CN216331430U - Single pendulum type accelerator brake interlocking device for unmanned automobile - Google Patents

Abstract

The utility model relates to a single-pendulum accelerator-brake interlocking device for an unmanned automobile, which consists of a control swing rod, a brake pull wire, an accelerator pull wire, a control steering engine, a steering engine controller and a mounting seat. The accelerator stay wire and the brake stay wire are used for driving the accelerator pressing plate or the brake pressing plate to complete stepping and lifting actions, the right foot operation of a driver is simulated, the phenomenon that the accelerator and the brake are simultaneously stepped is avoided by adopting a single pendulum swinging mode, meanwhile, the stay wire is a flexible wire, the normal driving of the automobile by the driver is not influenced after the installation, and the problem that the unmanned automobile gives consideration to two operation modes of personnel driving and program driving is perfectly solved. The steering engine controller parameters can be adjusted to adapt to different vehicle types and different brake and accelerator stepping strokes. The device modularized design, simple to operate adjusts fast, has the universality to the installation of most cars, makes things convenient for driver intervention control, has effectively realized personnel's high priority of operation.

Description

A single-pendulum accelerator-brake interlock device for driverless cars

technical field

The utility model belongs to the technical field of mechanical structure connectors, in particular to a single-pendulum type accelerator-brake interlocking device for unmanned vehicles.

Background technique

The brake system is one of the most important components in the operation of the unmanned vehicle. Because the mechanical accelerator type vehicle is used more because of its low cost, the brakes of the existing mechanical accelerator type vehicles mostly use the pedal brake. The safety of the brake is low, and the vehicle cannot be stopped in time, especially in the unmanned mode, the safety cannot be guaranteed. In order to improve the safety of the unmanned target vehicle, many measures have been taken in the control part of the accelerator and brake control of the actuator to ensure that the accelerator and the brake will not be pressed at the same time. At present, the following methods are more common:

1. Mechanical accelerator pedal control: block the oil pipeline in time when braking, cut off the oil supply system, and brake in time within the set time period to improve safety. This method has serious damage to the vehicle, and cannot satisfy both human driving and automatic driving;

2. The stepper motor is used to convert the rotation of the motor into the linear motion of the accelerator and brake actuator: this method is widely used, the operation is more intuitive, and the damage to the vehicle is relatively small. The problem is that the two channels of the brake and the accelerator only pass the software The interlock function is realized, and the hardware is not related. The two control motors are independently controlled. When the controller solves abnormally, the accelerator and the brake will be pressed to the bottom at the same time, which will seriously damage the speed change of the car in the manual mode. box;

3. Mechanical interlocking by means of reversing gears: This structure is relatively complex, requiring a gearbox housing and regular maintenance of the dimensional meshing mechanism. In addition, this method cannot be used for human driving after installation, and cannot be adapted to most vehicles , inconvenient to use.

Utility model content

The purpose of this utility model is to solve the above-mentioned problems, to provide a single-pendulum accelerator-brake interlocking device for unmanned vehicles, which extends the motion of the accelerator pedal and the brake pedal from the position of the driver's right foot by adopting a cable. To the co-pilot position, the single pendulum swing is used to avoid the simultaneous pressing of the accelerator and the brake. Since the cable is a soft wire, it will not affect the driver's normal driving of the car, which perfectly solves the problem of the driverless car taking into account both human driving and procedures. Driving in two operating modes.

In order to achieve the above purpose, the utility model provides the following technical solutions: a single-pendulum throttle-brake interlocking device for an unmanned vehicle, comprising a mounting seat, a steering gear controller, the steering gear controller and the control steering gear A control swing rod is arranged on the rotating shaft of the control steering gear, a brake cable and an accelerator cable are installed at one end of the control swing rod, and the control steering gear is installed on the mounting seat.

Further: the other end of the brake cable is connected to the brake pedal, and the other end of the accelerator cable is connected to the accelerator pedal;

Further: the outer rings of the accelerator cable and the brake cable are fixed at both ends of the mounting seat;

Further: the control steering gear is an actuator;

Further: the mounting seat is used to fix the control steering gear, the throttle cable and the brake cable;

Further: the steering gear controller is used to receive the PWM signal;

Further: the accelerator cable and the brake cable are soft cables.

Compared with the prior art, the beneficial effects of the present utility model are:

A single pendulum type accelerator-brake interlocking device for unmanned vehicles is composed of a control pendulum, a brake cable, an accelerator cable, a control steering gear, a steering gear controller and a mounting seat. The accelerator and brake cables are used to drive the accelerator platen or brake platen to complete the depressing and lifting actions, simulating the operation of the driver's right foot. By adopting a single pendulum swing, the phenomenon of simultaneously depressing the accelerator and the brake is avoided. At the same time, because the cable is The flexible line, after installation, will not affect the driver's normal driving of the car, and perfectly solves the two operating modes of the driverless car that take into account both human driving and program driving. By adjusting the parameters of the steering gear controller, it can be adapted to different models and different braking and accelerator pedal strokes. The device has a modular design, is easy to install, and can be adjusted quickly. It is universal to most car installations, facilitates driver intervention and control, and effectively achieves high priority for personnel operations.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only for the purpose of explaining the present invention more clearly. For the embodiments or technical solutions in the prior art, for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

Fig. 1 is the structural block diagram of the present utility model;

Fig. 2 is the overall structure schematic diagram of the present utility model;

In the picture: 1. Steering gear controller, 2. Control steering gear, 3. Brake cable, 4. Control pendulum, 5. Throttle cable, 6. Mounting seat.

Detailed ways

In order to enable those skilled in the art to better understand that the technical solutions of the present invention can be implemented, the present invention will be further described below in conjunction with specific embodiments, but the examples are only used as an illustration of the present invention, not as a description of the present invention. limit.

As shown in Figures 1-2, a single-pendulum accelerator-brake interlocking device for unmanned vehicles consists of a control pendulum 4, a brake cable 3, an accelerator cable 5, a control steering gear 2, and a steering gear controller 1 , the mounting seat 6 is formed, the steering gear controller 1 is connected with the control steering gear 2, the rotation axis of the control steering gear 2 is provided with a control swing rod 4, and one end of the control swing rod 4 is installed with a brake cable 3 And the throttle cable 5, the control steering gear 2 is installed on the mounting seat 6.

Preferably: the steering gear controller 1 receives the PWM signal, controls the steering gear 2 to output different rotation angles, and the visual steering gear controller 1 can set the maximum rotation angle and rotation speed of the steering gear 2;

Preferably: the control steering gear 2 is an actuator, which can proportionally output the corresponding rotation angle according to the signal of the steering gear controller 1;

Preferably: one end of the brake cable 3 is installed on the control pendulum 4, and the other end is connected to the brake pedal. When the control steering gear 2 rotates, it outputs stretching and retracting motions, and one end of the throttle cable 5 is installed on the control pendulum 4. , the other end is connected to the accelerator pedal, when the control servo 2 rotates, the output stretching and retracting motion;

Preferably: the outer rings of the accelerator cable 5 and the brake cable 3 are fixed on both ends of the mounting seat 6;

Preferably: the mounting seat 6 is used to fix the control steering gear 2 , the throttle cable 5 and the brake cable 3 .

Use process: first fix the mounting seat 6 on the co-pilot baseboard, adjust the parameters of the steering gear controller 1 so that the steering gear 2 is in the zero position, power off the steering gear 2, and control the steering gear 2 according to the stroke of the accelerator pedal and brake pedal. The steering gear 2 is installed on the mounting seat 6, and the control lever 4 is installed on the rotating shaft of the control steering gear 2, and tightened; Fix the outer rings of the accelerator cable 5 and the brake cable 3 to the two ends of the mounting base 6; then turn on the power supply of the control servo 2 and the signal of the servo controller 1, give clockwise and counterclockwise rotation commands, check the accelerator pedal and Brake pedal control effect.

The utility model relates to a single pendulum type accelerator-brake interlocking device for an unmanned vehicle. The control steering gear is used to receive the control instructions sent by the steering gear controller, and can realize a rotation of ±90 degrees, and is driven by the accelerator cable and the brake cable. The accelerator pedal or brake pedal is pressed and lifted, simulating the operation of the driver's right foot; when the steering gear is controlled to rotate counterclockwise, pull the accelerator pedal to complete the pressing action, and the brake pedal is in a lifted state; control the steering gear to rotate clockwise When the brake pedal is pulled to complete the depressing action, the accelerator brake is in a raised state; since the shaft that controls the steering gear can only rotate clockwise or counterclockwise at one moment, the situation where the brake and the accelerator are depressed at the same time is avoided. By adjusting the parameters of the steering gear controller, it can be adapted to different models and different braking and accelerator pedal strokes.

Contents that are not described in detail in the present invention are the prior art.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the within the scope of protection of the present invention.

Claims (7)

1. a single pendulum type accelerator brake interlocking device for unmanned vehicle, comprising mounting seat (6), steering gear controller (1), it is characterized in that: described steering gear controller (1) and control The steering gear (2) is connected, and the rotating shaft of the control steering gear (2) is provided with a control swing rod (4), and the other end of the control swing rod (4) is provided with a brake cable (3) and an accelerator cable ( 5), the control steering gear (2) is installed on the mounting seat (6). 2. A kind of single-swing type accelerator-brake interlocking device for unmanned vehicle according to claim 1, characterized in that: the other end of the brake cable (3) is connected with the brake pedal, and the accelerator cable is connected to the brake pedal. The other end of (5) is connected to the accelerator pedal. 3. A kind of single pendulum type accelerator-brake interlocking device for unmanned vehicle according to claim 1, it is characterized in that: the outer ring of described accelerator cable (5) and brake cable (3) is fixed on the installation Both ends of the seat (6). 4 . The single-pendulum accelerator-brake interlocking device for an unmanned vehicle according to claim 1 , wherein the control steering gear ( 2 ) is an actuator. 5 . 5. The single-swing type accelerator-brake interlocking device for unmanned vehicles according to claim 1, wherein the mounting seat (6) is used to fix the control steering gear (2), the accelerator cable (5) and brake cable (3). 6 . The single-pendulum accelerator-brake interlocking device for an unmanned vehicle according to claim 1 , wherein the steering gear controller ( 1 ) is used to receive a PWM signal. 7 . 7 . The single-pendulum accelerator-brake interlocking device for an unmanned vehicle according to claim 1 , wherein the accelerator cable ( 5 ) and the brake cable ( 3 ) are flexible wires. 8 .

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