CN212447485U - Vehicle with a steering wheel - Google Patents
Vehicle with a steering wheel Download PDFInfo
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- CN212447485U CN212447485U CN202021233303.5U CN202021233303U CN212447485U CN 212447485 U CN212447485 U CN 212447485U CN 202021233303 U CN202021233303 U CN 202021233303U CN 212447485 U CN212447485 U CN 212447485U
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Abstract
The utility model provides a vehicle. A vehicle, comprising: a wheel; the brake air chamber is arranged corresponding to the wheel; a braking system, comprising: the first air storage tank is connected with the brake air chamber; the control valve is connected between the first air storage tank and the brake air chamber and used for responding to a brake instruction to open a corresponding opening degree; a sensor device for acquiring information on an obstacle in front of a vehicle; and the brake control device is respectively connected with the control valve and the sensor device and is used for acquiring the self-vehicle state information, determining the brake deceleration according to the obstacle information and the self-vehicle state information and determining the brake command according to the brake deceleration. Through the utility model discloses a vehicle can realize the brake-by-wire effect on the basis of not changing the former air brake of vehicle to realize automatic emergency braking, simple structure is with low costs, reduces driver working strength and accident rate, greatly promotes the vehicle security of traveling.
Description
Technical Field
The utility model relates to a vehicle technical field particularly, relates to a vehicle.
Background
The mixer truck is an engineering vehicle for transporting concrete, and a mixing drum on the truck needs to be kept to rotate ceaselessly in the transportation process so as to prevent the concrete from solidifying.
The mixer truck is large in mass and volume, is easy to cause danger in the driving process, and generally requires an emergency braking system, and is shown in figure 1.
Generally, the conventional automatic emergency braking System is equipped with an EBS (electronic braking System), and the controller calculates a braking deceleration z to the EBS, so that the EBS can accurately respond to the braking deceleration z, and the vehicle can be decelerated at the deceleration z, so that the mixer vehicle can accurately avoid the obstacle. The EBS is composed of a central ECU (Electronic Control Unit), an EBS master valve, a single-channel EBS valve, a dual-channel EBS valve (pulse solenoid valve), an ABS solenoid valve, a wheel speed sensor, etc., and estimates an actual deceleration of the vehicle from a wheel speed measured by the wheel speed sensor, and outputs a Control amount to the pulse solenoid valve through feedback in addition to a deceleration request transmitted from an upper controller, thereby adjusting a valve opening to realize closed-loop Control. Furthermore, the EBS changes the brake pedal to an electronic pedal, and the EBS can accurately respond to a request for braking deceleration and can perform quantitative control. But the structure is complex, the chassis is greatly changed, and the cost is high.
SUMMERY OF THE UTILITY MODEL
The present invention aims at least solving one of the technical problems existing in the prior art or the related art.
To this end, an aspect of the present invention is to provide a vehicle.
In view of this, according to an aspect of the present invention, there is provided a vehicle including: a wheel; the brake air chamber is arranged corresponding to the wheel; a braking system, comprising: the first air storage tank is connected with the brake air chamber; the control valve is connected between the first air storage tank and the brake air chamber and used for responding to a brake instruction to open a corresponding opening degree; a sensor device for acquiring information on an obstacle in front of a vehicle; and the brake control device is respectively connected with the control valve and the sensor device and is used for acquiring the self-vehicle state information, determining the brake deceleration according to the obstacle information and the self-vehicle state information and determining the brake command according to the brake deceleration.
The utility model provides a vehicle, including wheel, brake chamber and braking system, brake chamber corresponds to the wheel setting, and every wheel corresponds a brake chamber, and braking system includes first gas holder, control valve, sensor device and brake control device, and the control valve setting is between first gas holder and brake chamber, and the aperture through the control valve is opened, can the compressed gas flow direction brake chamber in the first gas holder of quantitative control. When the braking system is started, the sensor device is used for acquiring information of pedestrians, vehicles and other obstacles in front of the vehicle, the braking control device is used for analyzing the information of the obstacles acquired by the sensor device, determining braking deceleration required by the vehicle under the current condition by combining the state information of the vehicle, namely the state information of the vehicle, and simultaneously determining a braking instruction according to the braking deceleration, namely a control signal sent to the control valve to open the control valve to corresponding opening, so that compressed air in the first air storage tank flows to the braking air chamber quantitatively to form braking air pressure, and finally corresponding braking deceleration value is obtained, so that emergency braking of wheels is completed, and emergency braking of the vehicle is realized. Through the utility model discloses a vehicle can realize the brake-by-wire effect on the basis of not changing the former air brake of vehicle to realize automatic emergency braking, simple structure is with low costs, and help driver avoids proruption barrier, reduces driver working strength and accident rate, greatly promotes the vehicle security of traveling.
It is required to explain, the utility model provides a vehicle is applicable to the automatic emergency braking of various engineering vehicles, is particularly useful for the automatic emergency braking of trucd mixer under the abominable construction environment of trucd mixer.
According to the utility model discloses an above-mentioned vehicle can also have following technical characterstic:
in the above aspect, the brake control device includes: the storage module is used for storing a three-dimensional interpolation table, and the three-dimensional interpolation table is used for calibrating the braking deceleration generated by the vehicle based on different speed information, load information and braking instructions.
According to the technical scheme, different braking instructions and braking deceleration generated by the vehicle are calibrated in advance for the control valve under different vehicle speed information and load information of the vehicle, a three-dimensional interpolation table is made, and the three-dimensional interpolation table is stored in a storage module of the braking control device. Through the technical scheme of the utility model, through mark braking deceleration in advance about speed of a motor vehicle information, load information and brake instruction's three-dimensional interpolation table, when automatic emergency braking starts, brake control device is according to the barrier information in the place ahead and the status information of own car, determine braking deceleration, then through inquiring three-dimensional interpolation table, reverse thrust needs give the brake instruction of control valve, the control valve converts control instruction into brake chamber's atmospheric pressure again, and finally corresponds the numerical value of braking deceleration, thereby the brake-by-wire effect has been realized, and realize automatic emergency braking.
In any of the above aspects, the sensor device comprises: the camera device is connected with the brake control device and used for identifying an obstacle in front of the vehicle; and the radar is connected with the brake control device and is used for detecting the state information of the obstacle.
In the technical scheme, the sensor device comprises a camera device and a radar, and the camera device and the radar are respectively connected with the brake control device. When automatic emergency braking is started, pedestrians, vehicles and other obstacles in front of the vehicles are automatically identified through the camera device, the radar detects state information such as the positions, the directions and the speeds of the obstacles, and the braking control device conducts perception fusion analysis based on the obstacle information acquired by the camera device and the radar, so that the most dangerous targets are determined.
In any of the above solutions, the camera and the radar are both mounted on the head of the vehicle.
In this technical scheme, camera device and radar are all installed at the head of vehicle to can automated inspection discernment vehicle the place ahead obstacle information.
In any of the above technical solutions, the control valve is a proportional solenoid valve.
In the technical scheme, the control valve is a proportional solenoid valve, the proportional solenoid valve converts a current signal into a magnetic signal, the magnetic compression spring realizes that the opening of the valve is continuously adjustable, the braking instruction sent to the proportional solenoid valve by a corresponding braking control device is different current input, when the automatic emergency braking is started, the proportional solenoid valve opens the corresponding opening according to the current magnitude, so that the compressed air in the first air storage tank quantitatively flows to the braking air chamber to form braking air pressure, finally, the braking deceleration value corresponds to the braking air pressure, the emergency braking of the wheel is completed, and the emergency braking of the vehicle is realized.
In any of the above technical solutions, the obstacle information at least includes any one of or a combination of the following: position information, direction information, speed information, attribute information; the self-vehicle state information comprises any one or combination of the following items: the vehicle position, the vehicle direction, the vehicle speed information and the load information.
In this embodiment, the obstacle information at least includes any one of or a combination of: position information, direction information, speed information, and attribute information, but are not limited thereto, and information that can be detected and recognized by the sensor device is all obstacle information; the self-vehicle state information comprises any one or combination of the following items: the present invention relates to a vehicle control system, and more particularly, to a vehicle control system, which can control a vehicle position, a vehicle direction, vehicle speed information, and load information of a vehicle.
In any of the above technical solutions, the vehicle further includes: and the vehicle body control module is connected with the brake control device and is used for acquiring the state information of the vehicle.
In the technical scheme, the brake control device is connected with a vehicle body control module, namely a BCM (body control module), when automatic emergency braking is started, vehicle speed information, load information, switch signals and other vehicle state information collected by the vehicle body control module can be transmitted to the brake control device in real time, so that the brake control device can quickly determine braking deceleration and processing speed of the brake control device according to obstacle information and the vehicle state information, and meanwhile, the existing vehicle control module is not required to be changed, and sensors for detecting the vehicle speed, the load and other information are not required to be additionally arranged, so that the structure is simple, and the cost is low.
In any of the above technical solutions, the vehicle further includes: the second air storage tank is connected with the brake air chamber; and the foot brake valve is connected in parallel with the control valve and is connected between the second air storage tank and the brake air chamber.
In the technical scheme, the vehicle further comprises a second air storage tank and a foot brake valve, wherein the second air storage tank, the foot brake valve and a brake air chamber are an original air pressure loop of the vehicle. When the foot brake valve is started by being stepped by a driver, compressed air in the second air storage tank flows to the brake air chamber to form brake air pressure, so that emergency braking of wheels is completed, and emergency braking of vehicles is realized.
In any of the above technical solutions, the vehicle further includes: the display device is connected with the brake control device and used for displaying the brake deceleration in response to the first control instruction; and the brake control device is also used for determining the distance and collision time according to the obstacle information and the self-vehicle state information, and generating a first control command based on the condition that the distance and collision time is smaller than a first preset threshold value.
In the technical scheme, the vehicle further comprises a display device for realizing the interaction function between the vehicle and the user. When the braking system is started, the braking control device can determine the distance collision time according to the obstacle information and the vehicle state information, namely, if a dangerous target and the vehicle keep the current state unchanged, the vehicle and the dangerous target collide for a long time, the braking grade can be determined based on the comparison result of the distance collision time and a preset threshold, when the distance collision time is smaller than the first preset threshold, the vehicle needs automatic emergency braking, the automatic emergency braking state is not influenced by the intervention of a driver in the emergency braking stage, the braking control device can generate a first control instruction and send the first control instruction to the display device, so that the display device displays the braking deceleration, and the driver can see the braking deceleration to know that the vehicle is in the emergency braking state and does not need to intervene any more.
In any of the above technical solutions, the vehicle further includes: the early warning device is connected with the brake control device and used for responding to the second control instruction to generate early warning information; and the brake control device is also used for generating a second control command based on the condition that the distance collision time is greater than or equal to a first preset threshold value and less than a second preset threshold value Tw.
In the technical scheme, the vehicle further comprises an early warning device used for achieving the interaction function of the vehicle and a user. When the distance collision time is greater than or equal to a first preset threshold value and less than a second preset threshold value, the vehicle is positioned between safety and emergency braking, the brake control device can generate a second control instruction and send the second control instruction to the early warning device so as to control the early warning device to generate early warning information, so that a user is reminded, and a driver can take measures such as braking, stopping and the like after receiving the reminding.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows a schematic block diagram of a vehicle of an embodiment of the invention;
FIG. 2 illustrates a schematic structural view of a vehicle in accordance with an embodiment of the present invention;
fig. 3 shows a control logic diagram of automatic emergency braking of a vehicle according to an embodiment of the present invention.
Wherein, the correspondence between the reference numbers and the component names in fig. 1 to 3 is:
101 a first wheel, 102 a second wheel, 103 a third wheel, 104 a fourth wheel, 201 a first brake chamber, 202 a second brake chamber, 203 a third brake chamber, 204 a fourth brake chamber, 302 a first air storage tank, 304 a second air storage tank, 40 a control valve, 50 a sensor device, 502 a camera device, 504 a radar, 60 a brake control device, 70 a foot brake valve, 80 a vehicle body control module and 90 an early warning device.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
A vehicle and a vehicle control method according to some embodiments of the present invention are described below with reference to fig. 1 to 3.
According to an embodiment of the first aspect of the present invention, a vehicle is provided, as shown in fig. 1 and 2, including: wheels including a first wheel 101, a second wheel 102, a third wheel 103, and a fourth wheel 104; the brake chambers comprise a first brake chamber 201, a second brake chamber 202, a third brake chamber 203 and a fourth brake chamber 204, and the brake chambers are arranged corresponding to the wheels; a braking system, comprising: a first air tank 302 connected to the brake chamber; a control valve 40 connected between the first air tank 302 and the brake chamber, the control valve 40 being configured to open a corresponding opening degree in response to a brake command; a sensor device 50 for acquiring obstacle information in front of the vehicle; and a brake control device 60 connected to the control valve 40 and the sensor device 50, respectively, the brake control device 60 being configured to obtain the vehicle state information, determine a braking deceleration based on the obstacle information and the vehicle state information, and determine a braking instruction based on the braking deceleration.
The embodiment of the utility model provides a vehicle, including wheel, brake chamber and braking system, brake chamber corresponds to the wheel setting, and every wheel corresponds a brake chamber, and braking system includes first gas holder 302, control valve 40, sensor device 50 and brake control device 60, and control valve 40 sets up between first gas holder 302 and brake chamber, and the aperture of opening through control valve 40 can the compressed gas flow direction brake chamber in the first gas holder 302 of quantitative control. When the braking system is started, the sensor device 50 acquires information of pedestrians, vehicles and other obstacles in front of the vehicle, the braking control device 60 analyzes the information of the obstacles acquired by the sensor device 50, determines the braking deceleration required by the vehicle under the current condition by combining the state information of the vehicle, namely the state information of the vehicle, and determines a braking instruction according to the braking deceleration, namely a control signal sent to the control valve 40, so that the control valve 40 is opened to a corresponding opening degree, the compressed air in the first air storage tank 302 flows to the braking air chamber in a fixed amount to form braking air pressure, and finally, the braking deceleration value corresponds to the braking instruction, so that the emergency braking of the wheel is completed, and the emergency braking of the vehicle is realized. Through the utility model discloses vehicle can realize the brake-by-wire effect on the basis of not changing the former air brake of vehicle to realize automatic emergency braking, simple structure is with low costs, and help driver avoids proruption barrier, reduces driver working strength and accident rate, greatly promotes the vehicle security of traveling.
It is required to explain, the embodiment of the utility model provides a vehicle is applicable to the automatic emergency braking of various engineering vehicle, is particularly useful for the automatic emergency braking of trucd mixer under the abominable construction environment of trucd mixer.
In an embodiment of the present invention, the brake control device 60 includes: the storage module is used for storing a three-dimensional interpolation table, and the three-dimensional interpolation table is used for calibrating the braking deceleration generated by the vehicle based on different speed information, load information and braking instructions.
In this embodiment, the braking deceleration generated by the vehicle is calibrated in advance by giving different braking instructions to the control valve 40 under different vehicle speed information and load information, and is made into a three-dimensional interpolation table and stored in the storage module of the braking control device 60. Through the utility model discloses an embodiment, through mark the three-dimensional interpolation table of braking deceleration about speed of a motor vehicle information in advance, load information and braking instruction, when automatic emergency braking starts, brake control device 60 is according to the barrier information in the place ahead and the status information of own car, determine braking deceleration, then through inquiring three-dimensional interpolation table, reverse thrust needs give the braking instruction of control valve 40, control valve 40 converts control instruction into brake chamber's atmospheric pressure again, and finally corresponds the numerical value of braking deceleration, thereby the brake-by-wire effect has been realized, and realize automatic emergency braking.
In one embodiment of the present invention, the sensor device 50 as shown in fig. 1 comprises: a camera 502 connected to the brake control device 60 for recognizing an obstacle in front of the vehicle; the radar 504 is connected to the brake control device 60 and detects the state information of the obstacle.
In this embodiment, the sensor device 50 includes an image pickup device 502 and a radar 504, and the image pickup device 502 and the radar 504 are connected to the brake control device 60, respectively. When the automatic emergency brake is turned on, pedestrians, vehicles and other obstacles in front of the vehicle are automatically recognized by the image pickup device 502, the radar 504 detects state information such as the position, direction and speed of each obstacle, and the brake control device 60 performs perception fusion analysis based on the obstacle information acquired by the image pickup device 502 and the radar 504, thereby determining the most dangerous target.
In one embodiment of the present invention, as shown in fig. 2, the camera 502 and the radar 504 are both mounted on the head of the vehicle.
In this embodiment, the camera 502 and the radar 504 are both mounted on the head of the vehicle, so that obstacle information in front of the vehicle can be automatically detected and recognized.
In an embodiment of the present invention, the camera 502 is a front monocular camera, and the radar 504 is a millimeter wave radar.
In one embodiment of the present invention, the control valve 40 is a proportional solenoid valve.
In this embodiment, the control valve 40 is a proportional solenoid valve, the proportional solenoid valve converts a current signal into a magnetic signal, the magnetic compression spring realizes that the valve opening is continuously adjustable, the braking instruction sent to the proportional solenoid valve by the corresponding brake control device 60 is different current inputs, when the automatic emergency brake is started, the proportional solenoid valve opens the corresponding opening according to the current magnitude, so that the compressed air in the first air storage tank 302 quantitatively flows to the brake air chamber to form brake air pressure, and finally the brake air pressure corresponds to a brake deceleration value, thereby completing the emergency brake of the wheel, and realizing the emergency brake of the vehicle.
In an embodiment of the invention, the obstacle information includes at least any one of or a combination of: position information, direction information, speed information, attribute information; the self-vehicle state information comprises any one or combination of the following items: the vehicle position, the vehicle direction, the vehicle speed information and the load information.
In this embodiment, the obstacle information includes at least any one of or a combination of: position information, direction information, speed information, and attribute information, but are not limited thereto, and any information that can be detected and recognized by the sensor device 50 may be the obstacle information; the self-vehicle state information comprises any one or combination of the following items: the present invention relates to a vehicle control system, and more particularly, to a vehicle control system, which can control a vehicle position, a vehicle direction, vehicle speed information, and load information of a vehicle.
In an embodiment of the present invention, the vehicle further includes: and the vehicle body control module 80 is connected with the brake control device 60, and the vehicle body control module 80 is used for collecting the vehicle state information.
In this embodiment, the brake control device 60 is connected to the body control module 80, i.e., the bcm (body control module), so that when the automatic emergency braking is started, the vehicle state information, such as the vehicle speed information, the load information, and the switch signals, collected by the body control module 80 can be transmitted to the brake control device 60 in real time, so that the brake control device 60 can quickly determine the braking deceleration according to the obstacle information and the vehicle state information, thereby increasing the processing speed of the brake control device 60, and meanwhile, the existing vehicle control module does not need to be modified, and the sensors for detecting the vehicle speed, the load, and other information do not need to be additionally added, so that the structure is simple and the cost is low.
In an embodiment of the present invention, as shown in fig. 1, the vehicle further includes: a second air tank 304 connected to the brake chamber; the service brake valve 70 is connected in parallel with the control valve 40 between the second air tank 304 and the brake chamber.
In this embodiment, the vehicle further includes a second air reservoir 304 and a service brake valve 70, the second air reservoir 304, the service brake valve 70, and a brake chamber, i.e., the original air pressure circuit of the vehicle. When the foot brake valve 70, i.e., the brake pedal, is stepped on by the driver to start, the compressed air in the second air tank 304 flows to the brake chamber to form a brake air pressure, thereby completing emergency braking of the wheels and realizing emergency braking of the vehicle.
In an embodiment of the present invention, the vehicle further includes: display means connected to the brake control means 60 for displaying the braking deceleration in response to the first control instruction; and the brake control device 60 is further configured to determine a distance collision time according to the obstacle information and the vehicle state information, and generate a first control instruction based on the fact that the distance collision time is smaller than a first preset threshold.
In this embodiment, the vehicle further comprises a display device for enabling the vehicle to interact with the user. When the braking system is started, the braking control device 60 can determine the distance collision time according to the obstacle information and the vehicle state information, namely, if the dangerous target and the vehicle keep the current state unchanged, the vehicle and the dangerous target collide for a long time, the braking grade can be determined based on the comparison result of the distance collision time and the preset threshold, when the distance collision time is smaller than the first preset threshold, the vehicle needs automatic emergency braking, the automatic emergency braking state is not influenced by the driver intervention in the emergency braking stage, the braking control device 60 can generate a first control instruction and send the first control instruction to the display device, so that the display device displays the braking deceleration, and the driver sees the braking deceleration, and then the vehicle is clearly in the emergency braking state without intervention.
In an embodiment of the present invention, the vehicle further includes: the early warning device 90 is connected with the brake control device 60, and the early warning device 90 is used for responding to a second control instruction to generate early warning information; the braking control device 60 is further configured to generate a second control command based on the fact that the distance to the collision time is greater than or equal to a first preset threshold value and less than a second preset threshold value.
In this embodiment, the vehicle further comprises an early warning device 90 for implementing the interaction function of the vehicle with the user. When the distance collision time is greater than or equal to the first preset threshold and less than the second preset threshold, the vehicle is between safety and emergency braking, the brake control device 60 generates a second control instruction and sends the second control instruction to the early warning device 90 to control the early warning device 90 to generate early warning information, so that the user is reminded, and the driver can take measures such as braking and stopping after receiving the reminding.
The embodiment provides a vehicle, in particular a mixer truck with a parking assist system, which is provided with an automatic emergency braking function by adding a plurality of hardware and software on the traditional mixer truck. As shown in fig. 2, the hardware includes 1 radar 504 (specifically, a millimeter wave radar), 1 camera 502 (specifically, a monocular camera), 1 control valve 40 (specifically, a proportional solenoid valve), and 1 brake control device 60 (specifically, an intelligent controller), where the camera 502 and the radar 504 are used to sense an obstacle, that is, the obstacle is identified by the camera 502, information such as the position, direction, and speed of the obstacle is detected by the radar 504, the control valve 40 is used to convert an electric signal into brake pressure, so as to implement brake-by-wire, and the brake control device 60 is used to sense and fuse the obstacle, and to control braking. As shown in fig. 3, the software mainly refers to an algorithm library composed of sensing fusion and control algorithms, and is divided into three layers, namely sensing, processing and executing.
The specific implementation is as follows:
s1 calibration of control valve 40: the control valve 40 is connected into an air pressure loop and is connected with the foot brake valve 70 in parallel, different currents are externally input to the control valve 40, and the braking deceleration of the mixer truck under different speeds and loads is measured;
and S2 data import: recording the calibration data, making a three-dimensional interpolation table of the braking deceleration relative to the current, the vehicle speed and the load, and storing the three-dimensional interpolation table in the braking control device 60;
s2 obstacle identification: when the automatic emergency brake is started, the camera 502 of the mixer truck automatically identifies pedestrians, vehicles and other obstacles in front of the vehicles, and the radar 504 detects the position, direction, speed and other information of each obstacle;
s3 obstacle detection: when the automatic emergency brake is started, the front dangerous target is analyzed through the brake control device 60 according to the information of pedestrians, vehicles and other obstacles in front of the vehicle, which is output by the radar 504 and the camera 502;
s4 braking control: the brake control device 60 calculates the current braking deceleration according to the dangerous target and the self-vehicle state information, and simultaneously, the current required to be sent to the control valve 40 is calculated through a lookup table of the vehicle speed and the load information transmitted by the vehicle body control module 80, and finally, the emergency braking is realized through an air pressure loop;
s5 user interaction: when an obstacle is detected, the warning device 90 (specifically, an alarm) sends warning information to remind a driver; and displaying the braking deceleration during emergency braking.
In the description herein, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless explicitly stated or limited otherwise; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the description of the present specification, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A vehicle, characterized by comprising:
a wheel;
the brake air chamber is arranged corresponding to the wheel;
a braking system, comprising:
the first air storage tank is connected with the brake air chamber;
the control valve is connected between the first air storage tank and the brake air chamber and used for responding to a brake instruction to open a corresponding opening degree;
a sensor device for acquiring obstacle information in front of the vehicle;
and the brake control device is respectively connected with the control valve and the sensor device and is used for acquiring the state information of the vehicle, determining the brake deceleration according to the obstacle information and the state information of the vehicle, and determining the brake command according to the brake deceleration.
2. The vehicle according to claim 1, characterized in that the brake control device includes:
and the storage module is used for storing a three-dimensional interpolation table, and the three-dimensional interpolation table is used for calibrating the braking deceleration generated by the vehicle based on different speed information, load information and the braking instruction.
3. The vehicle of claim 2, characterized in that the sensor arrangement comprises:
the camera device is connected with the brake control device and used for identifying an obstacle in front of the vehicle;
and the radar is connected with the brake control device and is used for detecting the state information of the obstacle.
4. The vehicle of claim 3,
the camera device and the radar are both mounted on the head of the vehicle.
5. The vehicle of claim 4,
the control valve is a proportional solenoid valve.
6. The vehicle according to any one of claims 2 to 5,
the obstacle information includes at least any one of or a combination of: position information, direction information, speed information, attribute information;
the self-vehicle state information comprises any one or combination of the following items: the vehicle speed information comprises the position of the vehicle, the direction of the vehicle, the vehicle speed information and the load information.
7. The vehicle of claim 6, further comprising:
and the vehicle body control module is connected with the brake control device and is used for acquiring the self-vehicle state information.
8. The vehicle of claim 7, further comprising:
the second air storage tank is connected with the brake air chamber;
and the foot brake valve is connected in parallel with the control valve and is connected between the second air storage tank and the brake air chamber.
9. The vehicle of claim 8, further comprising:
the display device is connected with the brake control device and is used for displaying the brake deceleration in response to a first control instruction;
the brake control device is further configured to determine a distance collision time according to the obstacle information and the vehicle state information, and generate the first control instruction based on a condition that the distance collision time is smaller than a first preset threshold.
10. The vehicle of claim 9, further comprising:
the early warning device is connected with the brake control device and used for responding to a second control instruction to generate early warning information;
the braking control device is further configured to generate the second control instruction based on a condition that the distance collision time is greater than or equal to the first preset threshold and is less than a second preset threshold.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021233303.5U CN212447485U (en) | 2020-06-30 | 2020-06-30 | Vehicle with a steering wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021233303.5U CN212447485U (en) | 2020-06-30 | 2020-06-30 | Vehicle with a steering wheel |
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| Publication Number | Publication Date |
|---|---|
| CN212447485U true CN212447485U (en) | 2021-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021233303.5U Active CN212447485U (en) | 2020-06-30 | 2020-06-30 | Vehicle with a steering wheel |
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| CN (1) | CN212447485U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111746533A (en) * | 2020-06-30 | 2020-10-09 | 三一专用汽车有限责任公司 | Vehicle and vehicle control method |
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2020
- 2020-06-30 CN CN202021233303.5U patent/CN212447485U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111746533A (en) * | 2020-06-30 | 2020-10-09 | 三一专用汽车有限责任公司 | Vehicle and vehicle control method |
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