected to the other side of the flange 2; the cam 9 is provided with an extension part which is hinged with one end of the connecting rod.
Further, in order to limit the possible axial movement of the ball bearing, as shown in fig. 3, the first braking mechanism of the present invention further includes a retainer ring 4, and the retainer ring 4 is connected to the ball bearing 3 and is installed in the cam 9.
Further, in order to limit the axial movement of the cam, as shown in fig. 3, the first brake mechanism of the present invention further includes a collar 5, wherein the collar 5 is connected with the cam 9, and the collar 5 and the retainer ring 4 are used together to limit the axial movement of the cam.
Further, as shown in fig. 1, the second brake mechanism includes a cylinder 1 fixed in the automobile and a fork 10, and the fork 10 is fixedly disposed at a free end of a piston rod of the cylinder 1; the side wall surface of one end of the connecting rod 11 is provided with a cross rod, and the shifting fork 10 is inserted on the cross rod.
It should be noted that, when the brake condition of the emergency state in unmanned driving is realized, a specific brake speed needs to be satisfied, and the brake distance must be within 10 meters.
It should be noted that, in the invention, because the cam of the first brake mechanism is connected with the outer ring of the ball bearing, the inner ring of the ball bearing is connected with the outer ring of the flange, the plectrum is connected with the flange, and the flange is connected with the output end of the brake steering engine, in the movement process of the shifting fork of the second brake mechanism, the cam of the first brake mechanism can rotate, but the plectrum in the first brake mechanism does not rotate, so that the brake steering engine is not reversed.
Example 1
The manual braking working condition is consistent with the traditional braking mode under the working condition, and a driver steps on a brake pedal to enable a brake oil cylinder to work, so that the braking of the automobile can be realized.
Example 2
In the braking under the unmanned working condition, information collected by various sensors is calculated and then transmitted into the industrial personal computer, the industrial personal computer sends an instruction to the braking steering engine, the braking steering engine drives the flange to rotate, and the rotation angle is controlled by the industrial personal computer. The flange drives the shifting sheet, the shifting sheet pushes the cam to move, the cam drives the connecting rod to transmit force to the brake pedal, then the brake oil cylinder converts mechanical force into hydraulic pressure, and the hydraulic pressure is transmitted to the calipers through the brake pipeline, so that the effect of locking four wheels of the automobile at the same time is achieved.
Example 3
Under the emergency braking working condition in unmanned driving, high-pressure gas is used as a braking medium in emergency braking, fixed pressure is continuously output by using the air cylinder and the pressure reducing valve, the two-position three-way electromagnetic servo valve is controlled by the industrial personal computer so as to control the air cylinder to act, and the emergency braking is set to be triggered in a power-off mode. When the automobile safety circuit is disconnected, the electromagnetic valve is powered off, the air cylinder drives the shifting fork to work, the connecting rod can be pushed to complete the rotation of the brake pedal, the brake oil cylinder plays a role, the purpose of four-wheel locking is achieved, and emergency braking is achieved.
Various modifications may be made by those skilled in the art based on the above teachings and concepts, and all such modifications are intended to be included within the scope of the present invention as defined in the appended claims.
Claims (6)
1. The brake system for the unmanned driving of the automobile comprises a brake pedal and a brake oil cylinder movably connected with the brake pedal, and is characterized by further comprising a first brake mechanism, a second brake mechanism and a connecting rod, wherein the first brake mechanism and the second brake mechanism are respectively hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the brake pedal; when the brake is in the unmanned state, the first brake mechanism rotates the connecting rod to push the brake pedal to generate brake action; when the brake is in an emergency state during unmanned driving, the second brake mechanism pushes the connecting rod to enable the brake pedal to generate brake action.
2. The unmanned braking system for automobiles of claim 1, wherein the first braking mechanism comprises a flange, a ball bearing, a mounting bracket, a shifting sheet, a braking steering engine and a cam, wherein the shifting sheet is embedded in one side of the flange, the ball bearing is connected with an outer ring of the flange, the cam is connected with the outer ring of the ball bearing, one side of the mounting bracket is fixed in the automobile, the braking steering engine is arranged in the mounting bracket and an output end of the braking steering engine is connected with the other side of the flange; the cam is provided with an extension part, and the extension part is hinged with one end of the connecting rod.
3. The unmanned vehicle brake system for an automobile of claim 2, further comprising a retainer ring coupled to said ball bearing and disposed in said cam; wherein the retainer ring is configured to limit axial movement of the ball bearing.
4. The unmanned vehicle brake system of claim 3, further comprising a collar coupled to the cam and cooperating with the retainer ring to limit axial movement of the cam.
5. The brake system for unmanned aerial vehicle of claim 1, wherein the second brake mechanism comprises a cylinder fixed in the vehicle and a fork fixedly disposed at a free end of a piston rod of the cylinder; the side wall surface of one end of the connecting rod is provided with a cross rod, and the shifting fork is inserted on the cross rod.
6. The unmanned brake system for automobile of claim 1, wherein when the brake condition of the emergency state in the unmanned driving is realized, a specific brake speed is required to be satisfied, and the brake distance must be within 10 meters.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210735612.XA CN114872665A (en) | 2022-06-27 | 2022-06-27 | Brake system for driverless motor vehicles |
| ZA2023/01716A ZA202301716B (en) | 2022-06-27 | 2023-02-13 | A driverless brake system for automobiles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210735612.XA CN114872665A (en) | 2022-06-27 | 2022-06-27 | Brake system for driverless motor vehicles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114872665A true CN114872665A (en) | 2022-08-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210735612.XA Pending CN114872665A (en) | 2022-06-27 | 2022-06-27 | Brake system for driverless motor vehicles |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114872665A (en) |
| ZA (1) | ZA202301716B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108297849A (en) * | 2018-04-04 | 2018-07-20 | 辽宁工业大学 | A kind of brake-by-wire device for unmanned racing car |
| CN108340899A (en) * | 2018-04-02 | 2018-07-31 | 辽宁工业大学 | A kind of unmanned racing car braking system |
| CN108819927A (en) * | 2018-05-11 | 2018-11-16 | 北京理工大学 | A kind of automatic driving vehicle braking system of changeable driving mode |
| CN212738044U (en) * | 2020-08-12 | 2021-03-19 | 辽宁工业大学 | Drive-by-wire arresting gear of formula car of unmanned driving |
| CN215904470U (en) * | 2021-06-28 | 2022-02-25 | 柳州铁道职业技术学院 | Formula car arresting gear of unmanned driving |
| CN216401399U (en) * | 2021-11-02 | 2022-04-29 | 辽宁工业大学 | Drive-by-wire arresting gear of formula car of unmanned driving |
-
2022
- 2022-06-27 CN CN202210735612.XA patent/CN114872665A/en active Pending
-
2023
- 2023-02-13 ZA ZA2023/01716A patent/ZA202301716B/en unknown
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108340899A (en) * | 2018-04-02 | 2018-07-31 | 辽宁工业大学 | A kind of unmanned racing car braking system |
| CN108297849A (en) * | 2018-04-04 | 2018-07-20 | 辽宁工业大学 | A kind of brake-by-wire device for unmanned racing car |
| CN108819927A (en) * | 2018-05-11 | 2018-11-16 | 北京理工大学 | A kind of automatic driving vehicle braking system of changeable driving mode |
| CN212738044U (en) * | 2020-08-12 | 2021-03-19 | 辽宁工业大学 | Drive-by-wire arresting gear of formula car of unmanned driving |
| CN215904470U (en) * | 2021-06-28 | 2022-02-25 | 柳州铁道职业技术学院 | Formula car arresting gear of unmanned driving |
| CN216401399U (en) * | 2021-11-02 | 2022-04-29 | 辽宁工业大学 | Drive-by-wire arresting gear of formula car of unmanned driving |
Also Published As
| Publication number | Publication date |
|---|---|
| ZA202301716B (en) | 2023-04-26 |
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Application publication date: 20220809 |
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| RJ01 | Rejection of invention patent application after publication |