CN116834719A - Port logistics vehicle braking method and system - Google Patents
Port logistics vehicle braking method and system Download PDFInfo
- Publication number
- CN116834719A CN116834719A CN202311055854.5A CN202311055854A CN116834719A CN 116834719 A CN116834719 A CN 116834719A CN 202311055854 A CN202311055854 A CN 202311055854A CN 116834719 A CN116834719 A CN 116834719A
- Authority
- CN
- China
- Prior art keywords
- controller
- vehicle
- remote control
- port logistics
- automatic driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000012795 verification Methods 0.000 claims description 11
- 230000002159 abnormal effect Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- B60T7/16—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle
- B60T7/18—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle operated by wayside apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
Abstract
The application discloses a method and a system for braking a port logistics vehicle; the braking method comprises the following steps: when the port logistics vehicle is in an automatic driving mode and the vehicle-mounted vehicle body controller does not receive a braking instruction of the automatic driving controller, the EBS controller receives an automatic driving state signal forwarded by the vehicle-mounted vehicle body controller; when the signal loss of the automatic driving state exceeds a first preset time, the EBS controller controls the port logistics vehicle to brake; when the port logistics vehicle is in a remote control mode and the EBS controller does not receive a braking instruction of the remote control controller, the EBS controller receives a remote control state signal of the remote control controller; and when the loss of the remote control state signal exceeds a second preset time, the EBS controller controls the port logistics vehicle to brake. The problem that the port logistics vehicle cannot be braked in time due to unexpected vehicle exiting one of the modes or the controller failure corresponding to the mode is avoided, and the safety of the port logistics vehicle is improved.
Description
Technical Field
The application relates to the technical field of automobile control, in particular to a method and a system for braking a port logistics vehicle.
Background
Port logistics refers to a port comprehensive service system which is developed by highlighting port goods collection, inventory and distribution characteristics in port cities and has the characteristic of link joint of logistics industry.
In the links of port logistics, such as cargo allocation, vehicles are generally adopted for cargo transportation. In order to reduce the size of a vehicle body and reduce the use of manpower, port logistics vehicles gradually adopt unmanned related technology to finish transportation in ports. However, the port logistics vehicle has the defects that the cargo needs to be transported, the dead weight is large, the controller fails once in the driving process, the brake cannot be timely performed, and the port logistics vehicle is unmanned, so that serious safety problems can be caused.
Disclosure of Invention
In view of the above, the application provides a method and a device for braking a port logistics vehicle, which can avoid the whole vehicle from being out of control caused by unexpected unmanned runaway and improve the safety of the port logistics vehicle.
In order to solve the problems, the technical scheme provided by the application is as follows:
the first aspect of the present application provides a method for braking a port logistics vehicle, the port logistics vehicle comprising: an electronic brake EBS controller, a vehicle-mounted vehicle body controller, an automatic driving controller and a remote control controller;
the braking method comprises the following steps:
when the port logistics vehicle is in an automatic driving mode and the vehicle-mounted vehicle body controller does not receive a braking instruction of the automatic driving controller, the EBS controller receives an automatic driving state signal forwarded by the vehicle-mounted vehicle body controller;
when the signal loss of the automatic driving state exceeds a first preset time, the EBS controller controls the port logistics vehicle to brake;
when the port logistics vehicle is in a remote control mode and the EBS controller does not receive a braking instruction of the remote control controller, the EBS controller receives a remote control state signal of the remote control controller;
and when the loss of the remote control state signal exceeds a second preset time, the EBS controller controls the port logistics vehicle to brake.
Preferably, when the loss of the remote control state signal exceeds a second preset time, the EBS controller controls the port logistics vehicle to brake, and specifically includes:
when the loss of the remote control state signal exceeds a second preset time, the EBS controller controls the port logistics vehicle to brake according to the braking deceleration; the braking deceleration is selected by the remote control end according to the speed and the load.
Preferably, the method further comprises:
when the port logistics vehicle is in an automatic driving mode and the vehicle-mounted vehicle body controller receives a braking command of the automatic driving controller, the vehicle-mounted vehicle body controller forwards the braking command to the EBS controller, and the EBS controller controls the port logistics vehicle to brake according to the braking command.
Preferably, the method further comprises:
the vehicle-mounted vehicle body controller performs signal verification on an automatic driving state signal of the automatic driving controller;
and when the signal passes the verification, forwarding an automatic driving state signal to the EBS controller.
Preferably, after the port logistics vehicle is in the automatic driving mode and the signal loss of the automatic driving state exceeds the first preset time, the EBS controller controls the port logistics vehicle to brake, the method further comprises:
controlling the port logistics vehicle to finish an automatic driving mode and converting the port logistics vehicle into a remote control mode;
an alert is sent to the remote control to prompt the remote control.
A second aspect of the present application provides a brake system for a port logistics vehicle, comprising: an electronic brake EBS controller, a vehicle-mounted vehicle body controller, an automatic driving controller and a remote control controller;
the automatic driving controller is used for sending a control signal to the vehicle-mounted vehicle body controller when the port logistics vehicle is in an automatic driving mode;
the vehicle-mounted vehicle body controller is used for receiving a control signal of the automatic driving controller, and sending an automatic driving state signal to the EBS controller when the control signal does not comprise a braking instruction;
the EBS controller is used for controlling the port logistics vehicle to brake when the port logistics vehicle is in an automatic driving mode, the control signal does not comprise a braking instruction and the automatic driving state signal is lost for more than a first preset time;
the remote control controller is used for sending a control signal to the EBS controller when the port logistics vehicle is in a remote control mode;
and the EBS controller is also used for receiving a control signal of the remote control controller, and controlling the port logistics vehicle to brake when the control signal does not comprise a brake instruction and the port logistics vehicle is in a remote control mode and the signal loss of the remote control state exceeds a second preset time.
Preferably, the EBS controller is specifically configured to control the port logistics vehicle to brake according to the braking deceleration when the remote control status signal is lost for more than a second preset time; the braking deceleration is selected by the remote control end according to the speed and the load.
Preferably, the vehicle-mounted vehicle body controller is further used for forwarding the braking instruction to the EBS controller when receiving the braking instruction of the automatic driving controller, so that the EBS controller controls the port logistics vehicle to brake according to the braking instruction.
Preferably, the vehicle-mounted vehicle body controller is further used for verifying an automatic driving state signal of the automatic driving controller; and when the signal passes the verification, forwarding an automatic driving state signal to the EBS controller.
Preferably, the EBS controller is further configured to control the port logistics vehicle to end the automatic driving mode and switch to the remote control mode after the port logistics vehicle is in the automatic driving mode and the signal of the automatic driving state is lost for more than a first preset time; an alert is sent to the remote control to prompt the remote control.
From this, the application has the following beneficial effects:
the application provides a method for braking a port logistics vehicle, which comprises the following steps: an electronic brake EBS controller, a vehicle-mounted vehicle body controller, an automatic driving controller and a remote control controller; the method comprises the following steps: when the port logistics vehicle is in an automatic driving mode and the vehicle-mounted vehicle body controller does not receive a braking instruction of the automatic driving controller, the EBS controller receives an automatic driving state signal forwarded by the vehicle-mounted vehicle body controller; and when the signal loss of the automatic driving state exceeds a first preset time, the EBS controller controls the port logistics vehicle to brake. When a braking instruction is not received, the vehicle-mounted vehicle body controller forwards an automatic driving state signal to the EBS, so that the state of the automatic driving controller is normal when the braking instruction is not received, and the problem caused by abnormal state of the automatic driving controller is solved; the signal loss of the automatic driving state exceeds the first preset time, which indicates that the vehicle has a high probability of faults, for example, the automatic driving controller has a fault or unexpected exit from the automatic driving state, and at the moment, the EBS controller controls the port logistics vehicle to brake, so that potential safety hazards caused by possible faults are avoided. When the port logistics vehicle is in a remote control mode and the EBS controller does not receive a braking instruction of the remote control controller, the EBS controller receives a remote control state signal of the remote control controller; and when the loss of the remote control state signal exceeds a second preset time, the EBS controller controls the port logistics vehicle to brake. Similarly, the embodiment of the application also timely detects the state of the remote control controller, and timely controls the port logistics vehicle to brake when the signal loss of the remote control state exceeds the second preset time, so that hidden danger is reduced. According to the method for braking the port logistics vehicle, which is provided by the application, aiming at an automatic driving mode and a remote control mode of the port logistics vehicle, state signal detection is carried out when no braking signal is received, and if the state signal is lost, the port logistics vehicle is braked in time; the problem that the port logistics vehicle cannot be braked in time due to unexpected vehicle exiting one of the modes or the controller failure corresponding to the mode is avoided, and the safety of the port logistics vehicle is improved.
Drawings
FIG. 1 is a flow chart of a method for braking a port logistics vehicle provided by an embodiment of the application;
FIG. 2 is a flow chart of another method for braking a port logistics vehicle according to an embodiment of the present application;
fig. 3 is a schematic diagram of a braking system of a port logistics vehicle according to an embodiment of the present application.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of embodiments of the application will be rendered by reference to the appended drawings and appended drawings.
Referring to fig. 1, the flow chart of a method for braking a port logistics vehicle according to an embodiment of the present application is shown.
The method for braking the port logistics vehicle is applied to the port logistics vehicle.
Specifically, the port logistics vehicle includes: electronic brake (Electronic Brake System, EBS) controllers, on-board body controllers, autopilot controllers, and remote control controllers.
The automatic driving controller and the remote control controller are controllers corresponding to two modes of unmanned port logistics vehicle; as the name suggests, one mode is automatic driving and the other mode is remote control by personnel.
The vehicle-mounted vehicle body controller is used for reducing the change when the automatic driving controller is connected with the EBS controller, and the type of the signal sent by the automatic driving controller or the type of the signal received by the conventional EBS controller is not required to be changed, so that the vehicle-mounted vehicle body controller is more convenient.
The remote control controller has the function of converting the instruction of the remote control end into the signal types mutually identified by the controllers; thus, the remote control controller is directly connected to the EBS controller. The remote control end refers to the end which issues the control instruction, namely the end which is manually controlled.
Adopt autopilot and remote control, can make the automatic transportation of accomplishing of harbour commodity circulation car, also can control through manual remote control under special circumstances, still need not to set up the driver position, degree of automation is high and use manpower sparingly.
The braking method provided by the embodiment of the application comprises the following steps:
s101: identifying a port logistics vehicle mode; if the port logistics vehicle is in the automatic driving mode, executing step S102; if the port logistics vehicle is in the remote control mode, step S104 is executed.
S102: when the vehicle-mounted vehicle body controller does not receive a braking instruction of the automatic driving controller, the EBS controller receives an automatic driving state signal forwarded by the vehicle-mounted vehicle body controller.
It should be appreciated that when the onboard body controller receives a brake command from the autopilot controller, the onboard body controller parses and sends the brake command to the EBS controller to cause the EBS controller to brake.
When the vehicle-mounted vehicle body controller does not receive a braking instruction of the automatic driving controller, the vehicle is not required to brake at the moment; however, for safety, the EBS controller receives the autopilot state signal forwarded by the vehicle-mounted vehicle body controller at this time, so as to determine whether the autopilot controller is in a normal state, or else, the autopilot controller may be in an abnormal state and not send a braking command. Thus, step S102 enables the EBS controller to more accurately receive the brake signal of the autopilot controller.
S103: and when the signal loss of the automatic driving state exceeds a first preset time, the EBS controller controls the port logistics vehicle to brake.
When the autopilot status signal is lost for more than a first preset time, a fault may exist, for example, the port logistics vehicle does not expect to exit the autopilot mode, or the autopilot controller fails, or the communication of the port logistics vehicle fails, and the like.
For insurance, the EBS controller controls the port logistics vehicle to brake at the moment, so that the port logistics vehicle is further ensured to brake in time, and the safety is improved.
The first preset time can be set by a person skilled in the art according to specific situations, and the present application is not limited thereto. Preferably, the first preset time may be 300ms.
S104: when the EBS controller does not receive the braking instruction of the remote control controller, the EBS controller receives the remote control state signal of the remote control controller.
S105: and when the loss of the remote control state signal exceeds a second preset time, the EBS controller controls the port logistics vehicle to brake.
The function of steps S104-S105, like steps S102-S103, is to acquire the status of the remote control and further to control the vehicle braking in time when the remote control status signal is lost.
The application is not particularly limited to the specific value of the second preset time. Preferably, the second preset time may be 200ms.
The embodiment of the application provides a method for braking a port logistics vehicle, which comprises the following steps: an electronic brake EBS controller, a vehicle-mounted vehicle body controller, an automatic driving controller and a remote control controller; the method comprises the following steps: when the port logistics vehicle is in an automatic driving mode and the vehicle-mounted vehicle body controller does not receive a braking instruction of the automatic driving controller, the EBS controller receives an automatic driving state signal forwarded by the vehicle-mounted vehicle body controller; and when the signal loss of the automatic driving state exceeds a first preset time, the EBS controller controls the port logistics vehicle to brake. When a braking instruction is not received, the vehicle-mounted vehicle body controller forwards an automatic driving state signal to the EBS, so that the state of the automatic driving controller is normal when the braking instruction is not received, and the problem caused by abnormal state of the automatic driving controller is solved; the signal loss of the automatic driving state exceeds the first preset time, which indicates that the vehicle has a high probability of faults, for example, the automatic driving controller has a fault or unexpected exit from the automatic driving state, and at the moment, the EBS controller controls the port logistics vehicle to brake, so that potential safety hazards caused by possible faults are avoided. When the port logistics vehicle is in a remote control mode and the EBS controller does not receive a braking instruction of the remote control controller, the EBS controller receives a remote control state signal of the remote control controller; and when the loss of the remote control state signal exceeds a second preset time, the EBS controller controls the port logistics vehicle to brake. Similarly, the embodiment of the application also timely detects the state of the remote control controller, and timely controls the port logistics vehicle to brake when the signal loss of the remote control state exceeds the second preset time, so that hidden danger is reduced. According to the method for braking the port logistics vehicle, which is provided by the embodiment of the application, aiming at an automatic driving mode and a remote control mode of the port logistics vehicle, state signal detection is respectively carried out when no braking signal is received, and if the state signal is lost, the port logistics vehicle is braked in time; the problem that the port logistics vehicle cannot be braked in time due to unexpected vehicle exiting one of the modes or the controller failure corresponding to the mode is avoided, and the safety of the port logistics vehicle is improved.
In some possible implementations, taking the remote control status signal as an example, when the remote control status signal is lost for more than a second preset time, it is obvious that the EBS controller cannot receive the normal braking command; at the moment, the EBS controller controls the port logistics vehicle to brake, and particularly brakes according to preset braking deceleration; wherein the braking deceleration is selected according to the vehicle speed and the load. Specifically, the braking deceleration may be selected by a remote control end according to the vehicle speed and the load, and it is understood that the remote control end refers to an end that issues a control instruction, that is, an end that is manually remotely controlled.
In some possible implementation manners, after the port logistics vehicle is in the automatic driving mode and the signal loss of the automatic driving state exceeds the first preset time, the EBS controller can further control the port logistics vehicle to end the automatic driving mode, and the port logistics vehicle is converted into the remote control mode and sends a warning to the remote control controller so as to prompt a remote control end; therefore, the remote control end can control the port logistics vehicle, for example, control the port logistics vehicle to park nearby, and avoid the influence on traffic caused by temporary braking.
A specific example of a scenario is described below.
Referring to fig. 2, a flowchart of another method for braking a port logistics vehicle according to an embodiment of the present application is shown.
S201: identifying a port logistics vehicle mode; if the port logistics vehicle is in the automatic driving mode, executing step S202; if the port logistics vehicle is in the remote control mode, step S208 is executed.
S202: judging whether the automatic driving controller sends a braking instruction or not, and if so, executing step S203; if not, step S204 is performed.
S203: the vehicle-mounted vehicle body controller analyzes the braking instruction and then forwards the braking instruction to the EBS controller, so that the EBS controller brakes according to the braking instruction.
S204: and the vehicle-mounted vehicle body controller receives and verifies the automatic driving state signal of the automatic driving controller, and when the signal verification passes, the automatic driving state signal is forwarded to the EBS controller.
The vehicle-mounted vehicle body controller performs signal verification, so that signal accuracy can be further ensured; the vehicle-mounted vehicle body controller not only directly forwards signals of the automatic driving controller, but also diagnoses and forwards the signals, so that the accuracy of braking control can be improved.
S205: the EBS controller judges whether the autopilot status signal is lost and lasts 300ms, and if so, step S206 is executed; if not, step S207 is performed.
S206: the EBS controller brakes according to the preset braking deceleration, and switches to a remote control mode, and sends a warning to the remote control controller to prompt the remote control terminal.
S207: the EBS controller remains the same.
S208: judging whether the remote control controller sends a braking instruction or not, if so, executing step S209; if not, step S210 is performed.
S209: the EBS controller receives the braking command and applies the brake.
S210: the EBS controller judges whether the remote control state signal is lost and lasts for 200ms, if yes, the step S211 is executed; if not, step S212 is performed.
S211: the EBS controller performs braking according to a preset braking deceleration.
S212: the EBS controller remains the same.
Based on the braking method of the port logistics vehicle provided by the embodiment, the embodiment of the application also provides a braking system of the port logistics vehicle, and the braking system is described in detail below with reference to the accompanying drawings.
Referring to fig. 3, the schematic diagram of a braking system of a port logistics vehicle according to an embodiment of the present application is shown.
The braking system of the port logistics vehicle provided by the embodiment of the application comprises the following components: an electronic brake EBS controller 100, an in-vehicle body controller 200, an automatic driving controller 300, and a remote control controller 400.
The automatic driving controller 300 is used for sending a control signal to the vehicle-mounted vehicle body controller when the port logistics vehicle is in the automatic driving mode.
Wherein the control signals include a brake signal and an autopilot status signal. The application is not particularly limited to the specific implementation manner corresponding to the control signal including the braking instruction, for example, the braking instruction may be indicated when the braking signal in the control signal is set; the non-set brake signal indicates no brake command. It should be understood that a brake command is meant herein to include a brake command, i.e., to indicate that the vehicle is in need of braking.
The in-vehicle body controller 200 receives a control signal from the autopilot controller 300, and transmits an autopilot status signal to the EBS controller 100 when the control signal does not include a brake command.
The in-vehicle body controller 200 transmits an automatic driving state signal to the EBS controller 100 when the control signal does not include a brake command, in addition to forwarding the brake command in a conventional manner. Thus, the EBS controller 100 can determine whether the autopilot controller 300 is in a normal state, and if the autopilot controller 300 is in an abnormal state, the EBS controller 100 can directly perform braking.
The EBS controller 100 is configured to control the port logistics vehicle to brake when the port logistics vehicle is in the autopilot mode, the control signal does not include a brake command, and the autopilot status signal is lost for more than a first preset time.
Due to the functions of the autopilot controller 300 and the onboard body controller 200 defined above, when the port logistics vehicle is in autopilot mode and the control signal does not include a brake command, the onboard body controller 200 normally forwards an autopilot status signal to the EBS controller. Thus, the loss of the autopilot status signal beyond the first predetermined time indicates that a fault may exist, such as an unexpected exit from the autopilot mode of the port logistics vehicle, or a fault in the autopilot controller, or a communication fault in the port logistics vehicle, among other possible causes of the fault. For safety, the EBS controller 100 controls the port logistics vehicle to brake at this time, further ensures the port logistics vehicle to brake in time, and improves the safety.
The remote control controller 400 is configured to send a control signal to the EBS controller 100 when the port logistics vehicle is in the remote control mode.
The EBS controller 100 is further configured to receive a control signal from the remote control controller 300, and when the control signal does not include a braking instruction, the port logistics vehicle is in a remote control mode and the remote control state signal is lost for more than a second preset time, control the port logistics vehicle to brake.
Corresponding to the autopilot controller 300, the EBS controller 100 indicates that the port logistics car is in the remote control mode when receiving the control signal of the remote control controller 300 due to the function limitation of the remote control controller 400, and the EBS controller 100 should receive the remote control status signal when the control signal does not include a brake command. And the loss of the remote control status signal exceeds the second preset time, which indicates that the port logistics vehicle has a fault, for example, the remote control 400 has a fault or the whole vehicle has a communication fault, etc. Therefore, the EBS controller 100 needs to control the braking of the port logistics vehicle at this time, so as to further ensure the safety of the port logistics vehicle.
The braking system of the port logistics vehicle provided by the embodiment of the application comprises the following components: an EBS controller, a vehicle-mounted vehicle body controller, an automatic driving controller and a remote control controller; the automatic driving controller is used for sending a control signal to the vehicle-mounted vehicle body controller when the port logistics vehicle is in an automatic driving mode; the vehicle-mounted vehicle body controller is used for receiving a control signal of the automatic driving controller, and sending an automatic driving state signal to the EBS controller when the control signal does not comprise a braking instruction; and the EBS controller is used for controlling the port logistics vehicle to brake when the port logistics vehicle is in the automatic driving mode, the control signal does not comprise a brake instruction and the automatic driving state signal is lost for more than a first preset time. When a braking instruction is not received, the vehicle-mounted vehicle body controller forwards an automatic driving state signal to the EBS, so that the state of the automatic driving controller is normal when the braking instruction is not received, and the problem caused by abnormal state of the automatic driving controller is solved; the signal loss of the automatic driving state exceeds the first preset time, which indicates that the vehicle has a high probability of faults, for example, the automatic driving controller has a fault or unexpected exit from the automatic driving state, and at the moment, the EBS controller controls the port logistics vehicle to brake, so that potential safety hazards caused by possible faults are avoided. The remote control controller is used for sending a control signal to the EBS controller when the port logistics vehicle is in a remote control mode; and the EBS controller is also used for receiving a control signal of the remote control controller, and controlling the port logistics vehicle to brake when the control signal does not comprise a brake instruction and the port logistics vehicle is in a remote control mode and the signal loss of the remote control state exceeds a second preset time. Similarly, the embodiment of the application also timely detects the state of the remote control controller, and timely controls the port logistics vehicle to brake when the signal loss of the remote control state exceeds the second preset time, so that hidden danger is reduced. According to the braking system of the port logistics vehicle, according to the automatic driving mode and the remote control mode of the port logistics vehicle, state signal detection is carried out when no braking signal is received, and if the state signal is lost, the port logistics vehicle is braked in time; the problem that the port logistics vehicle cannot be braked in time due to unexpected vehicle exiting one of the modes or the controller failure corresponding to the mode is avoided, and the safety of the port logistics vehicle is improved.
In one possible implementation manner, the EBS controller is specifically configured to control the port logistics vehicle to brake according to the braking deceleration when the remote control status signal is lost for more than a second preset time; the braking deceleration is selected by the remote control end according to the speed and the load.
In one possible implementation, the vehicle-mounted vehicle body controller is further configured to, when receiving a braking command from the autopilot controller, forward the braking command to the EBS controller, so that the EBS controller controls the port logistics vehicle to brake according to the braking command.
In one possible implementation, the vehicle-mounted vehicle body controller is further used for performing signal verification on an automatic driving state signal of the automatic driving controller; and when the signal passes the verification, forwarding an automatic driving state signal to the EBS controller.
The vehicle-mounted vehicle body controller performs signal verification, so that signal accuracy can be further ensured; the vehicle-mounted vehicle body controller not only directly forwards signals of the automatic driving controller, but also diagnoses and forwards the signals, so that the accuracy of braking control can be improved.
In one possible implementation manner, the EBS controller is further configured to control the port logistics vehicle to end the automatic driving mode and switch to the remote control mode after the port logistics vehicle is in the automatic driving mode and the signal of the automatic driving state is lost for more than a first preset time; an alert is sent to the remote control to prompt the remote control. Therefore, after the automatic driving mode fails, the automatic driving mode is switched to a remote control mode in time, and the remote control end is informed to carry out remote control, so that the problems of other traffic obstacles and the like caused by emergency braking are avoided.
It should be noted that, in the present description, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system or device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of braking a port logistics vehicle, comprising: an electronic brake EBS controller, a vehicle-mounted vehicle body controller, an automatic driving controller and a remote control controller;
the braking method comprises the following steps:
when the port logistics vehicle is in an automatic driving mode and the vehicle-mounted vehicle body controller does not receive a braking instruction of the automatic driving controller, the EBS controller receives an automatic driving state signal forwarded by the vehicle-mounted vehicle body controller;
when the signal loss of the automatic driving state exceeds a first preset time, the EBS controller controls the port logistics vehicle to brake;
when the port logistics vehicle is in a remote control mode and the EBS controller does not receive a braking instruction of the remote control controller, the EBS controller receives a remote control state signal of the remote control controller;
and when the loss of the remote control state signal exceeds a second preset time, the EBS controller controls the port logistics vehicle to brake.
2. The method of claim 1, wherein the EBS controller controls the port logistics car brake when the remote control status signal loss exceeds a second preset time, comprising:
when the loss of the remote control state signal exceeds a second preset time, the EBS controller controls the port logistics vehicle to brake according to the braking deceleration; the braking deceleration is selected by the remote control end according to the vehicle speed and the load.
3. The method as recited in claim 1, further comprising:
when the port logistics vehicle is in an automatic driving mode and the vehicle-mounted vehicle body controller receives a braking instruction of the automatic driving controller, the vehicle-mounted vehicle body controller forwards the braking instruction to the EBS controller, and the EBS controller controls the port logistics vehicle to brake according to the braking instruction.
4. The method as recited in claim 1, further comprising:
the vehicle-mounted vehicle body controller performs signal verification on an automatic driving state signal of the automatic driving controller;
and forwarding the automatic driving state signal to the EBS controller when the signal passes the verification.
5. A method according to any one of claims 1-3, wherein after the port logistics vehicle is in an autonomous mode and the autonomous status signal is lost for more than a first preset time, the EBS controller controls the port logistics vehicle to stop, further comprising:
controlling the port logistics vehicle to finish an automatic driving mode and converting the port logistics vehicle into a remote control mode;
and sending a warning to the remote control controller to prompt a remote control terminal.
6. A brake system for a port logistics vehicle, comprising: an electronic brake EBS controller, a vehicle-mounted vehicle body controller, an automatic driving controller and a remote control controller;
the automatic driving controller is used for sending a control signal to the vehicle-mounted vehicle body controller when the port logistics vehicle is in an automatic driving mode;
the vehicle-mounted vehicle body controller is used for receiving a control signal of the automatic driving controller, and sending an automatic driving state signal to the EBS controller when the control signal does not comprise a braking instruction;
the EBS controller is used for controlling the port logistics vehicle to brake when the port logistics vehicle is in an automatic driving mode, the control signal does not comprise a braking instruction and the automatic driving state signal is lost for more than a first preset time;
the remote control controller is used for sending a control signal to the EBS controller when the port logistics vehicle is in a remote control mode;
and the EBS controller is also used for receiving a control signal of the remote control controller, and when the control signal does not comprise a braking instruction, the port logistics vehicle is in a remote control mode, and the loss of the remote control state signal exceeds a second preset time, and the port logistics vehicle is controlled to brake.
7. The system of claim 6, wherein the EBS controller is specifically configured to control the port logistics vehicle to brake according to a braking deceleration when the remote control status signal is lost for more than a second preset time; the braking deceleration is selected by the remote control end according to the vehicle speed and the load.
8. The system of claim 6, wherein the on-board vehicle body controller is further configured to, upon receiving a braking command from the autopilot controller, forward the braking command to the EBS controller to cause the EBS controller to control the port logistics vehicle to brake in accordance with the braking command.
9. The system of claim 6, wherein the onboard body controller is further configured to signal check an autopilot status signal of the autopilot controller; and forwarding the automatic driving state signal to the EBS controller when the signal passes the verification.
10. The system of any one of claims 6-8, wherein the EBS controller is further configured to control the port logistics vehicle to end the autopilot mode to switch to the remote control mode after the port logistics vehicle is in the autopilot mode and the autopilot status signal is lost for more than a first preset time; and sending a warning to the remote control controller to prompt a remote control terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311055854.5A CN116834719A (en) | 2023-08-21 | 2023-08-21 | Port logistics vehicle braking method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311055854.5A CN116834719A (en) | 2023-08-21 | 2023-08-21 | Port logistics vehicle braking method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116834719A true CN116834719A (en) | 2023-10-03 |
Family
ID=88161954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311055854.5A Pending CN116834719A (en) | 2023-08-21 | 2023-08-21 | Port logistics vehicle braking method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116834719A (en) |
-
2023
- 2023-08-21 CN CN202311055854.5A patent/CN116834719A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109906587B (en) | In-vehicle relay device, in-vehicle monitoring device, in-vehicle control network system, communication monitoring method, and computer-readable recording medium | |
| US11975727B2 (en) | Autonomous vehicle control system | |
| CN111038480B (en) | Automatic driving execution system and automatic driving control command execution method | |
| US20150094901A1 (en) | Method for operating a motor vehicle during and/or following a collision | |
| CN105691373B (en) | Method for applying an electric parking brake device | |
| US11390291B2 (en) | Method and device for the assisted, partially automated, highly automated, fully automated or driverless driving of a motor vehicle | |
| CN104968543A (en) | Method for operating an electrically operable parking brake system and control device for an electrically operable parking brake system | |
| US20160304067A1 (en) | Braking systems and methods for automatic train operation | |
| EP2719588A1 (en) | Method for operating an electrically operable parking brake system and control device of an electrically operable parking brake system | |
| CN111572515A (en) | Unmanned vehicle and unmanned vehicle braking method | |
| CN111619615B (en) | Switching method and switching system for remote control system and train control system | |
| CN112996717A (en) | Security method, control device, vehicle, computer program, and computer-readable medium | |
| CN109159779A (en) | A kind of rail vehicle and its braking method, system | |
| JP6924995B2 (en) | Air supply system | |
| CN116834719A (en) | Port logistics vehicle braking method and system | |
| KR100867615B1 (en) | Controlling method of hazard lamp for a car using obd-ii and apparatus thereof | |
| CN112109726A (en) | Fault processing method for automatic driving vehicle, vehicle and readable storage medium | |
| CN116262495A (en) | Vehicle and redundant braking control method thereof | |
| CN106627553A (en) | Air pressure brake anomaly detection method and system | |
| CN215883633U (en) | Emergency braking system of unmanned mine car and unmanned mine car | |
| EP3072020A1 (en) | System and method to make possible autonomous operation and/or external control of a motor vehicle | |
| CN210174729U (en) | Brake lamp control circuit, system and vehicle | |
| CN114056330B (en) | Control device, vehicle, non-transitory computer-readable medium, and control method | |
| US20220258704A1 (en) | System and method for vehicle stop control | |
| CN112572534B (en) | Brake control method suitable for heavy-duty train vehicle-mounted equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |