CN206678976U - The brake apparatus of unmanned intelligent automobile - Google Patents
The brake apparatus of unmanned intelligent automobile Download PDFInfo
- Publication number
- CN206678976U CN206678976U CN201720371178.6U CN201720371178U CN206678976U CN 206678976 U CN206678976 U CN 206678976U CN 201720371178 U CN201720371178 U CN 201720371178U CN 206678976 U CN206678976 U CN 206678976U
- Authority
- CN
- China
- Prior art keywords
- brake
- brake pedal
- screw mandrel
- servomotor
- intelligent automobile
- 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.)
- Expired - Fee Related
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- Braking Elements And Transmission Devices (AREA)
- Braking Systems And Boosters (AREA)
Abstract
The utility model discloses a kind of brake apparatus of unmanned intelligent automobile, including controller, servomotor, brake pedal driver and pressure sensor, the controller is used to receive upper strata planning system brake pressure signal, receive brake system pressure signal and control the servomotor to rotate, the pressure sensor is arranged at brake system hydraulic pipeline, the pressure sensor sends the brake system pressure signal to controller, the brake pedal driver is arranged at the correspondence position of brake pedal, brake pedal driver includes the screw mandrel driven by the servomotor, the nut that screw mandrel kinematic pair is formed with the screw mandrel is fixedly connected with depression bar, motion of the depression bar along screw mandrel pushes or discharged the brake pedal.Abs braking system of the brake apparatus of the unmanned intelligent automobile without changing closing, is easy to reequip on the basis of existing vehicle.
Description
Technical field
A kind of brake device for car is the utility model is related to, the braking more particularly to a kind of unmanned intelligent automobile fills
Put.
Background technology
The control system of intelligent vehicle is divided into upper strata planning system and final control system, and upper strata planning system is mainly completed to receive
Collect information, analysis planning, send the tasks such as instruction, and final control system is then to be directly realized by the control to vehicle.Braking system
The part united as final control system, it is closely bound up with the safe operation of pilotless automobile.The country is for intelligence at present
The mode of transformation of the transformation of car brakes typically to vehicle ABS, because vehicle ABS is a good closing system in itself
System, the underlying programs of its controller are difficult to obtain, so being unsuitable for transforming.Therefore design one kind is needed to be applied to intellectualized reconstruction
Reception upper strata planning system the device braked of braking instruction.
Utility model content
In order to overcome the above-mentioned deficiencies of the prior art, the utility model provides the braking dress of unmanned intelligent automobile
Put, solve to carry out automobile braking maneuver, and convenient transformation according to control instruction under unmanned state.
Technical solutions of the utility model are as follows：A kind of brake apparatus of unmanned intelligent automobile, including controller, servo
Motor, brake pedal driver and pressure sensor, the controller are used to receive upper strata planning system brake pressure signal, connect
Receive brake system pressure signal and control the servomotor to rotate, the pressure sensor is arranged at brake system hydraulic pipe
Road, the pressure sensor send the brake system pressure signal to controller, and the brake pedal driver is arranged at system
The correspondence position of dynamic pedal, brake pedal driver include the screw mandrel driven by the servomotor, and silk is formed with the screw mandrel
The nut of bar kinematic pair is fixedly connected with depression bar, and motion of the depression bar along screw mandrel pushes or discharged the brake pedal.
Further, brake pedal driver includes the housing provided with guide groove, and the screw mandrel is arranged in the housing
The depression bar stretches out the guide groove.
Further, the servomotor is fixedly connected with the housing.
Further, the brake pedal driver is fixedly installed on cockpit floor.
Further, the controller is connected by CAN with the upper strata planning system.
The advantages of technical scheme provided by the utility model, is：It is direct using the screw mandrel kinematic pair of Serve Motor Control
Existing brake pedal is controlled, without changing the abs braking system of closing, is easy to reequip on the basis of existing vehicle.
Brief description of the drawings
Fig. 1 is the brake device structure schematic diagram of unmanned intelligent automobile.
Fig. 2 is servomotor and brake pedal driver partial structural diagram.
Embodiment
With reference to embodiment, the utility model is described in further detail, but not as to restriction of the present utility model.
It refer to shown in Fig. 1 and Fig. 2, the brake apparatus for the unmanned intelligent automobile that the present embodiment is related to includes controller
1st, servomotor 2, brake pedal driver and pressure sensor 3.Brake pedal driver is arranged on the driver one of driving cabin
On the bottom plate of side, it includes a housing 4, and housing 4 is provided with vertical guide groove 5.Because the present embodiment brake apparatus is in vehicle
The scheme installed additional on original brake structure, original brake pedal 6 make use of to realize braking.Therefore the peace of brake pedal driver
Dress should be advisable so that guide groove 5 is orthogonal with the connecting rod 7 of brake pedal 6.Screw mandrel 8 is provided with housing 4, the both ends of screw mandrel 8 pass through axle
Hold and supported by housing 4.The nut 9 that screw mandrel 8 cooperatively forms screw mandrel kinematic pair is arranged on screw mandrel 8, pressure is fixedly connected with nut 9
Bar 10, one end of depression bar 10 are stretched out by guide groove 5, and when screw mandrel 8 rotates, depression bar 10 then moves up and down along guide groove 5.Depression bar 10 is stretched
The one end for going out housing is used to form suppressing action to the connecting rod 7 of brake pedal 6.Servomotor 2 is then fixedly mounted on the one of housing 4
End, is connected, the drive screw 8 of servomotor 2 rotates by shaft coupling with screw mandrel 8.Pressure sensor 3 senses for piezoelectric pressure
Device, it is arranged in the fluid pressure line of the original brakes 11 of vehicle, and pressure sensor 3 obtains the fluid flowed through in fluid pressure line
Pressure, that is, measure brake system pressure signal.
The controller 1 of the brake apparatus of unmanned intelligent automobile uses DSP, and it is total by CAN
The upper strata planning system 12 of line and pilotless automobile connects.Upper strata planning system 12 mainly completes collection information, analysis is planned,
Send the tasks such as instruction.In the present embodiment, DSP receives the brake pressure signal of upper strata planning system 12.
Other DSP is also connected with servomotor 2 and pressure sensor 3, controls the rotation of servomotor 2 respectively
And receive brake system pressure signal.Thus DSP is by the brake pressure signal of upper strata planning system 12
As setting value, output control servomotor 2, the brake system pressure signal that pressure sensor 3 measures is formed as value of feedback
Closed-loop control system, vehicle is braked.
The specific operation of the brake apparatus of unmanned intelligent automobile is such：
Increase brake force process：Upper strata planning system 12 sends required work as by CAN to DSP
It is preceding it is expected brake pressure signal (the pressure signal value has exceeded the brake system pressure of the feedback of pressure sensor 3), DSP numeral letters
After number processor receives the instruction, the drive module to servomotor 2 sends the signal driving rotate counterclockwise one of servomotor 2
Determine angle, drive the rotate counterclockwise of screw mandrel 8, the nut 9 being engaged with screw mandrel 8 drives depression bar 10 to move down；Depression bar 10 is downward
In mobile process, move down with brake pedal 6 and (trample brake pedal 6 similar to driver), the hydraulic pressure of brakes 11
When fluid flows through pressure sensor 3 in pipeline, pressure sensor 3 feeds back brake system pressure signal at DSP data signals
Device is managed, drive module transmission signal of the amendment to servomotor 2 compared with desired braking pressure value, so as to complete the drop to vehicle
Low velocity controls.
Reduce brake force process：Upper strata planning system 12 sends required work as by CAN to DSP
It is preceding it is expected brake pressure signal (the pressure signal value is less than the brake system pressure that pressure sensor 3 feeds back), DSP data signals
After processor receives the instruction, the drive module to servomotor 2 sends signal driving servomotor 2 and turned clockwise necessarily
Angle, screw mandrel 8 is driven to turn clockwise, the nut 9 being engaged with screw mandrel 8 drives depression bar 10 to move up；Depression bar 10 is to moving up
In dynamic process, move up with brake pedal 6 and (loosen the brake 6 similar to driver), the hydraulic tube of brakes 11
When fluid flows through pressure sensor 3 in road, pressure sensor 3 feeds back brake system pressure signal in DSP Digital Signal Processing
Device, drive module transmission signal of the amendment to servomotor 2 compared with desired braking pressure value, so as to complete the reduction to vehicle
The control of brake force.
Claims (5)
- A kind of 1. brake apparatus of unmanned intelligent automobile, it is characterised in that：Including controller, servomotor, brake pedal Driver and pressure sensor, the controller are used to receive upper strata planning system brake pressure signal, receive brakes pressure Force signal and the control servomotor rotate, and the pressure sensor is arranged at brake system hydraulic pipeline, and the pressure passes Sensor sends the brake system pressure signal to controller, and the brake pedal driver is arranged at the corresponding position of brake pedal Put, brake pedal driver includes the screw mandrel driven by the servomotor, and the nut of screw mandrel kinematic pair is formed with the screw mandrel Depression bar is fixedly connected with, motion of the depression bar along screw mandrel pushes or discharged the brake pedal.
- 2. the brake apparatus of unmanned intelligent automobile according to claim 1, it is characterised in that：Brake pedal driver Including the housing provided with guide groove, the screw mandrel is arranged at the depression bar in the housing and stretches out the guide groove.
- 3. the brake apparatus of unmanned intelligent automobile according to claim 2, it is characterised in that：The servomotor with The housing is fixedly connected.
- 4. the brake apparatus of unmanned intelligent automobile according to claim 1, it is characterised in that：The brake pedal drives Dynamic device is fixedly installed on cockpit floor.
- 5. the brake apparatus of unmanned intelligent automobile according to claim 1, it is characterised in that：The controller passes through CAN is connected with the upper strata planning system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720371178.6U CN206678976U (en) | 2017-04-11 | 2017-04-11 | The brake apparatus of unmanned intelligent automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720371178.6U CN206678976U (en) | 2017-04-11 | 2017-04-11 | The brake apparatus of unmanned intelligent automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206678976U true CN206678976U (en) | 2017-11-28 |
Family
ID=60398963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720371178.6U Expired - Fee Related CN206678976U (en) | 2017-04-11 | 2017-04-11 | The brake apparatus of unmanned intelligent automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206678976U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109080601A (en) * | 2018-07-13 | 2018-12-25 | 武汉理工大学 | A kind of automatic driving vehicle brake auxiliary execution device |
| CN111417551A (en) * | 2019-03-01 | 2020-07-14 | 深圳市大疆创新科技有限公司 | Mechanical device for controlling motor vehicle pedal and control method |
| WO2021208235A1 (en) * | 2020-04-16 | 2021-10-21 | 新石器慧通（北京）科技有限公司 | Unmanned means of transport, and safety checking method for brake system thereof |
-
2017
- 2017-04-11 CN CN201720371178.6U patent/CN206678976U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109080601A (en) * | 2018-07-13 | 2018-12-25 | 武汉理工大学 | A kind of automatic driving vehicle brake auxiliary execution device |
| CN111417551A (en) * | 2019-03-01 | 2020-07-14 | 深圳市大疆创新科技有限公司 | Mechanical device for controlling motor vehicle pedal and control method |
| WO2021208235A1 (en) * | 2020-04-16 | 2021-10-21 | 新石器慧通（北京）科技有限公司 | Unmanned means of transport, and safety checking method for brake system thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171128 Termination date: 20210411 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |