Autonomous driving vehicle human-machine co-driving brake-by-wire device

Abstract

The present invention discloses an automatic driving vehicle human-machine co-driving wire control brake device in the field of vehicle braking, including a brake pedal mechanism, a brake connecting rod mechanism and a rotating shaft body, the brake pedal mechanism includes a brake pedal and a return spring, a foot brake switch is installed on the brake pedal, and the foot brake switch and the actuator are connected to the driving controller; the brake pedal mechanism also includes a brake pin shaft and a rotating shaft that are coaxially connected inside and outside, the return spring and the rotating shaft body are sleeved on the circumferential outer side of the brake pin shaft, and the circumferential outer side wall of the rotating shaft is sleeved and fixed with a first column, and the rotating shaft body rotates relative to the first column and the relative axial surfaces are in a concave-convex bite. The present invention makes the automatic driving wire control brake and manual braking relatively independent, and the driving controller can accurately distinguish whether it is currently manual braking, and in the vehicle automatic driving mode, manual intervention can be directly performed, thereby improving the safety of the automatic driving vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicle braking, and in particular to a human-machine co-driving brake-by-wire device for an autonomous driving vehicle. Background Art

[0002] Autonomous driving vehicles use a combination of several sensors to sense and detect environmental information, namely vehicle status information, make decisions through the vehicle's intelligent driving control system, and then control the vehicle's steering, acceleration, braking and other functions through the underlying control system to complete vehicle autonomous driving.

[0003] The braking performance of an autonomous vehicle is an important indicator for measuring the autonomous driving system and is related to the safety of the vehicle. At present, autonomous driving technology is not yet mature and manual driving intervention is still required for complex scenarios. Therefore, the modified braking system needs to ensure the independence of the original manual driving braking system and cannot affect the driver's operation of the brake pedal. The existing modified wire control brake system realizes the braking function in the autonomous driving mode by pushing and pulling the brake pedal, which will cause the intelligent driving control system to be unable to determine whether it is manual braking or automatic braking. Summary of the invention

[0004] The purpose of the present invention is to provide a human-machine co-driving wire control brake device for an autonomous driving vehicle to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] The human-machine co-driving wire-controlled braking device of an automatic driving vehicle comprises a brake pedal mechanism and a brake link mechanism, wherein the brake pedal mechanism comprises a brake pedal, a return spring, and a brake pin shaft and a rotary shaft which are coaxially connected inside and outside, the brake pedal is fixed to the axial end of the rotary shaft and a foot brake switch is installed on the brake pedal, the foot brake switch is connected to a driving controller, the return spring is sleeved on the circumferential outer side of the brake pin shaft, one end of the return spring is fixed on the brake pin shaft, and the other end is fixed on the vehicle frame; it also comprises a rotating shaft body sleeved on the circumferential outer side of the brake pin shaft, a first column is sleeved and fixed on the circumferential outer side wall of the rotary shaft, the rotating shaft body rotates relative to the first column, and the relative axial surfaces are engaged in a concave-convex shape, and the rotating shaft body is fixed to the valve core push rod of the brake valve; the brake link mechanism comprises an actuator fixed to the vehicle frame and connected to the driving controller, and a connecting rod mechanism whose bottom end is rotatably connected to the telescopic end of the actuator; a second column is fixed to the bottom of the rotating shaft body, and the second column is located in the space area formed by the rotation of the connecting rod mechanism.

[0007] As an improved solution of the present invention, two symmetrical protrusions are extended from the end face of the first column toward the rotating shaft body, and the rotating shaft body is provided with two notches corresponding to the two protrusions, and the groove width size of the notch is configured to the extent that when the actuator presses the second column through the connecting rod mechanism to rotate the rotating shaft body, the protrusions do not contact the edges of the notches.

[0008] As an improved solution of the present invention, the connecting rod mechanism includes a first rod assembly, a second rod assembly, a first pin and a second pin, wherein the first rod assembly and the second rod assembly are rotationally fixedly connected via the second pin, and the first rod assembly and the actuator are rotationally fixedly connected via the first pin.

[0009] As an improved solution of the present invention, the top end of the second rod assembly extends toward the second column to form a hook-shaped portion.

[0010] Beneficial effects: The present invention makes the automatic driving wire control braking and manual braking relatively independent without changing the original manual braking system. During automatic driving wire control braking, the manual brake pedal is in a static state; during manual driving braking, the foot brake switch triggers a signal to be transmitted to the driving controller, so that the intelligent driving control system can accurately distinguish whether it is currently manual braking, and in the vehicle automatic driving mode, manual intervention can be made directly, which improves the safety of the automatic driving vehicle and the braking system is highly safe. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the structure of the present invention;

[0012] Figure 2 It is a schematic diagram of the structure of the artificial braking mode of the present invention;

[0013] Figure 3 yes Figure 2 A partial enlarged view of

[0014] Figure 4 It is a structural schematic diagram of the automatic braking mode of the present invention;

[0015] Figure 5 yes Figure 4 A partial enlarged view of

[0016] In the figure: 1-brake pedal mechanism; 11-brake pedal; 12-first column; 121-bump; 13-rotating shaft; 14-foot brake switch; 15-reset spring; 16-brake pin; 2-rotating shaft body; 21-slot; 22-second column; 3-brake connecting rod mechanism; 31-actuator; 321-second rod assembly; 322-first rod assembly; 323-hook-shaped portion; 33-first pin; 34-second pin; 4-frame; 5-brake valve. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figure 1 The human-machine co-driving wire-controlled brake device of an automatic driving vehicle includes a brake pedal mechanism 1 and a brake linkage mechanism 3. The brake pedal mechanism 1 includes a brake pedal 11, a return spring 15, and a brake pin shaft 16 and a rotating shaft 13 that are coaxially connected inside and outside the rotating shaft 13. The brake pedal 11 is fixed to the axial end of the rotating shaft 13 and a foot brake switch 14 is installed on the brake pedal 11. The foot brake switch 14 is connected to the driving controller. When the driver steps on the brake pedal 11, the foot brake switch 14 transmits an artificial braking signal to the driving controller.

[0019] The return spring 15 is sleeved on the circumferential outer side of the brake pin shaft 16, and one end of the return spring 15 is fixed on the brake pin shaft 16, and the other end is fixed on the frame 4; the frame 4 and the brake pin shaft 16 are respectively provided with circular holes, and the two ends of the return spring 15 are respectively inserted into the circular holes.

[0020] It also includes a rotating shaft body 2 which is sleeved on the circumferential outer side of the brake pin shaft 16, and a first column 12 is sleeved and fixed on the circumferential outer side wall of the rotating shaft 13. The rotating shaft body 2 and the first column 12 rotate relative to each other and the relative axial surfaces are in a concave-convex bite shape. The rotating shaft body 2 is fixed to the valve core push rod of the brake valve; the brake connecting rod mechanism 3 includes an actuator 31 fixed on the frame 4 and connected to the driving controller, and a connecting rod mechanism whose bottom end is rotatably connected to the telescopic end of the actuator 31; a second column 22 is fixed to the bottom of the rotating shaft body 2, and the second column 22 is located in the space area formed by the rotation of the connecting rod mechanism.

[0021] As an implementation method, Figure 2-3 As shown, in the manual driving braking mode, the driver steps on the brake pedal 11, driving the rotary shaft 13 to rotate clockwise, and the first column 12 fixed on the rotary shaft 13 also rotates clockwise, wherein the first column 12 and the rotating shaft body 12 are engaged in a concave-convex shape, specifically, two protrusions 121 are extended on the end surface of the first column 12, and the rotating shaft body 12 has two corresponding notches 21 for accommodating the protrusions 121, and the protrusions 121 are located on one side of the inner wall of the notch 21. When the first column 12 rotates clockwise, the two protrusions 121 are directly in contact with the inner walls of the two notches 21 respectively and drive the rotating shaft body 12 to rotate clockwise together, so that the rotating shaft body 12 pushes the valve core of the brake valve 5 inward, and then pushes the brake fluid into the brake system inlay for braking, and at this time the return spring 15 twists to generate torque.

[0022] At the same time, when the driver steps on the brake pedal 11, the foot brake switch 14 is triggered, and the foot brake switch 14 sends a brake signal to the driving controller, so that the vehicle cooperates with the braking state to produce other linkage operations.

[0023] As an implementation method, Figure 4-5 As shown, in the vehicle automatic driving mode, when braking is required, the driving controller issues a command, and the telescopic end of the actuator 31 extends out to control the connecting rod mechanism to rotate counterclockwise and press the second column 22, thereby pushing the rotating shaft body 2 to rotate clockwise and push the valve core push rod of the brake valve 5. The slot width size of the notch 21 is configured to the extent that when the actuator 31 presses the second column 22 through the connecting rod mechanism to rotate the rotating shaft body 2, the protrusion 121 does not contact the edge of the notch 21. Therefore, when the rotating shaft body 2 rotates clockwise, the notch 21 does not contact the protrusion 121, that is, it does not contact the first column 12, and the rotating shaft 13 and the brake pedal 11 are in a stationary state. Therefore, although braking is performed in the automatic driving mode, the brake pedal 11 will not move, which is obviously different from the braking in the manual driving mode, so that the driving controller can distinguish the braking in the automatic driving mode from the braking generated manually.

[0024] When the braking is finished, the telescopic end of the actuator 31 is retracted and automatically returns to the initial state, pushing the connecting rod mechanism to disengage from the second column 22 .

[0025] As an implementation mode, when the vehicle is in automatic driving mode, manual intervention can also be performed. The driver directly steps on the brake pedal 11, which is the same as the braking method in manual driving mode. The first column 12 rotates clockwise and drives the rotating shaft body 2 to rotate clockwise. Braking is achieved by pushing the valve core push rod of the brake valve 5 inward, thereby improving braking safety.

[0026] Furthermore, the connecting rod mechanism includes a first rod assembly 322, a second rod assembly 321, a first pin 33 and a second pin 34. The first rod assembly 322 and the second rod assembly 321 are rotatably fixedly connected through the second pin 34, and the first rod assembly 322 and the piston rod of the actuator 31 are rotatably fixedly connected through the first pin 33. Therefore, when the actuator 31 is telescopically controlled, it can drive the first rod assembly 322 to rotate with the first pin 33 as a reference to form a fan-shaped area, and the second rod assembly 321 rotates with the second pin 34 connected to the first rod assembly 322 as a reference. Since the second column 22 is located in the space area formed by the rotation of the connecting rod mechanism, in the automatic driving mode, when the actuator 31 is telescopically driven to drive the connecting rod mechanism to rotate, it is bound to contact the second column 22, so that the rotating shaft body 2 is rotated and braked.

[0027] Preferably, a hook-shaped portion 323 is formed at the top end of the second rod assembly 321 extending toward the second column 22 , and the hook-shaped portion 323 is more conducive to contacting the second column 22 .

[0028] Preferably, the first rod assembly 322 and the second rod assembly 321 are both configured as two parallel plates, and the two parallel plates are fixed by a connecting plate. Therefore, when the second rod assembly 321 contacts the second column 22, the two parallel plates actually contact the second column 22 at the same time. In order to facilitate contact, the axis of the second column 22 is horizontal to the rotating shaft body 2, and the two horizontal plates can be perpendicular to the axis of the second column 22 and contact the circumferential outer side wall of the second column 22.

[0029] Moreover, in this embodiment, the frame 4, brake pedal 11, foot brake switch 14, return spring 15, brake pin 16, and brake valve 5 are existing brake structures. This application makes the automatic driving wire control brake and the manual brake relatively independent on the basis of minimal modification to the existing manual brake system. During automatic driving wire control brake, the manual brake pedal is in a static state; during manual driving brake, the foot brake switch triggers a signal to be transmitted to the driving controller, so that the intelligent driving control system can accurately distinguish whether it is currently manual braking, and in the vehicle automatic driving mode, manual intervention can be made directly, which improves the safety of the automatic driving vehicle and the braking system is highly safe.

[0030] Although this specification is described according to implementation modes, not every implementation mode includes only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0031] In the description of the present invention, it should be noted that relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0032] In the description of the present invention, it is also necessary to explain that the orientations or positional relationships indicated by the terms "upper", "lower", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0033] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] Therefore, the above description is only a preferred embodiment of the present application and is not intended to limit the scope of implementation of the present application; that is, all equivalent changes made according to the scope of the claims of the present application are within the protection scope of the claims of the present application.

Claims

1. An automatic driving vehicle human-machine co-driving brake-by-wire device, comprising a brake pedal mechanism (1) and a brake link mechanism (3), wherein the brake pedal mechanism (1) comprises a brake pedal (11), a return spring (15), and a brake pin shaft (16) and a rotary shaft (13) that are coaxially coupled inside and outside, wherein the brake pedal (11) is fixed to an axial end of the rotary shaft (13) and a foot brake switch (14) is installed on the brake pedal (11), wherein the foot brake switch (14) is connected to a driving controller, wherein the return spring (15) is sleeved on the circumferential outer side of the brake pin shaft (16), wherein one end of the return spring (15) is fixed to the brake pin shaft (16), and the other end of the return spring (15) is fixed to the vehicle frame (4); ... return spring (15) is fixed to the brake pin shaft (16), and wherein the other end of the return spring (15) is fixed to the vehicle frame (4); wherein the return spring (15) is fixed to the brake pin shaft (16), and wherein the return spring (15) is fixed to the vehicle frame (4); wherein the return spring (15) is fixed to the brake pin shaft (16), and wherein the return spring (15) is fixed to the vehicle frame (4); wherein the return spring (15) is fixed to the brake pin shaft (16), and wherein the return spring (15) is fixed to the vehicle frame (4); wherein the return spring (15) is fixed to the It also includes a rotating shaft body (2) sleeved on the circumferential outer side of the brake pin shaft (16); a first column (12) is sleeved and fixed on the circumferential outer side wall of the rotary shaft (13); the rotating shaft body (2) and the first column (12) rotate relative to each other and the relative axial surfaces are engaged in a concave-convex shape; the rotating shaft body (2) is fixed to a valve core push rod of a brake valve; the brake connecting rod mechanism (3) includes an actuator (31) fixed to a vehicle frame (4) and connected to a driving controller, and a connecting rod mechanism whose bottom end is rotatably connected to a telescopic end of the actuator (31); a second column (22) is fixed to the bottom of the rotating shaft body (2), and the second column (22) is located in a space area formed by the rotation of the connecting rod mechanism; Two symmetrical protrusions (121) are provided on the end surface of the first column (12) extending toward the rotating shaft body (2); the rotating shaft body (2) is provided with two notches (21) corresponding to the two protrusions (121); and the width of the notches (21) is configured to such an extent that when the actuator (31) presses the second column (22) through the connecting rod mechanism to rotate the rotating shaft body (2), the protrusions (121) do not contact the edges of the notches (21); The connecting rod mechanism comprises a first rod assembly (322), a second rod assembly (321), a first pin shaft (33) and a second pin shaft (34); the first rod assembly (322) and the second rod assembly (321) are rotationally fixedly connected via the second pin shaft (34); the first rod assembly (322) and the actuator (31) are rotationally fixedly connected via the first pin shaft (33); and the top end of the second rod assembly (321) extends toward the second column (22) to form a hook-shaped portion (323).

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