CN117125036A - Speed reduction equipment, speed reduction control method, device and system - Google Patents

Speed reduction equipment, speed reduction control method, device and system Download PDF

Info

Publication number
CN117125036A
CN117125036A CN202311191648.7A CN202311191648A CN117125036A CN 117125036 A CN117125036 A CN 117125036A CN 202311191648 A CN202311191648 A CN 202311191648A CN 117125036 A CN117125036 A CN 117125036A
Authority
CN
China
Prior art keywords
controlled vehicle
deceleration
brake pedal
controlled
running
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
Application number
CN202311191648.7A
Other languages
Chinese (zh)
Inventor
李恒
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Teknect Engineering Co ltd
Original Assignee
Suzhou Teknect Engineering Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Suzhou Teknect Engineering Co ltd filed Critical Suzhou Teknect Engineering Co ltd
Priority to CN202311191648.7A priority Critical patent/CN117125036A/en
Publication of CN117125036A publication Critical patent/CN117125036A/en
Pending legal-status Critical Current

Links

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
    • 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
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The application provides a speed reducing device, a speed reducing control method, a speed reducing control device and a speed reducing control system, wherein an adjusting mechanism of the speed reducing device is fixedly connected to a brake pedal of controlled equipment, and the other end of the adjusting mechanism is connected with a power mechanism through a transmission mechanism.

Description

Speed reduction equipment, speed reduction control method, device and system
Technical Field
The application is mainly applied to the field of vehicle safety control, and particularly relates to a speed reduction device, a speed reduction control method, a speed reduction control device and a speed reduction control system.
Background
In the work scenes such as mill, pier, warehouse, etc., can dispose vehicle anticollision early warning system generally, be applicable to the crashproof of factory blind area anticollision, turning anticollision to carry out anticollision early warning in driving vehicle operation in-process, reduce the vehicle collision accident.
However, in practical applications, after outputting anti-collision early warning information such as acousto-optic early warning, a driver changes running parameters such as a running speed and a running direction of a vehicle in time, and an obstacle (such as a pedestrian or other vehicles) changes a moving route and other modes to avoid collision between the vehicle and the obstacle, so that if the driver and the pedestrian react in time or operate by mistake, the collision risk cannot be reliably avoided.
Disclosure of Invention
In order to solve the technical problems, the application provides the following technical scheme:
the application proposes a deceleration device, comprising: adjustment mechanism, drive mechanism and power unit, wherein:
the adjusting mechanism is used for fixedly connecting a brake pedal of the controlled vehicle, and controlling the brake pedal to have different opening and closing degrees when the brake pedal is in different adjusting states;
the two ends of the transmission mechanism are respectively connected with the adjusting mechanism and the power mechanism, and the adjusting state of the adjusting mechanism can be changed along with the rotation of the transmission mechanism;
the power mechanism is used for executing a deceleration instruction under the condition that the controlled vehicle meets an anti-collision deceleration condition, controlling the transmission mechanism to rotate according to a corresponding direction, changing the adjustment state of the adjustment mechanism, increasing the opening and closing degree of the brake pedal and reducing the running speed of the controlled vehicle; the deceleration instruction is generated according to the running environment information of the controlled vehicle.
Optionally, the adjusting mechanism includes:
the fixed part is used for fixedly connecting a brake pedal of the controlled vehicle;
and one end of the connecting part is connected with the fixed part, and the other end of the connecting part is connected with the transmission mechanism, and is used for adjusting the distance between the transmission mechanism and the fixed part according to the rotation direction of the transmission mechanism so as to synchronously control the opening and closing degree change of the brake pedal.
Optionally, the connection part is a pull rope, the surface of the pull rope is provided with a protective sleeve made of elastic material, and the pull rope can be wound on the transmission mechanism according to the rotation direction of the transmission mechanism in the rotation state of the transmission mechanism;
or the connecting part is an elastic part made of elastic materials, and the elastic part enters stretching states with different stretching degrees along with the rotation of the transmission mechanism, and corresponds to different opening and closing degrees of the brake pedal;
or, the connecting part is a pulley mechanism;
one end of a rope in the pulley mechanism is fixedly connected with the fixing part, and the other end of the rope is connected with the transmission mechanism and can be wound on the transmission mechanism according to the rotation direction of the transmission mechanism; or the other end of the rope is fixed in the pulley mechanism, and after the transmission mechanism enters a rotating state, the rope is controlled to be wound on a pulley of the pulley mechanism, so that the use length of the rope between the fixed part and the pulley is reduced.
The application also provides a deceleration control method, which comprises the following steps:
acquiring running environment information of a controlled vehicle in a running state;
determining that the controlled vehicle meets an anti-collision deceleration condition according to the running environment information, and generating a corresponding deceleration instruction;
controlling a speed reducing device to execute the speed reducing instruction, changing the adjustment state of an adjusting mechanism of the speed reducing device, and increasing the opening and closing degree of a brake pedal of the controlled vehicle so as to reduce the running speed of the controlled device;
the adjusting mechanism of the speed reducing device is fixedly connected with the brake pedal of the controlled vehicle, and the opening and closing degrees of the corresponding brake pedal are different under different adjusting states.
Optionally, the anti-collision deceleration condition includes any one of the following conditions:
the obstacle in the running direction of the controlled vehicle is positioned in a preset anti-collision range of the controlled device;
the obstacle in the running direction of the controlled vehicle is positioned in a preset anti-collision range of the controlled device, and the running speed of the controlled vehicle is greater than a first speed threshold.
Optionally, the preset anti-collision range includes a plurality of anti-collision ranges corresponding to different risk levels one by one, the obstacle is located in different anti-collision ranges, and the opening and closing degrees of the brake pedal after being increased are different;
According to the driving environment information, determining that the controlled vehicle meets a deceleration triggering condition, generating a corresponding deceleration instruction, controlling deceleration equipment to execute the deceleration instruction, changing an adjustment state of an adjustment mechanism of the deceleration equipment, and increasing the opening and closing degree of a brake pedal of the controlled vehicle, wherein the method comprises the following steps:
determining that an obstacle in the running direction of the controlled vehicle is positioned in a first anti-collision range of the controlled device according to the running environment information, wherein the running speed of the controlled vehicle is greater than a first speed threshold value, and generating a deceleration instruction containing corresponding deceleration control parameters; the deceleration control parameter can represent the target opening and closing degree of the brake pedal of the controlled vehicle after the current adjustment;
and controlling the speed reduction equipment to execute the speed reduction control parameters, and changing the adjustment state of an adjustment mechanism of the speed reduction equipment so as to control the brake pedal of the controlled vehicle to be in the corresponding target opening and closing degree.
Optionally, the method further comprises:
outputting anti-collision early warning information under the condition that the controlled vehicle meets the anti-collision deceleration condition; and/or the number of the groups of groups,
according to the running environment information, when the controlled vehicle meets the parking triggering condition, disconnecting a power system of the controlled vehicle so as to control the controlled vehicle to stop running; and/or the number of the groups of groups,
Performing performance detection on the speed reduction equipment, and outputting a corresponding performance detection result; the performance detection result can represent whether the speed reduction equipment works normally or not and a speed reduction control result of the speed reduction equipment on the controlled vehicle.
Optionally, when the controlled vehicle meets the parking triggering condition according to the driving environment information, the power system of the controlled vehicle is disconnected, including;
and determining that the obstacle body in the running direction of the controlled vehicle is positioned in an anti-collision range corresponding to the highest risk level according to the running environment information, wherein the running speed of the controlled vehicle is greater than a second speed threshold value, and disconnecting the power system of the controlled vehicle.
The application also provides a deceleration control device, which comprises:
the driving environment information acquisition module is used for acquiring driving environment information of the controlled vehicle in a driving state;
the deceleration instruction generation module is used for determining that the controlled vehicle meets the anti-collision deceleration condition according to the running environment information and generating a corresponding deceleration instruction;
the deceleration control module is used for controlling a deceleration device to execute the deceleration instruction, changing the adjustment state of an adjustment mechanism of the deceleration device and increasing the opening and closing degree of a brake pedal of the controlled vehicle so as to reduce the running speed of the controlled device;
The adjusting mechanism of the speed reducing device is fixedly connected with the brake pedal of the controlled vehicle, and the opening and closing degrees of the corresponding brake pedal are different under different adjusting states.
The application also provides a deceleration control system, which comprises:
a reduction device as described above;
a detection device for detecting traveling environment information of a controlled vehicle;
and a control device for implementing the deceleration control method as described above.
Therefore, under the condition that the controlled vehicle meets the anti-collision deceleration condition, the power mechanism executes the deceleration instruction, controls the transmission mechanism to rotate, changes the adjustment state of the adjustment mechanism, thereby increasing the opening and closing degree of the brake pedal, reducing the running speed of the controlled vehicle, automatically controlling the vehicle to decelerate, avoiding the risk of collision of the controlled device, and improving the timeliness and reliability of the vehicle deceleration control.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of an alternative embodiment of a speed reducing apparatus according to the present application;
fig. 2 is a schematic structural diagram of a second alternative embodiment of the deceleration device according to the present application;
fig. 3 is a schematic structural view of a third alternative embodiment of the deceleration device according to the present application;
FIG. 4 is a flowchart of a deceleration control method according to an alternative embodiment of the present application;
FIG. 5 is a schematic view of a preset crash-proof condition scenario suitable for the deceleration control method proposed by the present application;
fig. 6 is a schematic flow chart of a second alternative embodiment of the deceleration control method according to the present application;
FIG. 7 is a schematic diagram of an alternative embodiment of a deceleration control apparatus according to the present application;
fig. 8 is a schematic hardware configuration of an alternative embodiment of the deceleration control system according to the present application.
Detailed Description
Aiming at the description of the background art, the application hopes that when the controlled vehicle meets the deceleration triggering conditions such as anti-collision early warning, the opening and closing degree of the brake pedal of the controlled vehicle can be automatically increased through the deceleration equipment, so that the controlled vehicle is controlled to automatically decelerate, the controlled vehicle is effectively and timely decelerated, the collision risk of the vehicle and an obstacle is reduced, the situation that the vehicle collides with the obstacle due to untimely or false reaction of the driver and the pedestrian is avoided, and the running safety of the vehicle is improved.
The technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments, and only the portions related to the present application are shown in the accompanying drawings, so that the embodiments of the present application and features in the embodiments may be combined with each other without conflict, and all other embodiments are within the scope of protection of the present application.
It should be appreciated that the terms "system," "apparatus," "unit," and/or "module" as used herein are one method for distinguishing between different components, elements, parts, portions, or assemblies at different levels. However, if other words can achieve the same purpose, the word can be replaced by other expressions.
Also, in the description of the application, the words "a," "an," "the," and/or "the" are not specific to the singular, but may include the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus. The inclusion of an element defined by the phrase "comprising one … …" does not exclude the presence of additional identical elements in a process, method, article, or apparatus that comprises an element.
Wherein, in the description of the embodiments of the present application below, "/" means or, unless otherwise indicated, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, in the description of the embodiments of the present application, "plurality" means two or more than two. The following terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
Referring to fig. 1, a schematic structural diagram of a first alternative embodiment of a speed reducing apparatus according to the present application, the speed reducing apparatus 100 may include an adjusting mechanism 110, a transmission mechanism 120, and a power mechanism 130, where:
the adjusting mechanism 110 can be fixedly connected with the brake pedal 200 of the controlled vehicle, when the adjusting mechanism 110 is in different adjusting states, the brake pedal 200 is controlled to have different opening and closing degrees, the corresponding relation between the plurality of adjusting states of the adjusting mechanism 110 and the different opening and closing degrees of the brake pedal 200 is not limited, and the application can be determined according to the situation. If the value range of the opening and closing degree of the brake pedal 200 is a value ranging from 0 to 1, when the brake pedal 200 is completely released, the corresponding opening and closing degree may be 0; when the brake pedal is depressed to the bottom, the corresponding opening/closing degree may be 1, but is not limited to this opening/closing degree expression.
Because the brake pedal 200 provides braking force for the controlled vehicle to reduce the running speed of the controlled vehicle, and the opening and closing degree of the brake pedal 200 is different, the braking force of the controlled vehicle is different, that is, the deceleration variation of the running speed of the controlled vehicle is different.
The two ends of the transmission mechanism 120 are respectively connected with the adjusting mechanism 110 and the power mechanism 130, and are used for transmitting the power of the power mechanism 130 to a working mechanism, such as the adjusting mechanism 110 of the application. The transmission mechanism 120 can rotate under the action of power, and after the power is transmitted to the adjustment mechanism 110, the adjustment state of the adjustment mechanism 110 is changed, that is, the adjustment state of the adjustment mechanism 110 can be changed along with the rotation of the transmission mechanism 120. The present application is not limited to the constituent structure of the transmission mechanism 120.
When the controlled vehicle meets the anti-collision deceleration condition, a deceleration command can be sent to the power mechanism 130 to start providing adjustment power for the adjustment mechanism 110, the transmission mechanism 120 is controlled to enter a rotation state according to the corresponding direction, the adjustment state of the adjustment mechanism 110 is controlled to change, and the opening and closing degree of the brake pedal is increased along with the change of the adjustment state of the adjustment mechanism 110, so that automatic deceleration control of the controlled vehicle is realized.
Alternatively, the power mechanism 130 may be a motor, and the control device may control parameters such as a rotation direction and a rotation speed of the motor according to actual situations, so as to control the transmission mechanism 120 to rotate synchronously, thereby changing the adjustment state of the adjustment mechanism 110. The composition mechanism of the transmission mechanism 120 may be determined according to factors such as the type of the motor, the effect of providing tension to the adjustment mechanism 110, and the like, for example, the transmission mechanism may include a rotation shaft capable of winding a pull rope or an elastic member, a gear engagement mechanism for controlling rotation of the rotation shaft, a coupling, and the like, and the application does not limit the composition structure of the transmission mechanism 120 and the working method thereof.
Therefore, the deceleration device provided by the application can replace the stepping of the brake pedal by a driver, so that the deceleration device can be immediately controlled to execute a deceleration instruction when the controlled vehicle is determined to meet the anti-collision deceleration condition, the opening and closing degree of the brake pedal is increased, and the brake pedal is stepped down after the situation is found by the driver so as to control the deceleration processing mode of the controlled device.
In some embodiments, as shown in the schematic structural diagram of the second alternative embodiment of the speed reducing device shown in fig. 2, the adjusting mechanism 110 may include a fixing member 111 and a connecting member 112, where the fixing member 111 may be fixedly connected to the brake pedal 200 of the controlled vehicle, one end of the connecting member 112 is connected to the fixing member, the other end is connected to the transmission mechanism 120, and the relative positional relationship between the fixing member 111 and the brake pedal 200 is kept unchanged. Thus, after the transmission mechanism 120 enters a rotation state under the power action of the power mechanism 130, the connection part 112 can enter different adjustment states according to the rotation direction of the transmission mechanism, and as the position of the transmission mechanism 120 is fixed, the fixing part 111 can be pulled to move along with the change of the adjustment state of the connection part 112, the distance between the transmission mechanism 120 and the fixing part 111 is changed, and the opening and closing degree change of the brake pedal 200 of the controlled vehicle is synchronously controlled.
Alternatively, as shown in fig. 2, the connection member 112 may be a pull rope, and the surface of the pull rope is provided with a protective sleeve made of elastic material, so as to protect the pull rope. The connecting part with the structure has low cost and simple installation, avoids the failure of deceleration control caused by the self problem of the connecting part with the complex structure, and improves the reliability of the deceleration control.
Thus, after the transmission mechanism enters a rotation state, one end of the pull rope connected with the transmission mechanism can be wound on the transmission mechanism 120 according to the rotation direction of the transmission mechanism 120, so that the pull rope in a loose state enters a stretching state, the fixing part 111 is further stretched, the brake pedal 200 (namely, the brake pedal 200 is pressed) of the controlled vehicle is pulled, and the opening and closing degree of the brake pedal is synchronously increased along with the increase of the stretching force, namely, the braking force of the controlled vehicle is increased.
On the contrary, when the braking force of the controlled vehicle needs to be reduced, even if the braking is stopped, the power mechanism 130 can control the transmission mechanism 120 to reversely rotate, the pull rope is recovered to the relaxed state from the stretched state, the opening degree of the pulled brake pedal 200 can be synchronously reduced, and the braking force of the controlled vehicle is gradually reduced, namely the speed variation of the controlled vehicle is reduced until the controlled vehicle is recovered to the default state.
Therefore, when the pull rope is in different adjustment states (the corresponding pull ropes between the transmission mechanism 120 and the fixed part 111 have different use lengths), the opening and closing degrees obtained after the brake pedal is pulled are different, and the corresponding relation between the two is not limited in the application. Alternatively, in the state where the pull cord is as shown in fig. 2, the opening and closing degree of the pull brake pedal 200 is at an intermediate value, so that the braking force of the controlled vehicle is at an intermediate braking degree of the whole braking range, but the relationship is not limited thereto, and may be determined according to the weight of the pull cord itself or the like.
Alternatively, as shown in the schematic structural diagram of the third alternative embodiment of the speed reducing device shown in fig. 3, the connecting component 112 of the adjusting mechanism 110 may be a pulley mechanism, and the distance between the transmission mechanism 120 and the fixing component 111 is adjusted in different manners for pulley mechanisms with different structures, so that the application does not limit the structure and the working principle of the pulley mechanism.
In one implementation, as shown in fig. 3, one end of a rope of the pulley mechanism is fixedly connected with the fixing part 111, the other end of the rope is connected with the transmission mechanism 120, and the rope is positioned below a pulley (which can be disposed below the brake pedal 200), and the direction of the rope is changed through the pulley, so that when the controlled vehicle is required to be controlled to decelerate, the power mechanism 130 provides power for the transmission mechanism 120, the transmission mechanism 120 is triggered to enter a rotating state, the rope is pulled to wind on the transmission mechanism according to the rotating direction of the transmission mechanism 120, so that the brake pedal 200 fixedly connected with the fixing part 111 is pulled to continuously increase the opening and closing degree or increase to a certain opening and closing degree, and the transmission mechanism stops rotating, so that the brake pedal 200 can generate a corresponding opening and closing degree signal to control the controlled vehicle to decelerate according to a corresponding acceleration, and the brake control principle is not described in detail.
In another implementation manner, one end of a rope of the pulley mechanism is fixedly connected with the fixing part 111, the other end of the rope can be fixed on a pulley of the pulley mechanism, when the transmission mechanism 120 enters a rotating state, the pulley can be controlled to synchronously rotate through a pull rope or other connectors, the other end of the rope is wound on the pulley, the use length of the rope between the fixing part 111 and the pulley can be reduced, the brake pedal 200 fixedly connected with the fixing part 111 is pulled to continuously increase the opening and closing degree of the brake pedal, and therefore the controlled vehicle is controlled to run at a speed reduced according to corresponding braking force.
In still other embodiments, the connecting member 112 may be an elastic member made of an elastic material, and the elastic member enters a stretched state with different stretching degrees along with the rotation of the transmission mechanism 120, where the change of the stretching degree may be determined according to the rotation direction of the transmission mechanism 120, and the elastic member is in a stretched state with different stretching degrees, and corresponds to different opening and closing degrees of the brake pedal. Therefore, when the controlled vehicle needs to be controlled to run at a reduced speed, the power mechanism 130 is started to control the transmission mechanism 120 to rotate, the elastic component is pulled to gradually enter a stretched state from a relaxed state, and the brake pedal 200 fixedly connected with the fixing component 111 connected with the other end of the elastic component is pulled to change the opening and closing degree of the brake pedal.
Under the condition that the rotation direction of the transmission mechanism 120 is unchanged, the stretching degree of the elastic component is gradually increased, the pulling force on the brake pedal 200 is increased, and the opening and closing degree of the brake pedal is further increased, so that the braking force of the controlled vehicle is increased, and the speed of deceleration is accelerated, such as the acceleration of deceleration is increased. When the control transmission mechanism 120 rotates reversely, the stretching degree of the elastic component is reduced, the pulling force on the brake pedal 200 is reduced, and the opening degree is reduced, so that the braking force of the controlled vehicle is reduced, the decelerating acceleration is reduced, the elastic component is restored to a relaxed state, the pulling force on the brake pedal 200 is almost zero, and the automatic braking of the controlled vehicle is stopped.
It should be noted that, for the constituent structure of the adjusting mechanism 110 capable of pulling the brake pedal 200 of the controlled vehicle under the action of the transmission mechanism 120 to change the opening and closing degree thereof, including but not limited to the several implementations described above, the constituent components of each constituent structure may be flexibly adjusted in practical situations.
The speed reduction equipment is combined with the speed reduction equipment, and is installed in a working scene behind a controlled vehicle, so that the automatic speed reduction control of the vehicle can be realized according to a method described below, and the collision risk of the vehicle is reduced.
Referring to fig. 4, a flowchart of a first alternative embodiment of a deceleration control method according to the present application may be applicable to a control device, such as a vehicle-mounted controller, a vehicle-mounted terminal, etc., as shown in fig. 4, where the deceleration control method according to the present embodiment may include:
step S41, obtaining running environment information of a controlled vehicle in a running state;
in combination with the above related description of the technical scheme of the application, under the condition that the collision risk of the controlled vehicle with the obstacle is determined by the anti-collision early warning system, the speed reduction equipment in the controlled vehicle can be controlled, and the controlled vehicle can be automatically controlled to run in a speed reduction mode. Therefore, in order to monitor whether the controlled vehicle collides with an obstacle, the running speed and running direction of the controlled vehicle may be detected, the distance between the controlled device and the surrounding obstacle may be detected, and for an obstacle capable of moving, such as a pedestrian or other vehicle, the moving speed, moving direction, etc. of the obstacle with respect to the controlled device may be detected, the present application may determine the detected information as running environment information of the current controlled vehicle.
It should be noted that, the content of the driving environment information about the controlled vehicle includes, but is not limited to, the detection information listed above, and the method for acquiring each detection information in the present application is not limited, and the detection information may be acquired by using a detection device configured by the controlled device itself, or may be acquired by an independent detection device in the driving environment of the controlled device and then sent to the control device, etc., and may be determined according to the application environment, which is not described in detail in the present application. In addition, the running environment information of the controlled vehicle is dynamically changed, so that the running environment information of the controlled vehicle can be acquired in real time or periodically (the interval time is often relatively short) to realize the on-line monitoring of the running state of the controlled vehicle in order to improve the reliability and timeliness of the vehicle control.
Step S42, determining that the controlled vehicle meets the anti-collision deceleration condition according to the running environment information, and generating a corresponding deceleration instruction;
in order to control the controlled vehicle to decelerate in time in advance and reduce the collision risk under the condition that the collision of the vehicle with the obstacle is predicted. In this embodiment, an anti-collision deceleration condition is preconfigured, whether the anti-collision deceleration condition is satisfied is determined according to the latest acquired running environment information, if not, the running environment information of the controlled vehicle can be continuously monitored, and if so, the speed reduction device provided by the application can be used for automatically controlling the controlled vehicle to decelerate, so that a deceleration command for indicating the speed reduction device to enter a deceleration working mode can be generated at the moment, and the content of the deceleration command is not limited.
Optionally, the application can obtain corresponding deceleration control parameters according to the comparison result of the running environment information and the anti-collision deceleration condition, and is used for controlling the target opening and closing degree of the brake pedal of the controlled vehicle through the deceleration equipment, so that the braking force of the controlled vehicle is controllable. In connection with the above description of the operation of the reduction device, in order to achieve a braking effort, the control parameters may comprise the operating parameters of the power mechanism, such as the rotational speed and the rotational direction of the motor, thereby controlling the traction direction and the traction effort of the transmission mechanism to the adjustment mechanism, etc.
In step S43, the deceleration device is controlled to execute a deceleration command, change the adjustment state of the adjustment mechanism of the deceleration device, and increase the opening and closing degree of the brake pedal of the controlled vehicle to reduce the running speed of the controlled device.
In combination with the above description of the composition structure of the speed reduction device and the working process thereof, the adjusting mechanism of the speed reduction device is fixedly connected with the brake pedal of the controlled vehicle, and in different adjusting states, the corresponding opening and closing degrees of the brake pedal are different.
Based on the above, after the speed reducing device receives the speed reducing instruction, the power mechanism can provide power for the transmission mechanism to enable the transmission mechanism to start rotating, so that the adjusting state of the adjusting mechanism connected with the transmission mechanism changes, namely, under the action of traction force provided by the transmission mechanism, the traction force of the connecting part is gradually increased, the fixing part is pulled, the opening and closing degree of the brake pedal of the controlled vehicle fixedly connected with the fixing part is changed, the corresponding opening and closing degree signal output by the fixing part is used for controlling the controlled vehicle to run in a speed reducing manner, namely, the controlled vehicle is controlled to automatically slow down through the speed reducing device when the controlled vehicle meets the anti-collision speed reducing condition, the opening and closing degree of the brake pedal is increased without waiting for the driver to operate in person, and the speed reducing timeliness and reliability of the vehicle are improved. In addition, the opening degree of the brake pedal determines the braking force of the controlled vehicle, so that the controlled vehicle is controlled to be decelerated and controlled, the deceleration control accuracy of the controlled vehicle is improved, and excessive deceleration is avoided.
In some embodiments, under the condition that the controlled vehicle meets the anti-collision deceleration condition, anti-collision early warning information can be output to remind a driver or a remote control personnel of the controlled vehicle of keeping away from the vehicle, and the driving direction of the controlled vehicle can be changed to avoid collision between the controlled vehicle and the obstacle.
Optionally, a plurality of anti-collision ranges corresponding to different risk levels one by one can be preconfigured, the higher the risk level is, the smaller the anti-collision range can be, as shown in a scene in fig. 5, the smaller anti-collision range can be a dangerous area, anti-collision early-warning information corresponding to an early-warning mode with better early-warning effect can be output, and early-warning sound can be output as described above; the larger anti-collision range can be an early warning area, in which the collision risk of the empty vehicle and the obstacle is relatively low, and text early warning information can be displayed on the controlled device or the remote control device, but the method is not limited to the early warning mode.
In the case that the obstacle is located in different anti-collision ranges of the controlled vehicle, according to the above-described deceleration control, the opening and closing degree of the brake pedal of the controlled vehicle can be different, that is, the collision risk of the obstacle in different anti-collision ranges and the controlled vehicle is different, for the situation that the collision risk is higher when the obstacle is closer to the controlled vehicle, the opening and closing degree of the brake pedal of the controlled vehicle can be controlled to be larger through the deceleration equipment, that is, the braking force of the controlled vehicle is larger, the controlled vehicle can decelerate more quickly, and collision can be avoided more effectively and reliably.
In combination with the above analysis, the anti-collision deceleration condition for triggering the control of the brake pedal opening and closing degree by the deceleration device may include: the obstacle in the running direction of the controlled vehicle is positioned in the preset anti-collision range of the controlled device, and the preset anti-collision range comprises a plurality of anti-collision ranges corresponding to different risk levels one by one, so that a plurality of corresponding anti-collision deceleration conditions can be generated.
Optionally, the anti-collision deceleration condition may also include that the obstacle in the running direction of the controlled vehicle is located in a preset anti-collision range of the controlled device, and the running speed of the controlled vehicle is greater than a first speed threshold (for example, 5 km/h, etc., the numerical value of the application is not limited), where even if the obstacle is located in any anti-collision range, if the running speed of the controlled vehicle is lower (i.e., the running speed is less than or equal to the first speed threshold), it may be considered that there is enough reaction time, the driver and the obstacle change the running speed, the running direction, etc., without triggering the deceleration device to change the opening and closing degree of the brake pedal; if the running speed of the controlled vehicle is higher (i.e. the running speed is greater than the first speed threshold), the reaction time can be considered shorter, the collision risk is higher, and the speed reduction equipment is triggered to change the opening and closing degree of the brake pedal, so that the automatic speed reduction control of the controlled vehicle is realized.
It should be noted that, for the anti-collision deceleration conditions configured for the deceleration device, including but not limited to the above description, parameters such as a movement direction and a movement speed of the obstacle may be combined as required, and a driving state of the driver may be combined, so as to configure at least one corresponding anti-collision deceleration condition to meet the control of the deceleration device under different anti-collision requirements.
Based on the above analysis, referring to fig. 6, a flowchart of a second alternative embodiment of the deceleration control method according to the present application, which may still be applicable to the control device, may describe an alternative refinement implementation of the deceleration control method described above, as shown in fig. 6, and the method may include:
step S61, obtaining running environment information of a controlled vehicle in a running state;
regarding the implementation method of step S61, reference may be made to the description of the corresponding parts of the above embodiment, which is not described in detail herein.
Step S62, determining that an obstacle in the running direction of a controlled vehicle is positioned in a first anti-collision range of controlled equipment according to running environment information, and that the running speed of the controlled vehicle is greater than a first speed threshold value, and generating a deceleration instruction containing corresponding deceleration control parameters; the deceleration control parameter can represent the target opening and closing degree of the brake pedal of the controlled vehicle after the current adjustment;
Step S62, controlling the speed reducing apparatus to execute the speed reducing control parameter, changing the adjustment state of the adjustment mechanism of the speed reducing apparatus to control the brake pedal of the controlled vehicle to have the target opening and closing degree.
In the embodiment of the present application, the first collision avoidance range may be any risk level collision avoidance range, and in the case that it is determined according to the method described above that the controlled vehicle meets the corresponding preset collision avoidance condition, in order to avoid excessive deceleration or insufficient deceleration force, a deceleration control parameter for controlling deceleration of the controlled vehicle may be determined according to the currently acquired driving environment information, for example, a power parameter of a power mechanism of the deceleration device, such as a motor rotation speed, a rotation direction, and a time, where the content of the deceleration control parameter is not limited by the present application.
Then, the control device sends a deceleration command containing a deceleration control parameter to the deceleration device, the deceleration control parameter is executed by the power device of the deceleration device, the adjustment state is changed by the traction/pulling adjustment mechanism of the transmission mechanism according to the working process described in the embodiment of the deceleration device, so that the adjustment mechanism with the new adjustment state pulls the brake pedal of the controlled vehicle, the brake pedal generates a target opening degree, corresponding braking force is output, the vehicle is controlled to decelerate, and the deceleration process of the running speed of the controlled vehicle is controlled.
Optionally, according to the driving environment information, it is determined that the obstacle in the driving direction of the controlled vehicle is located in the anti-collision range corresponding to the highest risk level, and the driving speed of the controlled vehicle is greater than the second speed threshold (which is greater than the first speed threshold), that is, it is determined that the controlled vehicle meets the parking triggering condition, and the power system of the controlled vehicle can be directly disconnected, so that the controlled vehicle stops driving, and the risk of collision is reliably avoided. It should be noted that the parking triggering condition includes, but is not limited to, what is described in this embodiment, but may also be determined in combination with a driving state of the driver, such as detecting that the driver is in a coma state, or may be determined in combination with other safety requirements, etc., which is not illustrated herein.
For the deceleration control method described in each embodiment above, the present application may further detect the performance of the deceleration device, for example, detect whether the deceleration device is installed on the controlled vehicle by presetting detection functions such as a heartbeat state, and if the deceleration device is not installed, output corresponding prompt information to remind the installation of the deceleration device, so as to improve the driving safety of the vehicle; if the speed reducing equipment is installed, whether the speed reducing equipment works normally can be further detected, if the speed reducing equipment works abnormally, abnormal early warning information such as acousto-optic early warning or an alarm event is sent to a preset terminal through a network, so that maintenance personnel can be reminded of timely overhauling the speed reducing equipment.
Optionally, the performance of the deceleration device may be detected after the deceleration device is controlled to decelerate the controlled vehicle according to the method, for example, whether the controlled vehicle decelerates after the deceleration device executes a deceleration command, if the controlled vehicle runs at a reduced speed, whether the collision risk is solved or not, which may be determined by the running environment information newly obtained after the deceleration command is executed, etc. And then, the obtained performance detection result can be output, whether the speed reduction equipment works normally or not is represented by the performance detection result, and the speed reduction control result of the speed reduction equipment on the controlled vehicle is obtained.
Optionally, after the deceleration device executes the deceleration instruction, according to the newly obtained running environment information, it is determined that the preset anti-collision deceleration condition is no longer met, a deceleration release instruction can be generated, the deceleration device is controlled to execute the deceleration release instruction, the power mechanism can reversely rotate, and when the opening and closing degree of the brake pedal of the controlled vehicle is controlled to be restored to the initial opening and closing degree, the power mechanism stops working.
In the process of controlling the opening/closing degree of the brake pedal by the deceleration device, the driver's own pressing operation of the brake pedal may not be affected.
Referring to fig. 7, a schematic structural diagram of an alternative embodiment of a deceleration control apparatus according to the present application, which may be applied to any controlled vehicle, and the controlled vehicle is equipped with the deceleration device having the above structure, as shown in fig. 7, the apparatus may include:
a running environment information acquisition module 71 for acquiring running environment information of the controlled vehicle in a running state;
the deceleration instruction generating module 72 is configured to determine that the controlled vehicle meets an anti-collision deceleration condition according to the driving environment information, and generate a corresponding deceleration instruction;
a deceleration control module 73 for controlling a deceleration device to execute the deceleration instruction, changing an adjustment state of an adjustment mechanism of the deceleration device, and increasing an opening and closing degree of a brake pedal of the controlled vehicle to reduce a running speed of the controlled device;
the adjusting mechanism of the speed reducing device is fixedly connected with the brake pedal of the controlled vehicle, and the opening and closing degrees of the corresponding brake pedal are different under different adjusting states.
The anti-collision deceleration condition comprises that an obstacle in the running direction of the controlled vehicle is positioned in a preset anti-collision range of the controlled device; or, the obstacle in the running direction of the controlled vehicle is located in a preset anti-collision range of the controlled device, and the running speed of the controlled vehicle is greater than a first speed threshold value and the like. The preset anti-collision range can comprise a plurality of anti-collision ranges corresponding to different risk levels one by one, and the numerical values of the plurality of anti-collision ranges are not limited by the application. The barrier bodies are positioned in different anti-collision ranges, and the opening and closing degrees of the brake pedal after being increased are different.
Alternatively, the deceleration command generation module 72 may include:
the determining unit is used for determining that an obstacle in the running direction of the controlled vehicle is positioned in a first anti-collision range of the controlled device according to the running environment information, and the running speed of the controlled vehicle is greater than a first speed threshold;
the generation unit is used for generating a deceleration instruction containing corresponding deceleration control parameters; the deceleration control parameter can represent the target opening and closing degree of the brake pedal of the controlled vehicle after the current adjustment.
Based on this, the deceleration control module 73 may include:
and the first control unit is used for controlling the speed reduction equipment to execute the speed reduction control parameters and changing the adjustment state of the adjustment mechanism of the speed reduction equipment so as to control the brake pedal of the controlled vehicle to be in the corresponding target opening and closing degree.
Optionally, the apparatus may further include:
the output module is used for outputting anti-collision early warning information under the condition that the controlled vehicle meets the anti-collision deceleration condition;
optionally, the apparatus may further include:
the power control module is used for disconnecting the power system of the controlled vehicle when the controlled vehicle meets the parking triggering condition according to the running environment information so as to control the controlled vehicle to stop running;
In some embodiments, the power control module may include:
and the second control unit is used for determining that the obstacle body in the running direction of the controlled vehicle is positioned in an anti-collision range corresponding to the highest risk level according to the running environment information, and the running speed of the controlled vehicle is greater than a second speed threshold value, so that a power system of the controlled vehicle is disconnected.
Optionally, the apparatus may further include:
the performance detection result output module is used for performing performance detection on the speed reduction equipment and outputting a corresponding performance detection result; the performance detection result can represent whether the speed reduction equipment works normally or not and a speed reduction control result of the speed reduction equipment on the controlled vehicle.
It should be noted that, regarding the various modules, units, and the like in the foregoing embodiments of the apparatus, the various modules and units may be stored as program modules in a memory, and the processor executes the program modules stored in the memory to implement corresponding functions, and regarding the functions implemented by each program module and the combination thereof, and the achieved technical effects, reference may be made to descriptions of corresponding parts of the foregoing method embodiments, which are not repeated herein.
The present application also provides a computer-readable storage medium on which a computer program can be stored, which can be called and loaded by a processor to implement the steps of the deceleration control method described in the above embodiments.
Referring to fig. 8, a hardware architecture diagram of an alternative example of a deceleration control system according to the present application may include: the constituent structures of the reduction apparatus 100, the detection apparatus 300, and the control apparatus 400, and the connection relationship of the reduction apparatus 100 with the brake pedal 200 of the controlled vehicle, may be referred to the above description of the embodiment of the reduction apparatus 100, which is not described in detail herein.
The detection device 300 may be used to detect running environment information of the controlled vehicle. For different types of driving environment information, the driving environment information can be realized by detection equipment 300 with corresponding types and functions, such as an acceleration sensor, a distance detector, a position sensor, an attitude sensor and the like, the application does not limit the composition structure of the detection equipment 300 and the detection method thereof, and the detection equipment can be flexibly configured according to actual requirements. And the detection device 300 of different types can be integrated in the controlled vehicle, or can be a sensor or the like of an external device (such as a mobile phone or other terminal device placed in the controlled vehicle).
The control device 400 connects the deceleration device 100 and the detection device 300, implements the deceleration control method described in the above embodiment, and the implementation process the present application will not be described in detail.
Alternatively, the control device 400 may be a vehicle-mounted controller, a vehicle-mounted security terminal, or a terminal device placed on a controlled vehicle, where the terminal device may communicate with the vehicle-mounted controller or the speed reduction device to perform the speed reduction control method provided by the present application, and the communication manner may include, but is not limited to, implementation according to a GSM module, a WIFI module, a GPRS module, a bluetooth module, an NFC (Near Field Communication, short-range wireless communication technology) module, and/or a communication interface of other wireless/wired communication networks.
The vehicle-mounted safety terminal can be a terminal integrated in a vehicle or a mobile terminal fixed in the vehicle through a fixed component, such as a smart phone, a tablet personal computer, a wearable device, a personal computer (personal computer, PC), a netbook and the like, and the application does not limit the product type and the composition structure of the control device
In connection with the above analysis, the control apparatus 400 may include a memory, such as a high-speed random access memory, a nonvolatile memory, or the like, for storing program codes for implementing the deceleration control method described in any of the above method embodiments, the program codes stored in the memory being loaded and executed by the in-vehicle controller or the controller of the in-vehicle terminal or the controller in the terminal apparatus, the deceleration control method described in the corresponding method embodiments being implemented, and the implementation process may be described with reference to the above embodiments.
Optionally, the system may further include an early warning device for outputting the early warning information to remind the obstacle of keeping away from the vehicle, and the driver adjusts the driving direction of the controlled vehicle to keep away from the obstacle, so that the product type of the early warning device and the early warning implementation manner thereof are not limited, and reference may be made to, but not limited to, the description of the corresponding parts of the above embodiments.
It should be understood that the hardware structure shown in fig. 8 is not limited to the constituent structure of the deceleration control system according to the embodiment of the present application, and in practical application, the deceleration control system may include more or less constituent components than those shown in fig. 8, which is not described in detail herein.
Finally, it should be noted that, in the present description, each embodiment is described in a progressive or parallel manner, and each embodiment is mainly described as different from other embodiments, where identical and similar parts of each embodiment are referred to each other. For the apparatus and the system disclosed in the embodiments, since the apparatus corresponds to the method disclosed in the embodiments and the system includes the speed reduction device, the description is relatively simple, and the relevant points refer to the method and the description of the speed reduction device.
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 speed reducing apparatus, characterized in that the apparatus comprises: adjustment mechanism, drive mechanism and power unit, wherein:
the adjusting mechanism is used for fixedly connecting a brake pedal of the controlled vehicle, and controlling the brake pedal to have different opening and closing degrees when the brake pedal is in different adjusting states;
the two ends of the transmission mechanism are respectively connected with the adjusting mechanism and the power mechanism, and the adjusting state of the adjusting mechanism can be changed along with the rotation of the transmission mechanism;
the power mechanism is used for executing a deceleration instruction under the condition that the controlled vehicle meets an anti-collision deceleration condition, controlling the transmission mechanism to rotate according to a corresponding direction, changing the adjustment state of the adjustment mechanism, increasing the opening and closing degree of the brake pedal and reducing the running speed of the controlled vehicle; the deceleration instruction is generated according to the running environment information of the controlled vehicle.
2. The apparatus of claim 1, wherein the adjustment mechanism comprises:
the fixed part is used for fixedly connecting a brake pedal of the controlled vehicle;
and one end of the connecting part is connected with the fixed part, and the other end of the connecting part is connected with the transmission mechanism, and is used for adjusting the distance between the transmission mechanism and the fixed part according to the rotation direction of the transmission mechanism so as to synchronously control the opening and closing degree change of the brake pedal.
3. The apparatus according to claim 2, wherein the connection member is a pulling rope, the surface of the pulling rope is provided with a protective sleeve made of an elastic material, and the pulling rope can be wound on the transmission mechanism according to the rotation direction of the transmission mechanism in the rotation state of the transmission mechanism;
or the connecting part is an elastic part made of elastic materials, and the elastic part enters stretching states with different stretching degrees along with the rotation of the transmission mechanism, and corresponds to different opening and closing degrees of the brake pedal;
or, the connecting part is a pulley mechanism;
one end of a rope in the pulley mechanism is fixedly connected with the fixing part, and the other end of the rope is connected with the transmission mechanism and can be wound on the transmission mechanism according to the rotation direction of the transmission mechanism; or the other end of the rope is fixed in the pulley mechanism, and after the transmission mechanism enters a rotating state, the rope is controlled to be wound on a pulley of the pulley mechanism, so that the use length of the rope between the fixed part and the pulley is reduced.
4. A deceleration control method, characterized by comprising:
acquiring running environment information of a controlled vehicle in a running state;
determining that the controlled vehicle meets an anti-collision deceleration condition according to the running environment information, and generating a corresponding deceleration instruction;
controlling a speed reducing device to execute the speed reducing instruction, changing the adjustment state of an adjusting mechanism of the speed reducing device, and increasing the opening and closing degree of a brake pedal of the controlled vehicle so as to reduce the running speed of the controlled device;
the adjusting mechanism of the speed reducing device is fixedly connected with the brake pedal of the controlled vehicle, and the opening and closing degrees of the corresponding brake pedal are different under different adjusting states.
5. The method of claim 4, wherein the bump reduction condition comprises any one of:
the obstacle in the running direction of the controlled vehicle is positioned in a preset anti-collision range of the controlled device;
the obstacle in the running direction of the controlled vehicle is positioned in a preset anti-collision range of the controlled device, and the running speed of the controlled vehicle is greater than a first speed threshold.
6. The method of claim 5, wherein the preset anti-collision range comprises a plurality of anti-collision ranges corresponding to different risk levels one to one, the obstacle is positioned in different anti-collision ranges, and the opening and closing degrees of the brake pedal after being increased are different;
According to the driving environment information, determining that the controlled vehicle meets a deceleration triggering condition, generating a corresponding deceleration instruction, controlling deceleration equipment to execute the deceleration instruction, changing an adjustment state of an adjustment mechanism of the deceleration equipment, and increasing the opening and closing degree of a brake pedal of the controlled vehicle, wherein the method comprises the following steps:
determining that an obstacle in the running direction of the controlled vehicle is positioned in a first anti-collision range of the controlled device according to the running environment information, wherein the running speed of the controlled vehicle is greater than a first speed threshold value, and generating a deceleration instruction containing corresponding deceleration control parameters; the deceleration control parameter can represent the target opening and closing degree of the brake pedal of the controlled vehicle after the current adjustment;
and controlling the speed reduction equipment to execute the speed reduction control parameters, and changing the adjustment state of an adjustment mechanism of the speed reduction equipment so as to control the brake pedal of the controlled vehicle to be in the corresponding target opening and closing degree.
7. The method according to any one of claims 4-6, further comprising:
outputting anti-collision early warning information under the condition that the controlled vehicle meets the anti-collision deceleration condition; and/or the number of the groups of groups,
According to the running environment information, when the controlled vehicle meets the parking triggering condition, disconnecting a power system of the controlled vehicle so as to control the controlled vehicle to stop running; and/or the number of the groups of groups,
performing performance detection on the speed reduction equipment, and outputting a corresponding performance detection result; the performance detection result can represent whether the speed reduction equipment works normally or not and a speed reduction control result of the speed reduction equipment on the controlled vehicle.
8. The method according to claim 7, wherein the step of disconnecting the power system of the controlled vehicle when it is determined that the controlled vehicle satisfies a parking trigger condition based on the running environment information, comprises;
and determining that the obstacle body in the running direction of the controlled vehicle is positioned in an anti-collision range corresponding to the highest risk level according to the running environment information, wherein the running speed of the controlled vehicle is greater than a second speed threshold value, and disconnecting the power system of the controlled vehicle.
9. A deceleration control apparatus, characterized by comprising:
the driving environment information acquisition module is used for acquiring driving environment information of the controlled vehicle in a driving state;
the deceleration instruction generation module is used for determining that the controlled vehicle meets the anti-collision deceleration condition according to the running environment information and generating a corresponding deceleration instruction;
The deceleration control module is used for controlling a deceleration device to execute the deceleration instruction, changing the adjustment state of an adjustment mechanism of the deceleration device and increasing the opening and closing degree of a brake pedal of the controlled vehicle so as to reduce the running speed of the controlled device;
the adjusting mechanism of the speed reducing device is fixedly connected with the brake pedal of the controlled vehicle, and the opening and closing degrees of the corresponding brake pedal are different under different adjusting states.
10. A deceleration control system, the system comprising:
the reduction gear apparatus as claimed in any one of claims 1 to 4;
a detection device for detecting traveling environment information of a controlled vehicle;
control apparatus for implementing the deceleration control method according to any one of claims 5 to 8.
CN202311191648.7A 2023-09-15 2023-09-15 Speed reduction equipment, speed reduction control method, device and system Pending CN117125036A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311191648.7A CN117125036A (en) 2023-09-15 2023-09-15 Speed reduction equipment, speed reduction control method, device and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311191648.7A CN117125036A (en) 2023-09-15 2023-09-15 Speed reduction equipment, speed reduction control method, device and system

Publications (1)

Publication Number Publication Date
CN117125036A true CN117125036A (en) 2023-11-28

Family

ID=88861169

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311191648.7A Pending CN117125036A (en) 2023-09-15 2023-09-15 Speed reduction equipment, speed reduction control method, device and system

Country Status (1)

Country Link
CN (1) CN117125036A (en)

Similar Documents

Publication Publication Date Title
CN105835819B (en) Vehicle brake control apparatus
EP3118072B1 (en) Staged brake control device for vehicle tire burst and control method thereof
EP2835334B1 (en) Method for controlling an elevator and elevator
EP2695838B1 (en) Multi-car elevator and method for controlling same
US10773647B2 (en) Method for triggering an automatic emergency braking process with variable warning time period
JP5333234B2 (en) Elevator equipment
EP3564170B1 (en) Elevator car control to address abnormal passenger behavior
US7712567B2 (en) Seat belt apparatus
US7533903B2 (en) Seat belt apparatus
US7597170B2 (en) Method for controlling the operation of a reversible belt retractor in a motor vehicle
CN109070852B (en) Emergency braking system for a vehicle and method for controlling an emergency braking system
KR101389963B1 (en) Control system and method for breaking vehicle considering response-preformance of brake
EP3623333A1 (en) Method and system of reducing false actuation of safety brakes in elevator system
CN117125036A (en) Speed reduction equipment, speed reduction control method, device and system
KR102224805B1 (en) Advanced Emergency Braking System and Method for controlling thereof
CN112356832A (en) Vehicle control method, device and system
US20240182276A1 (en) Method and apparatus for stopping device, and crane, electronic device and readable medium
KR102408114B1 (en) Safe stop control system for forklift to prevent collision and sudden stop
JP3858592B2 (en) Crew protection device
CN113548542A (en) Cable winding and unwinding control method, device and system for hoisting equipment
CN114852898A (en) Electric hoisting system and control method
KR100198125B1 (en) Apparatus and method for preventing collision of an automobile
CN111086508A (en) Method for automatically avoiding or reducing collision, control system, storage medium and automobile
EP3945055B1 (en) Elevator motion control after electrical protective device activation
US20200207295A1 (en) Methods and systems to prevent unintended shut down of vehicle systems

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