CN216301042U - Automatic driving vehicle emergency processing device and automatic driving vehicle - Google Patents
Automatic driving vehicle emergency processing device and automatic driving vehicle Download PDFInfo
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- CN216301042U CN216301042U CN202122155637.6U CN202122155637U CN216301042U CN 216301042 U CN216301042 U CN 216301042U CN 202122155637 U CN202122155637 U CN 202122155637U CN 216301042 U CN216301042 U CN 216301042U
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Abstract
The utility model discloses an automatic driving vehicle emergency treatment device and an automatic driving vehicle, wherein the device comprises: the system comprises a domain controller, a vehicle driving system, a whole vehicle controller, a brake system, a parking system and an emergency button; the whole vehicle controller is connected with the domain controller, the vehicle driving system, the braking system and the parking system through a CAN bus, and information interaction and control are carried out through the CAN bus; the emergency button is connected with the domain controller, the vehicle control unit, the parking system and the brake system and used for controlling the domain controller, the vehicle control unit, the parking system and the brake system to execute emergency parking. According to the embodiment of the utility model, the vehicle driving system, the parking system and the braking system are controlled by the vehicle control unit to carry out emergency parking, multiple systems carry out cooperative work, so that the vehicle can be ensured to be parked in an emergency, and when the parking system and the braking system detect that an emergency button is pressed down, emergency braking and emergency parking control can be automatically carried out, so that the safety of the vehicle is ensured.
Description
Technical Field
The utility model relates to the field of automatic driving automobiles, in particular to an emergency treatment device for an automatic driving vehicle and the automatic driving vehicle.
Background
In recent years, various large enterprises have been actively engaged in research and development of autonomous driving systems, and various types of autonomous vehicles have been introduced in various fields. With the popularization and application of the automatic driving vehicle, the safety problem of the automatic driving vehicle is more and more concerned by all social circles, and the current mainstream method is to carry out emergency safety protection through manual intervention of a safety worker.
At present, the main emergency treatment of the automatic driving vehicle mainly adopts manual intervention, the manual intervention can be carried out only in a limited plurality of modes, such as manual steering, manual braking and the like, when a manual part fails or an emergency occurs, the manual intervention has certain response lag, and when the manual part fails, effective measures cannot be taken timely, so that certain safety risk exists.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the utility model provides an emergency treatment device for an automatic driving vehicle, which can detect the emergency condition of the vehicle and an emergency button, automatically and emergently stop the vehicle and ensure the safety of the vehicle and personnel.
The utility model also provides an automatic driving vehicle with the automatic driving vehicle emergency processing device.
An autonomous vehicle emergency treatment device according to an embodiment of a first aspect of the present invention includes: the system comprises a domain controller, a vehicle driving system, a whole vehicle controller, a brake system, a parking system and an emergency button; the vehicle control unit is connected with the domain controller, the vehicle driving system, the braking system and the parking system through a CAN bus, and performs information interaction and control through the CAN bus; the emergency button is connected with the domain controller, the vehicle control unit, the parking system and the brake system and used for controlling the domain controller, the vehicle control unit, the parking system and the brake system to execute emergency parking.
The emergency treatment device for the automatic driving vehicle, provided by the embodiment of the utility model, has at least the following beneficial effects: the emergency processing device for the automatic driving vehicle controls the driving system, the parking system and the brake system to perform emergency parking through the vehicle control unit, multiple systems perform cooperative work, and the three systems can ensure emergency parking of the vehicle and safety of the vehicle as long as one system can work normally. The method provided by the embodiment of the utility model also comprises manual emergency button control, when the emergency button is pressed down, the parking system and the brake system can automatically execute emergency parking, so that the vehicle can still perform emergency parking when the vehicle controller fails, and the safety of the vehicle is ensured.
According to some embodiments of the utility model, the vehicle drive system comprises a drive controller and a drive motor; the brake system comprises a brake controller and a brake actuating mechanism; the parking system comprises a parking controller and a parking executing mechanism.
According to some embodiments of the present invention, the emergency button is connected to the domain controller, the vehicle controller, the parking system and the brake system, and configured to output a manual emergency input signal to the domain controller, the vehicle controller, the parking system and the brake system for emergency parking determination.
According to some embodiments of the present invention, when an emergency button is pressed, a high level is output to the domain controller, the vehicle control unit, the parking controller, and the brake controller as a manual emergency input signal.
According to some embodiments of the utility model, the drive controller controls the drive motor to achieve vehicle driving and electric regenerative braking.
According to some embodiments of the utility model, the brake controller realizes braking of the vehicle by controlling the brake actuator.
According to some embodiments of the utility model, the parking controller realizes parking of the vehicle by controlling the parking actuator.
According to some embodiments of the utility model, the braking system detects a manual emergency input signal and the braking system automatically brakes the vehicle.
According to some embodiments of the utility model, the parking system detects a manual emergency input signal and the parking system automatically parks the vehicle.
According to some embodiments of the utility model, the domain controller is for controlling vehicle autopilot.
According to some embodiments of the utility model, the vehicle control unit is used for judging and controlling the vehicle state.
According to some embodiments of the utility model, the vehicle control unit is used for controlling the vehicle driving system to perform electric recovery braking, controlling the brake system to perform brake braking, and controlling the parking system to perform emergency parking when the emergency button is pressed or an emergency situation of the vehicle is detected.
An autonomous vehicle according to an embodiment of the second aspect of the utility model, said vehicle comprising an autonomous vehicle emergency treatment device according to any of the embodiments of the first aspect of the utility model.
Since the autonomous vehicle of the embodiment of the utility model includes the autonomous vehicle emergency processing device according to any one of the first aspect of the utility model, all the advantageous effects of the first aspect of the utility model are obtained.
Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.
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 is a schematic structural connection diagram of an apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic structural connection diagram of an apparatus according to another embodiment of the present invention.
Fig. 3 is a flowchart illustrating a method for emergency parking according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
Referring to fig. 1, an emergency treatment apparatus for an autonomous vehicle according to an embodiment of the present invention includes: the system comprises a domain controller, a vehicle driving system, a whole vehicle controller, a braking system, a parking system and an emergency button.
Referring to fig. 2, in some embodiments, a vehicle drive system includes a drive controller and a drive motor, and the drive controller controls the drive motor to realize vehicle driving and electric driving. The brake system comprises a brake controller and a brake actuating mechanism, and the brake controller realizes vehicle braking by controlling the brake actuating mechanism. The parking system comprises a parking controller and a parking executing mechanism, and the parking controller realizes vehicle parking by controlling the parking executing mechanism.
The whole vehicle controller is connected with the domain controller, the vehicle driving system, the braking system and the parking system through a CAN bus, and the information interaction and control are carried out by the CAN bus; the emergency button is connected with the domain controller, the whole vehicle controller, the parking controller and the brake controller through hard wires, and when the emergency button is pressed down, a high level (24V) is output to the domain controller, the whole vehicle controller, the parking controller and the brake controller to serve as a manual emergency input signal.
The domain controller is used for controlling the automatic driving of the vehicle.
And the vehicle control unit is used for judging and controlling the vehicle state.
Referring to fig. 3, the method of the device of the present invention for emergency parking includes two emergency treatment control modes:
a. the manual emergency treatment control mode is as follows: when the emergency button is pressed, outputting a manual emergency input signal to the emergency processing device, and controlling the device to enter a manual emergency processing control mode after the emergency processing device receives the manual emergency input signal;
b. the automatic emergency treatment control mode is as follows: when the vehicle controller detects the emergency condition of the vehicle according to the state of the vehicle, the vehicle controller controls the emergency treatment device to enter an automatic emergency treatment control mode.
Further, when the emergency treatment device of the automatic driving vehicle enters an artificial emergency treatment control mode, each system respectively controls the execution mechanism to carry out emergency treatment: the parking system detects a manual emergency input signal, enters a manual emergency processing control mode, starts timing, and automatically carries out emergency parking after a preset time interval; the brake system detects an artificial emergency input signal, enters an artificial emergency processing control mode, and automatically carries out maximum brake force emergency braking; the domain controller detects an artificial emergency input signal, enters an artificial emergency processing control mode, exits from an automatic driving mode and stops output control; the vehicle control unit detects an artificial emergency input signal, enters an artificial emergency processing control mode, outputs a brake control instruction, starts timing, and outputs an emergency parking control instruction after a preset time interval or when the vehicle speed is less than a preset value; and meanwhile, outputting an electric recovery brake control command.
Further, when the emergency processing device of the automatic driving vehicle enters a manual emergency processing control mode, the parking system and the brake system have two sets of redundant control modes, and the automatic control or the execution of the command of the whole vehicle controller ensures the safety of the vehicle. The parking system detects a manual emergency input signal, automatically carries out emergency parking after reaching a preset condition, and does not respond to an emergency parking release instruction; and if the parking system does not detect the manual emergency input signal, responding to an emergency parking control instruction of the whole vehicle controller. The brake system detects the manual emergency input signal, automatically carries out the maximum brake force emergency brake, and does not respond to the command of canceling the emergency brake force; and if the brake system does not detect the artificial emergency input signal, responding to an emergency brake control instruction of the whole vehicle controller.
Further, when the emergency processing device of the automatic driving vehicle enters a manual emergency processing control mode, the vehicle control unit detects a manual emergency input signal and requests the brake system to output the maximum brake force for emergency braking; the vehicle control unit detects a manual emergency input signal, starts timing, and requests a parking system to perform emergency parking after a preset time interval or when the vehicle speed is less than the preset value; and the vehicle control unit detects the artificial emergency input signal and requests the vehicle driving system to carry out electric recovery braking.
In some embodiments, the vehicle control unit detects a vehicle emergency situation, and the emergency treatment device enters an automatic emergency treatment control mode, wherein the vehicle emergency situation includes: three-level faults of a braking system and a steering system; and/or a communication fault between the braking system and the steering system; and/or in an automatic driving mode, a three-level fault or a communication fault of the domain controller; and/or braking system and steering system response errors; and/or a three-level failure of the entire vehicle.
Further, when the emergency treatment device of the automatic driving vehicle enters an automatic emergency treatment control mode,the vehicle control unit controls each part to carry out emergency treatment: the vehicle control unit detects the emergency condition of the vehicle, enters an automatic emergency processing control mode, starts timing, and controls a parking system to perform emergency parking after a preset time interval or when the vehicle speed is smaller than a preset value; the vehicle control unit detects the emergency condition of the vehicle, enters an automatic emergency processing control mode, controls the brake controller to output corresponding brake force for emergency braking, and the corresponding brake force
Wherein, F0Indicating the initial value of braking force, FlimIndicating a limited brake force value to be output, T indicating a total time for a preset linearity to reach the limited brake force value, TsRepresenting the calculation cycle of the current system; the vehicle control unit detects the vehicle emergency condition, enters an automatic emergency treatment control mode, and controls a vehicle driving system to carry out electric recovery braking.
Further, the vehicle control unit enters an emergency treatment control mode to control a vehicle driving system to carry out electric recovery braking, and the braking torque T of the vehicle control unitqIs the current normal required torque T of the whole vehicleq1Integral sum T of vehicle speed differenceq＝Tq1+ I V, wherein the normal torque demand Tq1Obtaining the current required target torque of a driver according to the current vehicle speed, the opening degree of an accelerator and a brake; the speed difference V is zero and the current speed V1The difference V is 0-V1(ii) a I is the integration coefficient.
In some embodiments, the controlling the parking system by the vehicle control unit to perform emergency parking includes: after timing is started, when the vehicle speed is less than 1km/h, the whole vehicle controller controls the parking system to park; and when the vehicle speed is not less than 1km/h and the timing reaches 3 seconds, the whole vehicle controller controls the parking system to park.
The automatic driving emergency vehicle processing device provided by the embodiment of the utility model can realize emergency parking as long as any one system of a brake system, a parking system or a vehicle driving system works normally, so that the safety of a vehicle is ensured; the brake controller has the function of actively and passively controlling the brake actuating mechanism to brake under the emergency condition; a parking controller of a parking system of an emergency processing device of an automatic driving vehicle has the function of actively and passively controlling a parking actuating mechanism to carry out emergency parking. Under the emergency condition, the vehicle control unit outputs a speed-limiting instruction to control the vehicle driving system to carry out electric recovery braking, so that the speed-limiting target of the vehicle is realized, and the aim of emergency parking of the vehicle is fulfilled.
The utility model also provides an autonomous vehicle comprising the emergency treatment device of the autonomous vehicle of any of the above embodiments.
Although specific embodiments have been described herein, those of ordinary skill in the art will recognize that many other modifications or alternative embodiments are equally within the scope of this disclosure. For example, any of the functions and/or processing capabilities described in connection with a particular device or component may be performed by any other device or component. In addition, while various illustrative implementations and architectures have been described in accordance with embodiments of the present disclosure, those of ordinary skill in the art will recognize that many other modifications of the illustrative implementations and architectures described herein are also within the scope of the present disclosure.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (12)
1. An autonomous vehicle emergency processing device, comprising:
the system comprises a domain controller, a vehicle driving system, a whole vehicle controller, a brake system, a parking system and an emergency button;
the vehicle control unit is connected with the domain controller, the vehicle driving system, the braking system and the parking system through a CAN bus, and performs information interaction and control through the CAN bus;
the emergency button is connected with the domain controller, the vehicle control unit, the parking system and the brake system and used for outputting manual emergency input signals to the domain controller, the vehicle control unit, the parking system and the brake system to judge emergency parking.
2. The autonomous-capable vehicle emergency treatment device of claim 1, wherein the vehicle drive system includes a drive controller and a drive motor; the brake system comprises a brake controller and a brake actuating mechanism; the parking system comprises a parking controller and a parking executing mechanism.
3. The autonomous-capable vehicle emergency processing device of claim 2, wherein an emergency button, when pressed, outputs a high level to the domain controller, the hybrid controller, the parking controller and the brake controller as a manual emergency input signal.
4. The autonomous-capable vehicle emergency processing device of claim 2, wherein the drive controller controls the drive motor to effect vehicle drive and electric regenerative braking.
5. The autonomous-capable vehicle emergency processing device of claim 2, wherein the brake controller implements vehicle braking by controlling a brake actuator.
6. The autonomous-capable vehicle emergency processing device of claim 2, wherein the parking controller achieves parking of the vehicle by controlling a parking actuator.
7. The autonomous-capable vehicle emergency processing device of claim 3, wherein the braking system detects a manual emergency input signal and the braking system automatically brakes the vehicle.
8. The autonomous-capable vehicle emergency processing device of claim 3, wherein the parking system detects a manual emergency input signal and the parking system automatically parks the vehicle.
9. The autonomous-capable vehicle emergency processing apparatus of claim 1, wherein the domain controller is configured to control vehicle autonomous.
10. The emergency processing device of an autonomous driving vehicle of claim 1, wherein the vehicle controller is configured to determine and control a vehicle state.
11. The emergency processing device for the automatic driving vehicle according to claim 1, wherein the vehicle control unit is configured to control the driving system to perform electric recovery braking, control the braking system to perform braking, and control the parking system to perform emergency parking when the emergency button is pressed or an emergency situation of the vehicle is detected.
12. Autonomous vehicle characterized in that it comprises an autonomous vehicle emergency treatment device according to any of claims 1 to 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122155637.6U CN216301042U (en) | 2021-09-06 | 2021-09-06 | Automatic driving vehicle emergency processing device and automatic driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122155637.6U CN216301042U (en) | 2021-09-06 | 2021-09-06 | Automatic driving vehicle emergency processing device and automatic driving vehicle |
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| Publication Number | Publication Date |
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| CN216301042U true CN216301042U (en) | 2022-04-15 |
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| CN202122155637.6U Active CN216301042U (en) | 2021-09-06 | 2021-09-06 | Automatic driving vehicle emergency processing device and automatic driving vehicle |
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- 2021-09-06 CN CN202122155637.6U patent/CN216301042U/en active Active
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