Active anti-collision control system and method and unmanned vehicle

Abstract

An active collision avoidance control system includes a brake transitionable between a braking state in which the brake suppresses rotation of a wheel and a released state in which the brake allows rotation of the wheel; the control device is used for controlling the brake to be converted between a braking state and a releasing state; and the anti-collision beam proximity switch is connected to the control device and is configured to send a disconnection signal to the control device when the anti-collision beam of the unmanned vehicle collides, so that the brake is switched to a braking state. According to the system, active braking can be achieved without depending on an anti-collision system in front of an unmanned driving system, emergency braking is achieved when an automatic driving system misjudges or fails, and therefore the system is used as safety redundancy of an unmanned vehicle system. In addition, the invention also relates to an active anti-collision control method and relates to an unmanned vehicle.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned vehicles and relates to an active anti-collision control system. In addition, the present invention also relates to an active anti-collision control method and an unmanned vehicle including the active anti-collision control system. Background Art

[0002] The existing anti-collision system for unmanned vehicles is mainly based on AEB (automatic emergency braking). The working principle of the anti-collision system can be summarized as follows: the vehicle-mounted camera, laser, millimeter-wave radar and other sensors are used to identify the object in front; then, the electronic control unit is used to identify the object and measure the distance, and the current working condition is judged at the same time; when the real-time distance is detected to be less than the alarm distance, the vehicle will give an alarm prompt; if the real-time distance is less than the safe distance, the vehicle will start automatic braking. This anti-collision system is mainly composed of an environmental perception unit, a control unit and an execution unit.

[0003] The existing AEB is that the driverless vehicle can automatically activate the brake device in the event of an emergency situation where a possible collision is predicted, thereby avoiding or reducing the occurrence of a collision accident. However, driverless vehicles may have sensor misjudgments or failure of the automatic driving control unit due to various reasons. In this way, once the automatic driving misjudgment and failure occur, the vehicle may not be protected, and the vehicle or related personnel and equipment may be lost, which in turn increases the collision repair cost of the driverless vehicle and increases the downtime of the driverless vehicle.

[0004] Therefore, there is still a need for an active collision avoidance control system for an unmanned vehicle, which can overcome one or more shortcomings in the prior art. Summary of the invention

[0005] The purpose of the present invention is to provide an active collision avoidance control system, thereby increasing the safety redundancy of the collision avoidance system of an unmanned vehicle, and when the unmanned driving control system fails, it can still effectively protect the safety of the vehicle and prevent or reduce the occurrence of safety accidents.

[0006] According to one aspect of the present invention, an active collision avoidance control system is proposed, which can be used for an unmanned vehicle and can include: a brake, which is arranged near the wheel of the unmanned vehicle and can be switched between a braking state and a released state, in which the brake inhibits the wheel from rotating, and in the released state, the brake allows the wheel to rotate; a control device, which is used to control the brake to switch between the braking state and the released state; and an anti-collision beam proximity switch, which is connected to the control device and is configured to send a disconnect signal to the control device to cause the brake to switch to the braking state when a collision occurs in the anti-collision beam of the unmanned vehicle.

[0007] This active anti-collision control system can achieve active braking without relying on the front anti-collision system of the driverless system, and can achieve emergency braking when the automatic driving system misjudges or fails, thereby serving as a safety redundancy for the unmanned vehicle system. In addition, this active anti-collision control system has a reliable structure, is safe and efficient. For example, when a vehicle collides, the control device can quickly detect the vehicle collision signal, trigger the vehicle emergency braking, and report it to the vehicle automatic driving system.

[0008] According to the above aspects of the present invention, preferably, the anti-collision beam can be attached to the front of the unmanned vehicle via a folding arm, and when the anti-collision beam collides, the folding arm bends and disconnects the anti-collision beam proximity switch to send a disconnection signal.

[0009] Through this structure, it is possible to obtain accurate and reliable collision signals while reducing the impact on the anti-collision beam and the unmanned vehicle, which can further effectively protect the safety of the active anti-collision control system and the unmanned vehicle and prevent or reduce the occurrence of safety accidents.

[0010] According to the above aspects of the present invention, preferably, the control device may include a parking control valve and a vehicle controller, the vehicle controller including an output control unit for providing a 24V DC power supply, so that when the parking control valve is connected to the output control unit, the brake is maintained in a released state, and when the parking control valve is disconnected from the output control unit, the brake is switched to a braking state.

[0011] This arrangement enables automatic braking in abnormal situations such as failure of the anti-collision beam sensor and disconnection of the control harness. In these abnormal situations, the parking control valve is disconnected from the power supply, so that the brake is switched to the braking state.

[0012] According to the above aspects of the present invention, preferably, the active collision avoidance control system may also include a power supply and a relay, and the relay may include an input part and an output part controlled by the input part, wherein the input part is connected in series with the power supply and the anti-collision beam proximity switch, and the output part is connected in series between the output control part and the parking control valve, so that when the anti-collision beam proximity switch is disconnected, the parking control valve is disconnected from the output control part.

[0013] Through this arrangement, a solenoid valve that requires a larger current or voltage can be driven by a small current signal from a sensor such as an anti-collision beam proximity switch, and the sensor circuit is electrically isolated from the solenoid valve circuit to avoid interference between the circuits, further improving the reliability of the active anti-collision control system.

[0014] According to the above aspects of the present invention, preferably, the anti-collision beam proximity switch and the brake can each include at least two, and are arranged on both sides relative to the longitudinal axis of the unmanned vehicle. In this way, the safety redundancy of the active collision avoidance control system can be further increased, and the vehicle can be braked based on collision events at different positions.

[0015] According to the above aspects of the present invention, preferably, in order to realize the integrated architecture of the active collision avoidance control system, the vehicle controller is used to provide an output control signal and issue a service braking command based on a signal from the collision avoidance beam proximity switch.

[0016] According to the above aspects of the present invention, preferably, the vehicle controller may further include a feedback signal receiving unit, which receives a signal from the anti-collision beam proximity switch via the feedback signal receiving unit. In this way, the solenoid valve can be powered directly via the vehicle controller, further increasing the integration of the active anti-collision control system.

[0017] According to another aspect of the present invention, an active collision avoidance control method is proposed, including: providing an active collision avoidance control system, the active collision avoidance control system may include: a brake, which is arranged near the wheel of an unmanned vehicle and can be switched between a braking state and a released state, in which the brake inhibits the wheel from rotating, and in the released state, the brake allows the wheel to rotate; a control device, the control device is used to control the brake to switch between the braking state and the released state; and an anti-collision beam proximity switch, the anti-collision beam proximity switch is connected to the control device; energizing the active collision avoidance control system; judging the state of the anti-collision beam proximity switch; and when the anti-collision beam proximity switch is turned on, sending a disconnect signal to the control device to switch the brake to the braking state.

[0018] This active anti-collision control method can achieve active braking without relying on the front collision avoidance system of the driverless system, and can achieve emergency braking when the automatic driving method misjudges or fails, thereby serving as a safety redundancy for the driverless vehicle system. In addition, this active anti-collision control system has a reliable structure, is safe and efficient, and can achieve reliable braking of the driverless vehicle in the event of a collision.

[0019] According to the above aspect of the present invention, preferably, the control device may include a parking control valve, which maintains the brake in a released state when the parking control valve is energized, and which switches the brake to a braking state when the parking control valve is de-energized.

[0020] This arrangement enables automatic braking in abnormal situations such as failure of the anti-collision beam sensor and breakage of the control harness.

[0021] According to the above aspects of the present invention, preferably, the active collision avoidance control system may also include a power supply and a relay, the relay including an input part and an output part controlled by the input part, wherein the input part is connected in series with the power supply and the anti-collision beam proximity switch, and the output part is connected in series between the output control part of the vehicle controller and the parking control valve, so that when the anti-collision beam proximity switch is disconnected, the parking control valve is powered off.

[0022] Through the use of relays, a solenoid valve that requires a larger current or voltage can be driven by a small current signal from a sensor such as an anti-collision beam proximity switch, and the sensor circuit is electrically isolated from the solenoid valve circuit to avoid interference between the circuits, further improving the reliability of the active anti-collision control method.

[0023] According to another aspect of the present invention, an unmanned vehicle including an active collision avoidance control system is provided.

[0024] Therefore, the active collision avoidance control system of the present invention can meet the use requirements, overcome the shortcomings of the prior art and achieve the predetermined purpose. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to further clearly describe the active collision avoidance control system according to the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. In the accompanying drawings:

[0026] Figure 1 A schematic diagram of an unmanned vehicle according to a non-limiting embodiment of the present invention is shown;

[0027] Figure 2 A schematic diagram showing an arrangement of an anti-collision beam of an unmanned vehicle according to a non-limiting embodiment of the present invention;

[0028] Figure 3A schematic diagram showing an active collision avoidance control system according to a non-limiting embodiment of the present invention; and

[0029] Figure 4 A schematic diagram of an active collision avoidance control system according to another non-limiting embodiment of the present invention is shown.

[0030] The above drawings are merely schematic and are not drawn strictly to scale.

[0031] List of reference numerals in the figures and embodiments:

[0032] 100 - Active collision avoidance control system, including:

[0033] 10 - brake;

[0034] 20 - Control devices, including:

[0035] 21 - parking control valve;

[0036] 22 - brake air circuit;

[0037] 23-Vehicle controller, including:

[0038] 231 - output control unit;

[0039] 232 - Feedback signal receiving unit, comprising:

[0040] 232A-first receiving section;

[0041] 232B-second receiving unit;

[0042] 232C-third receiving unit;

[0043] 30-anti-collision beam proximity switch;

[0044] 31 - Folding arm, including:

[0045] 31A - first section;

[0046] 31B - Second section;

[0047] 31C - hinge;

[0048] 40 - power supply;

[0049] 50 - relay;

[0050] 200 - Unmanned vehicles, including:

[0051] 200A – body;

[0052] 201 - wheel;

[0053] 202-Anti-collision beam. DETAILED DESCRIPTION

[0054] It should be understood that, unless expressly stated otherwise, the present invention may adopt various alternative orientations and step sequences. It should also be understood that the specific devices shown in the drawings and described in the specification are merely exemplary embodiments of the inventive concepts disclosed and defined herein. Therefore, unless otherwise expressly stated, the specific orientations, directions or other physical characteristics of the various embodiments disclosed should not be considered as limiting.

[0055] Figure 1 A schematic diagram of an unmanned vehicle 200 according to a non-limiting embodiment of the present invention is shown. As shown in the figure and as a non-limiting example, the unmanned vehicle 200 can be a wheeled vehicle, such as an automatic driving or unmanned heavy truck, especially a vehicle used to work in ports, airports, warehouses and similar logistics facilities or stations, and can include a body, wheels 201 and an anti-collision beam 202, etc.

[0056] The body 200A of the unmanned vehicle 200 can be constructed in a manner known in the art and can include a chassis, a cab, etc. The wheels 201 can carry the body 200A of the unmanned vehicle 200 and control its movement. The unmanned vehicle 200 shown in the drawings includes four wheels 201, however, it should be understood that the unmanned vehicle 200 can include any number of wheels 201.

[0057] A brake may be arranged near the wheel 201. For example, the brake may be a disc or drum brake and may be fitted to the hub of the wheel 201. The brake may be capable of transitioning between a braking state, in which the brake 10 inhibits the wheel 201 from rotating, and a released state, in which the brake 10 allows the wheel 201 to rotate.

[0058] In order to achieve the above state transition of the brake, a brake air circuit and a corresponding parking control valve (eg, a control valve such as a solenoid valve) may be provided, and the movement of the brake may be controlled by means of high-pressure gas, for example, against the wheel hub or spaced apart from it.

[0059] Brakes may include service brakes (Service Brake System) and parking brakes (Parking Brake System). Service brakes may be mainly used to slow down or stop the vehicle during driving, such as temporary parking, etc., to ensure driving safety, while parking brakes may be mainly used to fix the vehicle when it is parked, such as long-term parking, etc., to prevent the vehicle from sliding due to uneven ground or other reasons. As an example, service brakes may be arranged at each wheel, and parking brakes may be arranged at the rear wheels of the vehicle.

[0060] Figure 2A schematic diagram of an anti-collision beam 202 of an unmanned vehicle 200 is shown according to a non-limiting embodiment of the present invention.

[0061] As shown, the anti-collision beam 202 can be located in front of the vehicle body 200A, and the anti-collision beam 202 can be attached to the front of the unmanned vehicle 200 via the folding arm 31. However, in an alternative embodiment, the anti-collision beam 202 can be attached to the rear of the unmanned vehicle 200 via the folding arm 31, such as near the rear of the vehicle.

[0062] Due to this arrangement, when there is an obstacle in the travel path of the unmanned vehicle 200 that may collide with the unmanned vehicle 200, the anti-collision beam 202 will first contact the obstacle, and the folding arm 31 will be deformed (for example, bent or folded) and the anti-collision beam proximity switch 30 will be disconnected to send a disconnect signal.

[0063] As shown in the figure, the folding arm 31 can be symmetrically arranged as two folding arms 31 about the longitudinal axis of the left and right unmanned vehicles 200, and each folding arm 31 can include two sections at an angle to each other, that is, Figure 2 The first section 31A and the second section 31B are shown. The first section 31A can be connected to the front of the vehicle, and the second section 31B can be connected to the anti-collision beam 202. The two sections are hingedly connected at the middle attachment portion 31C, so that the two sections are close to each other in the event of a collision, thereby bringing the anti-collision beam 202 close to the front of the vehicle.

[0064] Figure 3 A schematic diagram of an active collision avoidance control system 100 according to a non-limiting embodiment of the present invention is shown.

[0065] As shown in the figure and as a non-limiting example, the active collision avoidance control system 100 may be used in an unmanned vehicle 200 and may mainly include: a brake 10 , a control device 20 and an anti-collision beam proximity switch 30 .

[0066] As described above, the brake 10 may be disposed near the wheel 201 of the unmanned vehicle 200 and may be capable of transitioning between a braking state in which the brake 10 inhibits the wheel 201 from rotating and a released state in which the brake 10 allows the wheel 201 to rotate.

[0067] The control device 20 may be used to control the brake 10 to transition between a braking state and a released state.

[0068] exist Figure 3 In the illustrated embodiment, the control device 20 may include a parking control valve 21 and a brake air circuit 22. The parking control valve 21 may be a solenoid valve or a similar control valve, such as a two-position three-way valve, and may be connected to a vehicle controller 23.

[0069] The anti-collision beam proximity switch 30 can be arranged on the anti-collision beam 202, for example, at the hinge 31C of the folding arm 31. As described above, the embodiment shown in the drawings includes two symmetrically arranged folding arms 31, and each folding arm 31 can be provided with an anti-collision beam proximity switch 30.

[0070] The anti-collision beam proximity switch 30 may be connected to the control device 20, and is configured to send a disconnection signal to the control device 20 when the anti-collision beam 202 of the unmanned vehicle 200 collides. For example, the disconnection signal may be sent to the vehicle controller 23 of the control device 20 to cause the brake 10 to transition to a braking state. As an example, the braking state at this time may be a service braking state performed by a service brake.

[0071] The anti-collision beam proximity switch 30 may be normally open, and after being connected to the power supply 40 and installed on the anti-collision beam 202 of the unmanned vehicle 200, the anti-collision beam proximity switch 30 will be in a closed state after sensing the detection plate. As an example, the power supply 40 may be an output control pin of the vehicle controller 23, or may be connected to the output control pin for outputting a control signal.

[0072] However, when power is off or other state changes occur, the anti-collision beam proximity switch 30 can return to the normally open state. As an example, when the anti-collision beam 202 collides, the folding arm 31 bends and disconnects the anti-collision beam proximity switch 30 to send a disconnection signal.

[0073] exist Figure 3 In the illustrated embodiment, the control device 20 may include a parking control valve 21 and a brake air circuit 22. The parking control valve 21 may be a solenoid valve, such as a two-position three-way solenoid valve. When the solenoid valve is connected to the output control unit 231 of the vehicle controller 23, the brake 10 is kept in a released state, and when the parking control valve 21 is disconnected from the output control unit 231, the brake 10 is switched to a braking state. As an example, the braking at this time may be a parking brake.

[0074] As an example, when the parking control valve 21 is connected to the output control part 231, the brake air circuit 22 can feed compressed gas to the brake air chamber, so that the parking brake is released (for example, the brake is disengaged from the wheel). When the parking control valve 21 is powered off or disconnected from the output control part 231, the brake air circuit 22 can be connected to the atmosphere, so that the parking brake is activated, for example, the brake is engaged with the wheel. As an example, the output control part 231 can be the output control power supply of the parking control valve 21.

[0075] In order to control the parking control valve 21 , the control device 20 may further include a vehicle controller 23 , which is used to provide power to the parking control valve 21 and issue a service brake command based on a signal from the anti-collision beam proximity switch 30 .

[0076] It should be understood that the service brake command here can, for example, cause the unmanned vehicle 200 to perform service braking (temporary braking) rather than parking braking.

[0077] like Figure 3 As shown in FIG. 1 , the vehicle controller 23 may include an output control unit 231 and a feedback signal receiving unit 232, wherein a 24V DC power supply is provided via the output control unit 231, and a signal from the anti-collision beam proximity switch 30 is received via the feedback signal receiving unit 232. For example, the output control unit 231 may output a 24V power supply, which is used to turn on the parking control valve 21 after the 24V signal is output under normal control, thereby releasing the parking brake state of the brake 10.

[0078] exist Figure 3 In the example, the feedback signal receiving unit 232 may include two pins set on the vehicle controller 23, namely, a first receiving unit 232A and a second receiving unit 232B, which are used to receive signals from the anti-collision beam proximity switch 30 on the left and right sides respectively.

[0079] As an example, when the anti-collision beam 202 contacts an obstacle to disconnect the anti-collision beam proximity switch 30 or disconnects due to power failure of the anti-collision beam proximity switch 30, the active anti-collision control system 100 according to the present invention sends a disconnection signal to the vehicle controller 23. The vehicle controller 23 can send a service brake command based on the received disconnection signal to perform service brake instead of parking brake.

[0080] As an example, the anti-collision beam proximity switch 30 and the brake 10 may each include at least two, and be arranged on both sides relative to the longitudinal axis of the unmanned vehicle 200. Figure 3 In the example of the brake 10 shown, the brake 10 may function as a parking brake and may be arranged only at the rear wheels of the unmanned vehicle 200 .

[0081] Figure 3 The working principle of the active collision avoidance control system 100 shown may be as follows:

[0082] (1) In the vehicle non-collision scenario: after the vehicle is powered on, when the anti-collision beam 202 is not collided, the anti-collision beam proximity switch 30 detects a non-collision signal of the vehicle's anti-collision beam 202, the parking control valve 21 (e.g., solenoid valve) is energized, and the vehicle brake is released;

[0083] (2) In the scenario where the vehicle is hit: the anti-collision beam 202 at the front of the vehicle detects a collision signal, any of the anti-collision beam proximity switches 30 is actuated, the parking control valve 21 (e.g., solenoid valve) is disconnected, triggering the parking brake system to exhaust and the vehicle to brake.

[0084] Figure 4 FIG. 1 is a schematic diagram of an active collision avoidance control system 100 according to another non-limiting embodiment of the present invention.

[0085] In addition to the following, Figure 4 The active collision avoidance control system 100 shown in FIG. Figure 1-3 The active collision avoidance control system 100 is the same or similar, and the same components are indicated by the same reference numerals. Therefore, for the sake of brevity, repeated descriptions of these repeated components are omitted.

[0086] exist Figure 4 In the illustrated embodiment, the active collision avoidance control system 100 may further include a relay 50. The relay 50 may include an input portion 51 and an output portion 52 controlled by the input portion 51. Figure 4 The embodiment further includes a third receiving unit 232C for receiving a status indicating whether the parking control valve 21 is de-energized or de-energized.

[0087] As shown in the figure, the input part 51 can be connected in series with the power supply 40 and the anti-collision beam proximity switch 30, and the output part 52 can be connected in series between the output control part 231 of the vehicle controller 23 and the parking control valve 21, so that when the anti-collision beam proximity switch 30 is disconnected, the parking control valve 21 and the output control part 231 will be disconnected accordingly.

[0088] At this time, since the parking control valve 21 is de-energized or powered off, the brake air path 22 can be connected to the atmosphere, so that the parking brake is activated, for example, the brakes are engaged with the wheels.

[0089] According to a non-limiting example of the present invention, an active collision avoidance control method may optionally include the following steps:

[0090] First, an active collision avoidance control system 100 can be provided, which can include, for example: a brake 10, which is arranged near a wheel 201 of an unmanned vehicle 200 and can be switched between a braking state and a released state, in which the brake 10 suppresses the wheel 201 from rotating, and in the released state, the brake 10 allows the wheel 201 to rotate; a control device 20, which is used to control the brake 10 to switch between a braking state and a released state; and an anti-collision beam proximity switch 30, which is connected to the control device 20.

[0091] Next, the active anti-collision control system 100 can be powered on, for example, when the driverless vehicle 200 is started, the active anti-collision control system 100 can be powered on automatically. After the active anti-collision control system 100 is powered on, the anti-collision beam proximity switch 30 can be changed from the default open state to the closed state.

[0092] When the active collision avoidance control system 100 is working, the state of the collision avoidance beam proximity switch 30 is continuously determined, in particular, whether a change from a closed state to an open or disconnected state occurs.

[0093] When the anti-collision beam proximity switch 30 is turned on, a disconnection signal is sent to the control device 20 to transfer the brake 10 to the braking state.

[0094] The active anti-collision control method can automatically brake the unmanned vehicle 200 when the anti-collision beam 202 of the unmanned vehicle 200 contacts an obstacle and collides with it.

[0095] As a non-limiting example, the method may provide that when the displacement of the anti-collision beam 202 toward the front of the vehicle changes by 5 cm, the anti-collision beam proximity switch 30 is turned on. In alternative embodiments, the displacement change may alternatively be any value between 1 cm and 20 cm.

[0096] In addition, since the anti-collision beam proximity switch 30 will also return to the open or disconnected state when it is powered off or loses power, the active anti-collision control method can automatically perform service braking on the unmanned vehicle 200 when an abnormality occurs in the anti-collision beam proximity switch 30 or its circuit, thereby improving the safety redundancy of the unmanned vehicle 200.

[0097] In order to further increase the safety of the unmanned vehicle 200 according to the present invention, the control device 20 may include a parking control valve 21. When the parking control valve 21 is energized, the brake 10 is kept in a released state, and when the parking control valve 21 is de-energized, the brake 10 is switched to a braking state.

[0098] In addition, the active collision avoidance control system 100 may further include a relay 50, which includes an input part 51 and an output part 52 controlled by the input part, wherein the input part 51 is connected in series with the power supply 40 and the anti-collision beam proximity switch 30, and the output part 52 is connected in series between the output control part 231 and the parking control valve 21, so that when the anti-collision beam proximity switch 30 is disconnected, the parking control valve 21 is powered off.

[0099] As an embodiment of a non-limiting embodiment, the active collision avoidance control method according to the present invention may specifically perform the following exemplary steps:

[0100] First, the unmanned vehicle 200 may be powered on at a low voltage, for example, by connecting each component to a 24V power source (eg, a DC power source).

[0101] In this process, the vehicle control unit (VCU) 23 can be powered on, for example, the output control unit 231 (Pin 11) can output 24V DC. At this time, if the vehicle control unit 23 cannot output a predetermined voltage, for example, cannot output 24V DC, the parking control valve 21 can be powered off, so that the unmanned vehicle 200 is in a parking brake state and the unmanned vehicle 200 cannot move.

[0102] In addition, after the anti-collision beam proximity switch 30 is powered on (for example, connected to the power supply 40), if the anti-collision beam proximity switch 30 works normally, it will be switched to a closed state. On the contrary, if there is an abnormality in the anti-collision beam proximity switch 30, it will be fed back to the feedback signal receiving unit 232 of the vehicle controller 23, and the vehicle controller 23 will send a braking command to the brake, such as a service brake, to perform service braking, and the unmanned vehicle 200 cannot move.

[0103] In an embodiment including the relay 50 , if the anti-collision beam proximity switch 30 is abnormal or disconnected, the relay 50 will de-energize or lose power to the parking control valve 21 , thereby placing the unmanned vehicle 200 in a parking brake state and making the unmanned vehicle 200 unable to move.

[0104] In the embodiment of the present invention, two relays 50 are arranged, and they are connected to two anti-collision beam proximity switches 30 arranged on the left and right, respectively.

[0105] In summary, in the following three situations, the parking control valve 21 will lose power, and the air outlet and exhaust port of the brake air circuit 22 will be connected, that is, the brake air circuit 22 is connected to the atmosphere, triggering the parking brake. This method can greatly reduce the failure of the brake system to brake due to sensor failure:

[0106] (1) The anti-collision beam proximity switch 30 is disconnected or short-circuited to the ground while the vehicle is driving or powered on;

[0107] (2) The relay 50 circuits of the left and right anti-collision beams are disconnected;

[0108] (3) The signal output from the vehicle controller 23 to the parking control valve 21 fails.

[0109] The method can realize automatic braking in the case of anti-collision beam sensor failure and control harness disconnection. Since the anti-collision beam proximity switch 30 is connected to the vehicle controller 23, when the vehicle collides, the vehicle controller 23 can quickly detect the vehicle collision signal, trigger the vehicle emergency braking (such as driving brake), and report to the vehicle automatic driving at the same time.

[0110] In addition, in the embodiment including the relay 50 (such as Figure 4 As shown in the figure, the vehicle controller 23 can detect the status feedback of the parking control valve 21 (solenoid valve), and when a vehicle collision signal is detected, it triggers the vehicle emergency braking (such as parking braking) and reports it to the vehicle automatic driving.

[0111] The active anti-collision control method according to the present invention can achieve vehicle braking in a variety of abnormal situations. For example: vehicle collision conditions and line fault conditions indicated by the anti-collision beam proximity switch 30; faults of the parking control valve 21 itself or line fault conditions; faults of the relay itself or line fault conditions; and faults of the vehicle controller 23 itself, etc. Therefore, the active anti-collision control method does not rely on the anti-collision system in front of the unmanned driving system to achieve active braking. When the automatic driving system is misjudged or fails, emergency braking is achieved as a safety redundancy for the unmanned vehicle system. The construction principle is novel, safe and efficient.

[0112] It should be understood that the method steps described above are exemplary, and those skilled in the art may adjust the order of the method steps, add corresponding steps or delete relevant steps without departing from the scope of the present invention.

[0113] The terms "front" and "rear" used herein to indicate position or orientation, and the terms "first" and "second" used to indicate order are merely intended to enable those skilled in the art to better understand the concept of the present invention shown in the form of a preferred embodiment, and are not intended to limit the present invention. Unless otherwise specified, all orders, positions or orientations are only used for the purpose of distinguishing one element / component / structure from another element / component / structure, and do not represent any specific order, operating sequence, direction or orientation unless otherwise specified. For example, in an alternative embodiment, the "first section" may be the "second section". In addition, although the braking methods described herein include "service brakes" and "parking brakes" and are described separately, these braking methods may be used interchangeably to enable the vehicle to be parked in a desired manner.

[0114] As used herein, unless otherwise indicated, the terms "substantially" and "approximately" are interpreted to mean plus or minus 5 percent of the value or range of values, or to mean a deviation of plus or minus 5 percent of the shape and / or position.

[0115] In summary, the active collision avoidance control system 100 according to the embodiment of the present invention overcomes the shortcomings of the prior art and achieves the intended purpose of the invention.

[0116] Although the active anti-collision control system of the present invention is described above in conjunction with the preferred embodiments, those skilled in the art should recognize that the above examples are only for illustration and cannot be used as limitations of the present invention. Therefore, various modifications and variations can be made to the present invention within the spirit of the claims, and these modifications and variations will fall within the scope required by the claims of the present invention.

Claims

1. An active collision avoidance control system (100), the active collision avoidance control system being used for an unmanned vehicle (200) and comprising: a brake (10) arranged near a wheel (201) of the unmanned vehicle (200) and capable of switching between a braking state and a released state, in which the brake (10) inhibits the wheel (201) from rotating, and in which the brake (10) allows the wheel (201) to rotate; A control device (20), the control device (20) being used to control the brake (10) to switch between the braking state and the releasing state; as well as, An anti-collision beam proximity switch (30) is connected to the control device (20) and is configured to send a disconnect signal to the control device (20) when a collision occurs with the anti-collision beam (202) of the unmanned vehicle (200), so as to switch the brake (10) to the braking state.

2. The active collision avoidance control system (100) according to claim 1, characterized in that: The anti-collision beam (202) is attached to the front of the unmanned vehicle (200) via a folding arm (31). When the anti-collision beam (202) collides, the folding arm (31) bends and disconnects the anti-collision beam proximity switch (30) to send the disconnection signal.

3. The active collision avoidance control system (100) according to claim 1, characterized in that: The control device (20) comprises a parking control valve (21) and a vehicle controller (23); the vehicle controller comprises an output control unit (231) for providing a 24V DC power supply, and when the parking control valve (21) is connected to the output control unit (231), the brake (10) is maintained in the released state, and when the parking control valve (21) is disconnected from the output control unit (231), the brake (10) is switched to the braking state.

4. The active collision avoidance control system (100) according to claim 3, characterized in that: The active collision avoidance control system (100) further includes a power supply (40) and a relay (50), wherein the relay includes an input portion (51) and an output portion (52) controlled by the input portion, wherein the input portion (51) is arranged in series with the power supply (40) and the anti-collision beam proximity switch (30), and the output portion (52) is connected in series between the output control portion (231) and the parking control valve (21), so that when the anti-collision beam proximity switch (30) is disconnected, the parking control valve (21) is disconnected from the output control portion (231).

5. The active collision avoidance control system (100) according to claim 3, characterized in that: The vehicle controller (23) is used to provide an output control signal and issue a service braking command based on a signal from the anti-collision beam proximity switch (30).

6. The active collision avoidance control system (100) according to claim 5, characterized in that: The vehicle controller (23) further comprises a feedback signal receiving unit (232), which receives a signal from the anti-collision beam proximity switch (30) via the feedback signal receiving unit (232).

7. An unmanned vehicle (200), comprising an active collision avoidance control system (100) according to any one of claims 1-6.

8. An active anti-collision control method, comprising: An active collision avoidance control system (100) is provided, the active collision avoidance control system comprising: A brake (10) arranged near a wheel (201) of the unmanned vehicle (200) and capable of switching between a braking state and a released state, in which the brake (10) inhibits the wheel (201) from rotating, and in which the brake (10) allows the wheel (201) to rotate; a control device (20) for controlling the brake (10) to switch between the braking state and the releasing state; and an anti-collision beam proximity switch (30), the anti-collision beam proximity switch being connected to the control device (20); Powering on the active collision avoidance control system (100); Determining the state of the anti-collision beam proximity switch (30); and When the anti-collision beam proximity switch (30) is turned on, a disconnection signal is sent to the control device (20) to cause the brake (10) to be switched to the braking state.

9. The active collision avoidance control method according to claim 8, characterized in that: The control device (20) includes a parking control valve (21), which maintains the brake (10) in the released state when the parking control valve (21) is energized, and switches the brake (10) to the braking state when the parking control valve (21) is de-energized.

10. The active collision avoidance control method according to claim 9, characterized in that: The active anti-collision control system (100) further comprises a power supply (40) and a relay (50), wherein the relay comprises an input portion (51) and an output portion (52) controlled by the input portion, wherein the input portion (51) is connected in series with the power supply (40) and the anti-collision beam proximity switch (30), and the output portion (52) is connected in series between an output control portion (231) of a vehicle controller (23) and the parking control valve (21), so that when the anti-collision beam proximity switch (30) is disconnected, the parking control valve (21) is de-energized.

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