CN113602243A - Emergency braking device for unmanned vehicle - Google Patents
Emergency braking device for unmanned vehicle Download PDFInfo
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- CN113602243A CN113602243A CN202111016524.6A CN202111016524A CN113602243A CN 113602243 A CN113602243 A CN 113602243A CN 202111016524 A CN202111016524 A CN 202111016524A CN 113602243 A CN113602243 A CN 113602243A
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- 238000010586 diagram Methods 0.000 description 4
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- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/24—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being gaseous
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/683—Electrical control in fluid-pressure brake systems by electrically-controlled valves in pneumatic systems or parts thereof
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Systems And Boosters (AREA)
Abstract
The invention relates to the technical field of automobile emergency braking, in particular to an emergency braking device for an unmanned vehicle. The device includes: the parking device comprises a parking air cavity, a parking air source, a parking control valve and a standby parking control mechanism. Wherein, the air inlet and the parking air supply of parking control valve are connected, and the gas outlet is connected with the parking air cavity, but the air inlet is connected with control gas port break-make, and the control gas port is configured as: when the set pressure is kept, the air outlet is disconnected with the air outlet, and the air inlet is communicated with the air outlet so as to keep the pressure in the parking air cavity; when the pressure is released, the air outlet is communicated with the air outlet so as to exhaust the air in the parking air cavity; the standby parking control mechanism is connected with the control air port and used for keeping the set pressure or releasing the pressure of the control air port according to the control signal so as to control the pressure in the parking air cavity and realize emergency parking. The problem that in the prior art, when the ADCU suddenly loses efficacy or is powered off, the EBS and the EPB brake system can not work, the vehicle can not be stopped, and safety accidents are easily caused can be solved.
Description
Technical Field
The invention relates to the technical field of automobile emergency braking, in particular to an emergency braking device for an unmanned vehicle.
Background
In order to meet the driving safety of a common commercial automobile, two sets of mutually independent parking devices of a service brake and a parking brake are designed, the service brake is controlled by an electronic brake system (hereinafter abbreviated as EBS), the parking brake is controlled by an electronic parking brake system (hereinafter abbreviated as EPB), the two sets of systems are directly controlled by a driver, when the automobile in a normal state needs to be braked in the driving process, the driver steps on a foot brake, the service brake system starts to work, and the vehicle is braked to decelerate; if special conditions occur, when emergency braking is needed and the electric control part of the EBS system fails, a driver steps on a brake pedal, the mechanical part of the EBS system can work to generate braking force, and the vehicle is stopped emergently; the driver can also intervene in the parking brake by pressing the EPB switch to make an emergency stop.
In order to increase the efficiency of operation and save labor costs, unmanned commercial vehicles have gradually begun to be put into operation in closed parks, such as ports. On this type of unmanned commercial vehicle, the EBS and EPB systems are controlled by an automatic drive controller (hereinafter abbreviated as ADCU), and service braking and parking braking are realized as needed.
However, when the ADCU suddenly fails or is powered off, the EBS and EPB brake systems do not work, the vehicle cannot be stopped, and a safety accident is easily caused.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an emergency braking device for an unmanned vehicle, which can solve the problems that in the prior art, when an ADCU suddenly fails or is powered off or the like, the EBS and EPB braking systems cannot work, the vehicle cannot be stopped, and safety accidents are easily caused.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
the invention provides an emergency braking device for an unmanned vehicle, which comprises:
the parking air cavity can release parking after air injection and can park after air exhaust;
the parking gas source is used for injecting gas into the parking gas cavity;
parking control valve, it includes air inlet, gas outlet, gas vent and control gas port, the air inlet with the parking air supply is connected, the gas outlet with the parking air cavity is connected, but the air inlet is connected with the break-make of control gas port, the control gas port is configured as: when the set pressure is kept, the air outlet is disconnected with the air outlet, and the air inlet is communicated with the air outlet so as to keep the pressure in the parking air cavity; during pressure relief, the air inlet is disconnected with the air outlet, and the air outlet is communicated with the air outlet so as to exhaust air in the parking air cavity;
and the standby parking control mechanism is connected with the control air port and is used for keeping the set pressure or releasing the pressure of the control air port according to a control signal so as to control the pressure in the parking air cavity and realize emergency parking.
In some alternatives, the backup parking control mechanism includes:
one end of the parking control pipeline is connected with the control air port;
the pressure release valve is connected with the other end of the parking control pipeline;
and the remote control unit is used for sending a remote control signal to control the pressure relief valve so as to enable the control air port to keep set pressure or relieve pressure.
In some optional schemes, the brake braking mechanism is further included, and the brake braking mechanism comprises:
the brake air cavity can perform braking after gas injection and stop braking after gas exhaust;
the brake air source is used for injecting air into the parking air cavity;
and the air inlet end of the brake control valve is communicated with the brake air source through an air inlet pipeline, the air outlet end of the brake control valve is communicated with the brake air source and the brake air cavity through an air outlet pipeline, and the brake control valve can change the on-off state according to a control signal of the remote control unit so as to control the brake air source to inject air into the brake air cavity.
In some optional schemes, the brake mechanism further includes a brake controller, and the brake controller is in signal connection with the remote control unit through a CAN bus and is used for receiving a control signal of the remote control unit to control the brake control valve to change the on-off state.
In some optional schemes, the air outlet pipeline is communicated with the parking control pipeline through a pressure maintaining pipeline, and a one-way valve is arranged on the pressure maintaining pipeline and used for injecting air into the parking control pipeline when the brake control valve forms a passage.
In some alternatives, a braking preference mechanism is also included, comprising:
the stop valve is arranged on the parking control pipeline and is positioned between the pressure release valve and a connecting point of the pressure maintaining pipeline and the parking control pipeline, the stop valve is provided with an on-off control port, the stop valve is stopped when the on-off control port maintains set pressure, and the stop valve forms a passage when the on-off control port releases pressure;
and one end of the brake optimizing pipeline is connected with the on-off control port, the other end of the brake optimizing pipeline is connected with the air outlet pipeline or the pressure maintaining pipeline, and the connection point of the brake optimizing pipeline and the pressure maintaining pipeline is positioned between the one-way valve and the connection point of the pressure maintaining pipeline and the air outlet pipeline.
In some optional schemes, the standby parking control mechanism further comprises at least one emergency stop switch, and the emergency stop switch is arranged on the outer side of the vehicle body and used for controlling the on-off of the pressure relief valve.
In some optional schemes, one end of the emergency stop switch is connected with the power supply port of the pressure relief valve, and the other end of the emergency stop switch is grounded.
In some alternatives, the backup parking control mechanism includes four emergency stop switches for being disposed at four corners of the vehicle body.
In some alternatives, the pressure relief valve is an energized normally closed solenoid valve.
Compared with the prior art, the invention has the advantages that: when the vehicle runs into an emergency situation and the ADCU fails and cannot realize the parking of the automatic control parking control valve, the standby parking control mechanism can remove the blockage of the control air port through the received control signal, so that the pressure of the control air port is relieved, at the moment, the air inlet is disconnected with the air outlet, the air outlet is communicated with the air outlet, the air in the parking air cavity is discharged, the pressure in the parking air cavity is controlled, and the emergency parking is realized. In the scheme, the standby parking control mechanism capable of controlling the state of the air port is arranged, so that the parking control valve is controlled in an emergency state, and the vehicle is provided with one layer of safety guarantee.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a prior art emergency braking system for an unmanned vehicle, according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a first emergency braking device for an unmanned vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a second unmanned vehicle emergency braking device in an embodiment of the invention;
fig. 4 is a schematic structural diagram of a third emergency braking device for an unmanned vehicle according to an embodiment of the present invention.
In the figure: 1. a parking air cavity; 2. a parking air source; 3. a parking control valve; 31. an air inlet; 32. an air outlet; 33. an exhaust port; 34. a control port; 4. a standby parking control mechanism; 41. a pressure relief valve; 42. a parking control pipeline; 43. a remote control unit; 5. a scram switch; 61. a brake air cavity; 62. a brake air source; 63. a brake control valve; 64. a brake controller; 7. a pressure maintaining pipeline; 71. a one-way valve; 8. a brake preference mechanism; 81. a stop valve; 814. an on-off control port; 82. the brake is preferably a pipe.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, in the prior art, an emergency braking device includes: the parking air cavity 1 can release parking after gas injection and can park after gas exhaust; a parking gas source 2 for injecting gas into the parking gas chamber 1; the parking control valve 3 includes an inlet port 31, an outlet port 32, and an outlet port 33. The parking Control valve 3 is in signal connection with the ADCU, the parking Control valve 3 can disconnect the air outlet 32 from the air outlet 33 according to a Control signal of the ADCU (automatic Driving Control Unit), the air inlet 31 is communicated with the air outlet 32, so as to maintain the pressure in the parking air cavity 1 through the parking air source 2, and the parking can be released after the parking air cavity 1 is inflated; or the air inlet 31 is disconnected from the air outlet 32, and the air outlet 32 is communicated with the air outlet 33 so as to exhaust the air in the parking air chamber 1, so that the parking can be carried out after the parking air chamber 1 is exhausted.
Emergency braking device still includes brake braking mechanism, and it includes: a brake air chamber 61, a brake air source 62, a brake control valve 63 and a brake controller 64. The brake can be carried out after the gas is injected into the brake gas cavity 61, and the brake can be stopped after the gas is exhausted; the brake air source 62 is used for injecting air into the parking air cavity 1; the air inlet end of the brake control valve 63 is communicated with the brake air source 62 through an air inlet pipeline, the air outlet end of the brake control valve communicates the brake air source 62 with the brake air cavity 61 through an air outlet pipeline, and the brake control valve 63 can change the on-off state according to the control signal of the remote control unit 43 so as to control the brake air source 62 to inject air into the brake air cavity 61; the brake controller 64 is in signal connection with the ADCU through a CAN bus and is used for receiving a control signal of the ADCU to control the brake control valve 63 to change the on-off state. The brake control valve 63 comprises a brake valve air inlet, a brake valve air outlet and a brake valve air outlet, the numbers of the brake control valve 63 are respectively first, second and third, when the control signal of the ADCU controls the brake control valve 63 to form a passage, the brake valve air inlet is communicated with the brake valve air outlet, the brake valve air outlet is disconnected with the brake valve air outlet, a brake air source 62 injects air into the parking air cavity 1, and braking can be performed after the brake air cavity 61 injects air; when the control signal of the ADCU controls the brake control valve 63 to form open circuit, the air inlet of the brake valve is disconnected with the air outlet of the brake valve, the air outlet of the brake valve is communicated with the exhaust port of the brake valve, the air in the parking air cavity 1 is exhausted through the air outlet of the brake valve and the exhaust port of the brake valve, and the brake can be stopped after the air in the brake air cavity 61 is exhausted.
During normal braking, the ADCU sends a control signal to control the brake control valve 63 to form a passage, the brake air source 62 injects air into the parking air cavity 1, and braking can be performed after the brake air cavity 61 injects air; during emergency braking, the ADCU sends control signals to the parking control valve 3 and the brake control valve 63 simultaneously, the parking control valve 3 performs parking action, and the brake control valve 63 performs brake action; the parking control valve 3 may disconnect the air inlet 31 from the air outlet 32 and connect the air outlet 32 to the air outlet 33 according to the control signal of the ADCU to discharge the air in the parking air chamber 1, so that the parking can be performed after the parking air chamber 1 is discharged.
In the marks of each valve in the scheme, the number is firstly an air inlet, the number is secondly an air outlet, the number is thirdly an air outlet, and the number is fourthly a control port.
As shown in fig. 2, the present invention provides an emergency brake device for an unmanned vehicle, comprising: the parking device comprises a parking air chamber 1, a parking air source 2, a parking control valve 3 and a standby parking control mechanism 4.
The parking air cavity 1 can be released from parking after air injection, and can be parked after air exhaust; the parking gas source 2 is used for injecting gas into the parking gas cavity 1; the parking control valve 3 includes an air inlet 31, an air outlet 32, an air outlet 33 and a control air port 34, the air inlet 31 is connected with the parking air source 2, the air outlet 32 is connected with the parking air chamber 1, the air inlet 31 is connected with the control air port 34 in an on-off manner, and the control air port 34 is configured as: when the set pressure is maintained, the air outlet 32 is disconnected from the air outlet 33, and the air inlet 31 is communicated with the air outlet 32 so as to maintain the pressure in the parking air cavity 1; during pressure relief, the air inlet 31 is disconnected with the air outlet 32, and the air outlet 32 is communicated with the air outlet 33 so as to exhaust air in the parking air cavity 1; the standby parking control mechanism 4 is connected with the control air port 34 and used for keeping the set pressure or releasing the pressure of the control air port 34 according to a control signal so as to control the pressure in the parking air chamber 1 and realize emergency parking.
During normal running, the air inlet 31 is communicated with the control air port 34 to inject air into the control air port 34, the standby parking control mechanism 4 is connected with the control air port 34 to seal the control air port 34, so that the control air port 34 keeps set pressure, at the moment, the air outlet 32 is disconnected with the exhaust port 33, the air inlet 31 is communicated with the air outlet 32, the parking air source 2 is communicated with the parking air chamber 1 through the air inlet 31 and the air outlet 32, the pressure in the parking air chamber 1 is kept, and the vehicle is in a state of parking release.
When a vehicle encounters an emergency and the ADCU fails and cannot realize the automatic control of the parking control valve 3 to park, the standby parking control mechanism 4 can remove the blockage of the control air port 34 through the received control signal, so that the pressure of the control air port 34 is relieved, at the moment, the air inlet 31 is disconnected from the air outlet 32, the air outlet 32 is communicated with the air outlet 33, the air in the parking air chamber 1 is discharged, the pressure in the parking air chamber 1 is controlled, and the emergency parking is realized. In the scheme, the standby parking control mechanism 4 capable of controlling the state of the air port 34 is arranged, so that the parking control valve 3 is controlled in an emergency state, and the vehicle is ensured to have one more layer of safety.
In this example, the exhaust port 33 and the control air port 34 can be connected in and out, the parking control valve 3 can be controlled according to the electric control signal of the ADCU, when the parking is required to be released, the electric control signal controls the internal air inlet electromagnetic valve to operate for a short time, the air inlet 31 and the control air port 34 are disconnected after being communicated for a short time, and the control air port 34 realizes pressure maintaining; when the vehicle needs to be parked, the electric control signal controls the internal exhaust electromagnetic valve to act for a short time, the control air port 34 is disconnected after being communicated with the exhaust port 33 for a short time, and the control air port 34 is controlled to realize pressure relief.
The air outlet 32 is connected with the control air port 34 through a throttle hole, and when the vehicle normally runs, if slow air pressure leakage occurs in the standby parking control mechanism 4 of the control air port 34, the air outlet 32 can supplement air pressure to the control air port 34 through the throttle hole, so that the air inlet 31 and the air outlet 32 are kept in a communicated state, and the condition that the control air port 34 is parked due to air leakage when the vehicle normally runs is avoided.
In some alternative embodiments, the backup parking control mechanism 4 includes: a parking control line 42, a pressure relief valve 41 and a remote control unit 43.
Wherein, one end of the parking control pipeline 42 is connected with the control air port 34; the pressure release valve 41 is connected with the other end of the parking control pipeline 42; the remote control unit 43 is used for sending a remote control signal to control the relief valve 41 so as to maintain the set pressure or relieve the pressure of the control air port 34.
In the present embodiment, the remote control unit 43 employs an HCU, i.e., a remote control module, which can receive a remote control command and send a control signal corresponding to the control command to the actuator. When the vehicle encounters an emergency situation and the ADCU fails to work and cannot realize parking through the automatic control parking control valve 3, an emergency parking instruction can be sent to the remote control unit 43, the remote control unit 43 sends a control signal corresponding to the control instruction to the pressure release valve 41, the pressure release valve 41 is opened at the moment, the control air port 34 is communicated with the parking control pipeline 42 through the pressure release valve 41, so that the pressure of the control air port 34 is released, at the moment, the air inlet 31 is disconnected from the air outlet 32, the air outlet 32 is communicated with the air outlet 33, so that the air in the parking air chamber 1 is discharged, so that the pressure in the parking air chamber 1 is controlled, and emergency parking is realized.
In some optional embodiments, the backup parking control mechanism 4 further includes at least one emergency stop switch 5 disposed outside the vehicle body to control the opening and closing of the relief valve 41.
In the present embodiment, for the sake of insurance, since the existing unmanned vehicles mostly travel in a closed environment in a campus, the flow of people is large, especially some experimental vehicles. When an emergency situation is encountered, the remote control device may not be in the immediate vicinity of the person encountering the vehicle occurrence condition, and valuable emergency parking time is delayed by finding the remote control device. In this scheme, set up an emergency stop switch 5 in the outside of vehicle, personnel in the garden meet the vehicle emergence emergency, when needing emergency stop, just can use the setting to control relief valve 41 and open at emergency stop switch 5, make control gas port 34 switch on through relief valve 41 and parking control pipeline 42, make control gas port 34 pressure release to realize the emergency parking of vehicle.
In some alternative embodiments, one end of the emergency stop switch 5 is connected to the power supply port of the pressure relief valve 41, and the other end is grounded.
In this implementation, scram switch 5 is the normally open switch, and scram switch 5's one end is connected with the power supply port of relief valve 41, and the other end ground connection, when pressing scram switch 5, through scram switch 5 ground connection after the intercommunication between the power supply port of relief valve 41, makes relief valve 41 cut off the power supply, and relief valve 41 opens this moment, and such design is simple to when can prevent that the power supply unit of relief valve 41 from appearing the problem, can't be detected, lead to the possibility of whole device inefficacy. In addition, the remote control unit 43 will send the power failure signal to the pressure relief valve 41 after the power failure, and the pressure relief valve 41 will also be opened, so that the possibility that the whole device fails because the remote control unit 43 cannot be detected when the power failure occurs can be avoided.
In some alternative embodiments, the backup parking control mechanism 4 includes four emergency stop switches 5 for placement at the four corners of the vehicle body.
In this embodiment, set up four scram switches 5 respectively in the automobile body four corners, can make things convenient for operating personnel to all can be comparatively safe in any direction of the vehicle out of control to remove operation scram switch 5, avoid the vehicle out of control to produce the threat to operating personnel's personal safety.
In some alternative embodiments, the pressure relief valve 41 is an energized normally closed solenoid valve. In the embodiment, the pressure relief valve 41 is an energized normally closed electromagnetic valve, and when the controller and the power supply equipment are powered off, the pressure relief valve 41 is triggered to open, so that the vehicle is parked, and the situation that the pressure relief valve 41 is not detected under the condition that the vehicle cannot be controlled and the vehicle still runs normally is avoided, but the pressure relief valve 41 is already failed, and the function of emergency stop cannot be realized. The energized normally closed solenoid valve includes a solenoid valve air inlet, a solenoid valve air outlet, and a solenoid valve air outlet, which are respectively marked as (i), (ii), and (iii) in the pressure release valve 41. When the pressure relief valve 41 is electrified, the electromagnetic valve air inlet is communicated with the electromagnetic valve air outlet, the electromagnetic valve air outlet is disconnected with the electromagnetic valve air outlet, and the electromagnetic valve air inlet is blocked; when the pressure relief valve 41 is powered off, the electromagnetic valve air inlet and the electromagnetic valve air outlet are disconnected, and the electromagnetic valve air outlet is communicated with the electromagnetic valve air outlet, so that air exhaust and pressure relief are realized.
In some optional embodiments, the unmanned vehicle emergency braking device further comprises a brake braking mechanism comprising: a brake air chamber 61, a brake air source 62 and a brake control valve 63.
Wherein, the brake air cavity 61 can be braked after being injected with air, and the brake can be stopped after being exhausted; the brake air source 62 is used for injecting air into the parking air cavity 1; the air inlet end of the brake control valve 63 is communicated with the brake air source 62 through an air inlet pipeline, the air outlet end communicates the brake air source 62 with the brake air cavity 61 through an air outlet pipeline, and the brake control valve 63 can change the on-off state according to the control signal of the remote control unit 43 so as to control the brake air source 62 to inject air into the brake air cavity 61.
In this embodiment, when the ADCU fails and cannot realize the parking control by automatically controlling the parking control valve 3, the brake control valve 63 may change the on-off state according to the control signal of the remote control unit 43, specifically: the remote control unit 43 sends a braking instruction to the brake control valve 63, at the moment, the brake control valve 63 forms a passage, the air inlet end of the brake control valve 63 is communicated with the brake air source 62 through an air inlet pipeline, the air outlet end of the brake control valve communicates the brake air source 62 with the brake air cavity 61 through an air outlet pipeline, and the brake air source 62 injects air to the parking air cavity 1 through the air inlet pipeline, the brake control valve 63 and the air outlet pipeline to realize braking. The brake control valve 63 in this example is identical in principle to brake control valves of the prior art and will not be described in further detail here.
In some optional embodiments, the brake mechanism further includes a brake controller 64, and the brake controller 64 is in signal connection with the remote control unit 43 through the CAN bus, and is configured to receive a control signal from the remote control unit 43 to control the brake control valve 63 to change the on-off state.
In this example, the remote control unit 43 and the ADCU in the original control system are both connected to the brake controller 64 through the CAN bus, and in addition, the remote control unit 43 and the ADCU in the original control system are also in signal connection with the parking control valve 3, and both CAN control the working state of the parking control valve 3 through signals. When the ADCU is operable, the ADCU is preferentially used to send a control command to the brake control valve 63 through the brake controller 64 and to send a control command to the parking control valve 3; when the ADCU fails, the remote control unit 43 may send a control command to the parking control valve 3 directly, the brake controller 64 may send a control command to the brake control valve 63, and the pressure relief valve 41 may send a control command to open the pressure relief valve 41 to release the pressure of the control air port 34, so as to control the parking control valve 3 to release the pressure, and stop the vehicle.
In some alternative embodiments, as shown in fig. 3, the outlet line communicates with the parking control line 42 through the pressure maintaining line 7, and the pressure maintaining line 7 is provided with a check valve 71 for injecting air into the parking control line 42 when the brake control valve 63 is opened.
In this embodiment, when the vehicle is traveling, if control gas port 34 pressure release, air inlet 31 and control gas port 34 intercommunication go wrong, when can't provide the set pressure to control gas port 34, or control gas port 34 and gas vent 33 break off after communicating for a short time, lead to control gas port 34 pressure release, and can't keep pressure, air inlet 31 and gas outlet 32 disconnection, gas outlet 32 and gas vent 33 intercommunication, with the gas in the discharge parking air chamber 1, can release pressure fast in the parking air chamber 1, emergency parking, the vehicle that has certain speed of a motor vehicle, under parking air supply 2 and parking control valve 3 cooperation work, directly carry out parking operation, the vehicle is comparatively easy out of control.
At this time, the ADCU sends a control command to the brake control valve 63 through the brake controller 64. In the scheme, the air outlet pipeline and the parking control pipeline 42 are communicated through the pressure maintaining pipeline 7, the pressure maintaining pipeline 7 is provided with the one-way valve 71, when the brake control valve 63 forms a passage, the pressure maintaining pipeline 7 can inject air into the parking control pipeline 42 at the same time, set pressure is provided for the control air port 34, the air inlet 31 and the air outlet 32 can be communicated again, the air outlet 32 is disconnected with the air outlet 33, the parking control valve 3 is relieved of exhausting outwards, the parking air source 2 injects air into the parking air cavity 1 through the parking control valve 3, parking action is relieved, the brake braking mechanism is enabled to take over control over a vehicle, emergency parking operation under a certain vehicle speed is avoided, driving braking force and parking braking force are superposed, the brake is damaged, and the vehicle is out of control.
As shown in fig. 4, in some alternative embodiments, the unmanned vehicle emergency braking device further comprises a braking preference mechanism 8, which comprises: a shut-off valve 81 and a brake preference conduit 82. The stop valve 81 is arranged on the parking control pipeline 42 and is positioned between the pressure release valve 41 and a connection point of the pressure maintaining pipeline 7 and the parking control pipeline 42, the stop valve 81 is provided with an on-off control port 814, when the on-off control port 814 maintains set pressure, the stop valve 81 is stopped, and when the on-off control port 814 releases pressure, the stop valve 81 forms a passage; the brake preference pipeline 82 is connected with the on-off control port 814 at one end and the vent pipeline or the pressure maintaining pipeline 7 at the other end, and the connection point with the pressure maintaining pipeline 7 is located between the one-way valve 71 and the connection point of the pressure maintaining pipeline 7 and the vent pipeline.
In this embodiment, the ADCU fails, and cannot normally operate, if the vehicle encounters an unexpected situation, the operator and the remote control unit 43 do not know which of the braking air source 62, the braking control valve 63, the parking air source 2 and the parking control valve 3 CAN normally operate, and which cannot normally operate, in order to ensure that the vehicle CAN be quickly stopped, the remote control unit 43 CAN send a control instruction to the braking control valve 63 through the CAN bus and the braking controller 64, and simultaneously send a control instruction to the parking control valve 3, and further send a control instruction to the pressure relief valve 41, so that the pressure relief of the control air port 34 is performed by opening the pressure relief valve 41, and thus the pressure relief of the parking control valve 3 is controlled. At this time, if the braking air source 62, the braking control valve 63, the parking air source 2 and the parking control valve 3 can work normally, the vehicle with a certain speed is directly parked under the condition that the parking air source 2 and the parking control valve 3 work cooperatively, the brake is easily damaged due to the superposition of the driving braking force and the parking braking force, and the vehicle is easily out of control, so the parking action of the parking control valve 3 needs to be released under the condition.
In the scheme, the air outlet pipeline is communicated with the parking control pipeline 42 through the pressure maintaining pipeline 7, the one-way valve 71 is arranged on the pressure maintaining pipeline 7, and when the brake control valve 63 forms a passage, the air outlet pipeline can inject air into the parking control pipeline 42 through the pressure maintaining pipeline 7; however, since the relief valve 41 is opened to open the open circuit, the pressure can be released, and the parking control line 42 needs to be disconnected, so that when the brake control valve 63 forms a passage, the air outlet line, the pressure maintaining line 7, the parking control line 42 and the relief valve 41 form a passage to release the pressure, and the parking control line 42 needs to be disconnected.
In the scheme, a stop valve 81 is arranged on the parking control pipeline 42 and is positioned between the pressure release valve 41 and the connection point of the pressure maintaining pipeline 7 and the parking control pipeline 42, the stop valve 81 is provided with an on-off control port 814, when the on-off control port 814 maintains set pressure, the stop valve 81 is stopped, and when the on-off control port 814 releases pressure, the stop valve 81 forms a passage; one end of the brake optimization pipeline 82 is connected with the on-off control port 814, and the other end of the brake optimization pipeline 82 is connected with the air outlet pipeline or the pressure maintaining pipeline 7, so that when the brake control valve 63 forms a passage, the air outlet pipeline injects air to the on-off control port 814 of the stop valve 81 through the pressure maintaining pipeline 7 and the brake optimization pipeline 82, and the on-off control port 814 maintains set pressure, so that the stop valve 81 forms an open circuit, and the parking control pipeline 42 is blocked; the pressure maintaining pipeline 7 can inject air into the parking control pipeline 42 at the same time, pressure can not be released from the parking control pipeline 42 and the pressure release valve 41, set pressure is provided for the control air port 34, the air inlet 31 is communicated with the air outlet 32, the air outlet 32 is disconnected with the air outlet 33, the parking air source 2 injects air into the parking air cavity 1 through the parking control valve 3, parking action is not executed, the brake braking mechanism is made to take over control over a vehicle, emergency parking operation under a certain vehicle speed is avoided, the brake is easily damaged due to the superposition effect of driving braking force and parking braking force, and the vehicle is out of control.
In addition, during normal running, when the brake braking mechanism fails and no pressure is applied, the brake control valve 63 is opened, and when the ADCU fails to control the brake control valve 63, no pressure is applied to the outlet line, the pressure holding line 7, the brake optimizing line 82, and the on-off control port of the stop valve 81, so that the stop valve 81 is opened, and the parking control line 42 is also opened. The remote control unit 43 can send a control command to the pressure relief valve 41, open the open circuit of the pressure relief valve 41, and release the pressure of the control air port 34, so as to control the parking control valve 3 to release the pressure, and the vehicle is parked emergently.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice 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. An unmanned vehicle emergency braking device, comprising:
the parking air cavity (1) can release parking after gas injection and can park after gas exhaust;
a parking gas source (2) for injecting gas into the parking gas cavity (1);
parking control valve (3), it includes air inlet (31), gas outlet (32), gas vent (33) and control gas port (34), air inlet (31) with parking air supply (2) are connected, gas outlet (32) with parking air chamber (1) are connected, air inlet (31) and control gas port (34) break-make connection, control gas port (34) are configured as: when the set pressure is kept, the air outlet (32) is disconnected with the air outlet (33), and the air inlet (31) is communicated with the air outlet (32) so as to keep the pressure in the parking air cavity (1); during pressure relief, the air inlet (31) is disconnected with the air outlet (32), and the air outlet (32) is communicated with the air outlet (33) so as to discharge air in the parking air cavity (1);
and the standby parking control mechanism (4) is connected with the control air port (34) and is used for keeping the set pressure or releasing the pressure of the control air port (34) according to a control signal so as to control the pressure in the parking air chamber (1) and realize emergency parking.
2. The unmanned vehicle emergency brake arrangement of claim 1, wherein the backup parking control mechanism (4) comprises:
a parking control line (42) having one end connected to the control port (34);
a relief valve (41) connected to the other end of the parking control line (42);
and the remote control unit (43) is used for sending a remote control signal to control the pressure relief valve (41) so as to keep the set pressure or the pressure relief of the control air port (34).
3. The unmanned vehicle emergency brake system of claim 2, further comprising a brake actuation mechanism comprising:
a brake air cavity (61) which can perform braking after air injection and can stop braking after air exhaust;
a brake gas source (62) for injecting gas into the brake gas chamber (61);
and the air inlet end of the brake control valve (63) is communicated with the brake air source (62) through an air inlet pipeline, the air outlet end of the brake control valve communicates the brake air source (62) with the brake air cavity (61) through an air outlet pipeline, and the brake control valve (63) can change the on-off state according to a control signal of the remote control unit (43) so as to control the brake air source (62) to inject air into the brake air cavity (61).
4. The emergency braking device for unmanned vehicles of claim 3, wherein the brake mechanism further comprises a brake controller (64), the brake controller (64) is in signal connection with the remote control unit (43) through a CAN bus, and is used for receiving the control signal of the remote control unit (43) to control the brake control valve (63) to change the on-off state.
5. The unmanned vehicle emergency brake apparatus of claim 3, wherein the air outlet line communicates with the parking control line (42) through a pressure maintaining line (7), and a check valve (71) is provided on the pressure maintaining line (7) for injecting air into the parking control line (42) when the brake control valve (63) is opened.
6. The unmanned vehicle emergency braking device of claim 5, further comprising a brake override mechanism (8) comprising:
the stop valve (81) is arranged on the parking control pipeline (42) and is positioned between the pressure release valve (41) and a connection point of the pressure maintaining pipeline (7) and the parking control pipeline (42), the stop valve (81) is provided with an on-off control port (814), when the on-off control port (814) maintains set pressure, the stop valve (81) is stopped, and when the on-off control port (814) releases pressure, the stop valve (81) forms a passage;
and one end of the brake optimization pipeline (82) is connected with the on-off control port (814), the other end of the brake optimization pipeline is connected with the air outlet pipeline or the pressure maintaining pipeline (7), and the connection point of the brake optimization pipeline and the pressure maintaining pipeline (7) is positioned between the one-way valve (71) and the connection point of the pressure maintaining pipeline (7) and the air outlet pipeline.
7. The emergency brake device for unmanned vehicles according to claim 2, wherein the backup parking control mechanism (4) further comprises at least one emergency stop switch (5) for being provided outside the vehicle body to control the opening and closing of the pressure relief valve (41).
8. The unmanned vehicle emergency brake apparatus of claim 7, wherein the emergency stop switch (5) is connected to a power supply port of the pressure relief valve (41) at one end and grounded at the other end.
9. The unmanned vehicle emergency brake system of claim 7, wherein the backup parking control mechanism (4) comprises four emergency stop switches (5) for being provided at four corners of a vehicle body.
10. The unmanned vehicle emergency brake system of claim 2, wherein the pressure relief valve (41) is an energized normally closed solenoid valve.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111016524.6A CN113602243B (en) | 2021-08-31 | 2021-08-31 | Emergency braking device for unmanned vehicle |
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| CN202111016524.6A CN113602243B (en) | 2021-08-31 | 2021-08-31 | Emergency braking device for unmanned vehicle |
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| CN113602243B (en) | 2022-10-14 |
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