Unmanned emergency braking device and emergency braking method

Abstract

The invention discloses an unmanned emergency braking device and an emergency braking method, and particularly relates to the technical field of emergency braking. A braking mechanism comprises a brake pedal, a vacuum booster, a brake master cylinder, a hydraulic oil pipe, a brake combination valve, an ABS controller, a brake cylinder, a brake caliper and a brake disc; a vacuum booster is connected to one side of the brake pedal, a brake master cylinder is connected to the side, away from the brake pedal, of the vacuum booster, an auxiliary brake mechanism is arranged on one side of the brake caliper, and the auxiliary brake mechanism comprises a connecting frame, a bidirectional threaded rod, a moving block, a strip-shaped groove, a connecting rod, a mounting seat and a brake clamping pad. The two-way threaded rod is driven by the second servo motor to rotate, the two-way threaded rod rotates to drive the moving blocks on the two sides to conduct translational motion in the opposite directions, and therefore the connecting rod, the mounting base and the brake clamping pad are driven to conduct synchronous translational motion, secondary braking is conducted on the brake disc, and it is ensured that emergency braking is completed.

Description

Technical Field

[0001] The present application relates to the technical field of emergency braking, and more specifically, to an unmanned emergency braking device and an emergency braking method. Background Art

[0002] Affected by the changes in vehicle intelligent technology, the future production model, vehicle transportation mode, vehicle-related product consumption structure and social behavior pattern will undergo tremendous changes. In addition, the application of new technologies has brought new challenges to road traffic safety. In recent years, a new feature of traffic accidents has been the increase in the number of casualties caused by the loss of control of smart electric vehicles. The accidents are mainly manifested in the sudden acceleration and failure to brake during the driving process, resulting in the loss of control of the vehicle;

[0003] Vehicle loss of control is an important factor leading to traffic accidents and is a key issue in solving road traffic safety in depth. Smart vehicle accidents expose the lack of emergency response measures when the vehicle is out of control, which seriously affects the inherent safety level of the vehicle. At present, the emergency braking device of unmanned driving is often a single brake component with a sensor for emergency braking. When the brake caliper overheats and causes thermal attenuation brake failure, it often does not have a secondary emergency braking mechanism to stop the vehicle;

[0004] Therefore, in order to solve the above problems, an unmanned emergency braking device and an emergency braking method are proposed.

[0005] Application Contents

[0006] In order to overcome the above-mentioned defects of the prior art, the present application provides an unmanned emergency braking device and an emergency braking method to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical solutions: an unmanned emergency braking device, comprising a braking mechanism, wherein the braking mechanism comprises a brake pedal, a vacuum booster, a brake master cylinder, a hydraulic oil pipe, a brake combination valve, an ABS controller, a brake wheel cylinder, a brake caliper and a brake disc, one side of the brake pedal is connected to the vacuum booster, the side of the vacuum booster away from the brake pedal is connected to the brake master cylinder, the outer wall of the brake master cylinder is arranged and connected with a hydraulic oil pipe, the end of the hydraulic oil pipe away from the brake master cylinder is connected to the brake combination valve, the one side of the brake combination valve is provided with an ABS controller, the outer wall of the brake combination valve is arranged and connected with a brake oil pipe, one side of multiple groups of the brake oil pipes are all provided with a brake wheel cylinder, the end of the brake oil pipe away from the brake combination valve is connected to the brake caliper, the braking end of the brake caliper is provided with a brake disc, and the surface of the brake disc is arranged with heat dissipation holes;

[0008] A fixed box is provided on one side of the vacuum booster, the middle inner wall of the fixed box is connected to a driving shaft through a bearing, the middle outer wall of the driving shaft is connected to a winding drum, the outer wall of the winding drum is connected to a brake steel rope, and the end of the brake steel rope away from the winding drum passes through the fixed box and is connected to the outer wall of the bottom side of the brake pedal.

[0009] Preferably, a No. 1 gear is connected to an outer wall on one side of the driving shaft, a No. 1 servo motor is connected to an inner wall on one side of the bottom of the fixed box, a No. 2 gear is connected to the output end of the No. 1 servo motor, the No. 2 gear is meshed with the No. 1 gear, the No. 1 servo motor drives the No. 2 gear to rotate, the rotation of the No. 2 gear drives the No. 1 gear to rotate, the rotation of the No. 1 gear drives the driving shaft to rotate synchronously, and the rotation of the driving shaft drives the winding drum to rotate.

[0010] Preferably, an independent power supply is provided on one side of the No. 1 servo motor, an inductive sensor is provided on an inner wall of one side of the fixed box, and a monitoring end of the inductive sensor corresponds to the brake steel rope.

[0011] Preferably, an auxiliary coolant tank is provided on one side of the brake master cylinder, one end of the auxiliary coolant tank is connected to a liquid separation pump, a guide tube is arranged at the output end of the liquid separation pump, and the outer walls of one side of multiple groups of brake calipers are connected to the liquid storage tank, and the end of the guide tube away from the liquid separation pump is connected to the liquid storage tank.

[0012] Preferably, a dispensing tube is connected to one side of the bottom of the liquid storage tank, and a cooling mist nozzle is connected to the end of the dispensing tube away from the liquid storage tank. The cooling mist nozzle is arranged at the edge of the brake caliper corresponding to the brake disc, and a micro pump is arranged in the middle of the dispensing tube.

[0013] Preferably, an auxiliary braking mechanism is provided on one side of the brake caliper, and the auxiliary braking mechanism includes a connecting frame, a bidirectional threaded rod, a movable block, a strip groove, a connecting rod, a mounting seat and a brake clamp pad. The middle part of the inner wall of the connecting frame is connected with a bidirectional threaded rod through a bearing, and the outer walls of the two sides of the bidirectional threaded rod at opposite positions are threadedly connected with movable blocks, and the bottom outer wall of the connecting frame is provided with a strip groove.

[0014] Preferably, the bottom ends of the two groups of moving blocks are connected to a connecting rod, and the end of the connecting rod away from the moving block is connected to a mounting seat through a strip groove, the two groups of mounting seats are arranged opposite to each other, and a brake pad is provided on the side of the mounting seat away from the connecting rod, and the two groups of brake pads are arranged on both sides of the brake disc, and the outer wall of the brake pad is connected with a fixed protrusion, and a No. 2 servo motor is provided on the outer wall of one side of the connecting frame, and the output end of the No. 2 servo motor is connected to the bidirectional threaded rod, and the No. 2 servo motor drives the bidirectional threaded rod to rotate, and the rotation of the bidirectional threaded rod drives the moving blocks on both sides to perform translational movement in relative directions, the movement of the moving block drives the connecting rod to perform synchronous movement, and the movement of the connecting rod drives the mounting seat and the brake pad to perform synchronous translational movement.

[0015] Preferably, a mounting groove is provided on the side of the mounting seat close to the brake pad, a mounting block is provided on the outer wall of the side of the brake pad away from the fixed protrusion, the mounting block is embedded in the mounting groove, a clamping groove is provided on the outer wall of one side of the mounting block, a limiting cavity is provided in the middle of the mounting seat, a threaded rod is connected to the middle of the limiting cavity through a bearing, a threaded moving block is arranged and connected on the middle outer wall of the threaded rod, a top block is connected to the outer wall of one side of the threaded moving block, an end of the top block away from the threaded moving block passes through the limiting cavity and is embedded in the clamping groove, a mounting knob is provided on one side of the mounting seat, and the output end of the mounting knob is connected to the threaded rod.

[0016] Preferably, a control component is provided on one side of the braking mechanism, and the control component includes an automatic driving abnormal state monitoring module, an emergency braking trigger module, a data processor, a controller and an alarm, an emergency braking trigger module is provided on one side of the automatic driving abnormal state monitoring module, a data processor is provided on one side of the emergency braking trigger module, a controller is provided on one side of the data processor, and an alarm is provided on one side of the controller.

[0017] Preferably, the emergency braking method comprises the following steps:

[0018] Step 1: First, the operating status of the in-vehicle automatic driving system is monitored through the automatic driving abnormal state monitoring module, and the fault alarm information of the automatic driving system is collected. The in-vehicle automatic driving system includes a laser radar and a high-definition camera that work together synchronously. When the vehicle automatic driving system detects that an obstacle is suddenly encountered during driving, the signal is transmitted to the automatic driving abnormal state monitoring module, and the automatic driving abnormal state monitoring module sends abnormal alarm information to the emergency brake trigger module;

[0019] Step 2: When the emergency brake trigger module detects that emergency braking is required, it transmits a signal to the controller, and the controller controls the No. 1 servo motor to start quickly, and the No. 2 gear is driven by the No. 1 servo motor to rotate, and the rotation of the No. 2 gear drives the No. 1 gear to rotate, and the rotation of the No. 1 gear drives the drive shaft to rotate synchronously, and the rotation of the drive shaft drives the take-up drum to rotate, and the rotation of the take-up drum reels the brake steel rope, thereby pulling the brake pedal to retract, and the brake caliper is driven by the brake master cylinder to stop the brake disc, thereby realizing automatic emergency braking;

[0020] Step 3: After emergency braking, the wheel speed sensor of the vehicle is used to monitor whether the brake has stopped, thereby determining whether the brake system is normal. When the brake system fails, the signal is transmitted to the controller, and the controller controls the auxiliary brake mechanism to start quickly, and the bidirectional threaded rod is driven by the No. 2 servo motor to rotate. The rotation of the bidirectional threaded rod drives the moving blocks on both sides to perform translational motion in relative directions. The movement of the moving blocks drives the connecting rod to perform synchronous motion. The movement of the connecting rod drives the mounting seat and the brake clamp to perform synchronous translational motion, thereby performing a second brake stop on the brake disc, thereby ensuring emergency braking;

[0021] Step 4: When the brake mechanism is started, the coolant in the reservoir is drawn into the dispensing pipe through a micro pump, and then transported to the cooling mist nozzle through the dispensing pipe. The coolant is sprayed out through the cooling mist nozzle to cool the brake disc to prevent the brake disc from overheating, causing thermal attenuation of the brake mechanism and thus brake failure.

[0022] Technical effects and advantages of this application:

[0023] 1. Compared with the prior art, this unmanned emergency braking device and emergency braking method transmits a signal to the controller when the braking system fails, and the controller controls the auxiliary braking mechanism to start quickly, and drives the bidirectional threaded rod to rotate through the No. 2 servo motor. The rotation of the bidirectional threaded rod drives the moving blocks on both sides to perform translational movement in relative directions. The movement of the moving blocks drives the connecting rod to perform synchronous movement. The movement of the connecting rod drives the mounting seat and the brake clamp to perform synchronous translational movement, thereby performing a secondary brake stop on the brake disc, thereby ensuring emergency braking.

[0024] 2. Compared with the prior art, the unmanned emergency braking device and the emergency braking method can drive the threaded rod to rotate by twisting the installation knob. The rotation of the threaded rod drives multiple groups of threaded moving blocks to perform translational movement, thereby driving the top block to perform translational movement, thereby realizing the engagement of the top block and the slot, thereby fixing the brake pad. When the brake pad is severely worn, the top block can be separated from the slot by twisting the installation knob, thereby facilitating the disassembly and replacement of the brake pad, thereby maintaining a good braking effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the overall structure of this application.

[0026] Figure 2 This is a schematic diagram of the connection structure between the brake caliper and the brake disc of this application;

[0027] Figure 3 This is a schematic diagram of the internal structure of the fixed box of this application;

[0028] Figure 4 This is a schematic diagram of the auxiliary braking mechanism structure of the present application;

[0029] Figure 5 This is a schematic diagram of the connection structure between the mounting seat and the brake pad of the present application;

[0030] Figure 6 This is a schematic diagram of the control component structure of this application;

[0031] Figure 7 This is a schematic diagram of the emergency braking logic control of this application.

[0032] The accompanying drawings are marked as follows: 1. brake mechanism; 101. brake pedal; 2. vacuum booster; 3. brake master cylinder; 4. hydraulic oil pipe; 5. brake combination valve; 501. brake oil pipe; 6. ABS controller; 7. brake cylinder; 8. brake caliper; 9. brake disc; 91. heat dissipation hole; 10. fixing box; 11. drive shaft; 12. winding drum; 13. brake steel rope; 14. No. 1 gear; 15. No. 1 servo motor; 16. No. 2 gear; 17. independent power supply; 18. inductive sensor; 19. auxiliary coolant tank; 20. liquid dispensing pump; 21. guide pipe; 22. liquid storage tank; 23. liquid dispensing pipe; 24 , cooling mist nozzle; 25, micro pump; 26, auxiliary braking mechanism; 27, connecting frame; 28, bidirectional threaded rod; 29, moving block; 30, strip groove; 31, connecting rod; 32, mounting seat; 33, brake clamp; 34, fixing protrusion; 35, No. 2 servo motor; 36, mounting groove; 37, mounting block; 38, card slot; 39, limit cavity; 40, threaded rod; 41, threaded moving block; 42, top block; 43, mounting knob; 44, control component; 45, automatic driving abnormal state monitoring module; 46, emergency brake trigger module; 47, data processor; 48, controller; 49, alarm. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0034] Example 1

[0035] As attached Figures 1 to 7 An unmanned emergency brake device shown in the figure comprises a brake mechanism 1, the brake mechanism 1 comprises a brake pedal 101, a vacuum booster 2, a brake master cylinder 3, a hydraulic oil pipe 4, a brake combination valve 5, an ABS controller 6, a brake wheel cylinder 7, a brake caliper 8 and a brake disc 9, one side of the brake pedal 101 is connected to the vacuum booster 2, the side of the vacuum booster 2 away from the brake pedal 101 is connected to the brake master cylinder 3, the outer wall of the brake master cylinder 3 is arranged and connected with a hydraulic oil pipe 4, one end of the hydraulic oil pipe 4 away from the brake master cylinder 3 is connected to the brake combination valve 5, one side of the brake combination valve 5 is provided with an ABS controller 6, the outer wall of the brake combination valve 5 is arranged and connected with a brake oil pipe 501, one side of multiple groups of brake oil pipes 501 are all provided with a brake wheel cylinder 7, one end of the brake oil pipe 501 away from the brake combination valve 5 is connected to the brake caliper 8, the brake end of the brake caliper 8 is provided with a brake disc 9, and the surface of the brake disc 9 is arranged with heat dissipation holes 91;

[0036] A fixed box 10 is provided on one side of the vacuum booster 2, the inner wall of the middle part of the fixed box 10 is connected to a driving shaft 11 through a bearing, the outer wall of the middle part of the driving shaft 11 is connected to a winding drum 12, the outer wall of the winding drum 12 is connected to a brake steel rope 13, and the end of the brake steel rope 13 away from the winding drum 12 passes through the fixed box 10 and is connected to the outer wall of one side of the bottom of the brake pedal 101;

[0037] Among them, the brake mechanism 1 plays a braking role. By stepping on the brake pedal 101, pressure is applied to the brake oil in the brake master cylinder 3. The liquid transmits the pressure to the piston of each wheel brake caliper 8 through the pipeline. The piston drives the brake caliper to clamp the brake disc 9 to generate huge friction, which slows down the vehicle. The brake pedal 101 can be decelerated by manual stepping and can be pulled by the brake steel rope 13 to perform automatic braking. During automatic braking, the No. 1 servo motor 15 drives the No. 2 gear 16 to rotate, and the No. 2 gear 16 rotates to drive the No. 1 gear 14 to rotate. The No. 1 gear 14 rotates to drive the drive shaft 11 to rotate synchronously. The drive shaft 11 rotates to drive the take-up drum 12 to rotate, and the take-up drum 12 rotates to reel in the brake steel rope 13, thereby pulling the brake pedal 101 to contract, thereby driving the brake caliper 8 to stop the brake disc 9 through the brake master cylinder 3, thereby realizing automatic emergency braking.

[0038] Example 2

[0039] Based on Example 1, the solution in Example 1 is further detailed in combination with the following specific working method. Figures 1 to 7 As shown, see the following description for details:

[0040] As a preferred embodiment, a gear No. 14 is connected to an outer wall on one side of the driving shaft 11, a servo motor No. 15 is connected to an inner wall on one side of the bottom of the fixed box 10, and a gear No. 2 16 is connected to the output end of the servo motor No. 15, and the gear No. 2 16 is meshed with the gear No. 1 14. The servo motor No. 15 drives the gear No. 2 16 to rotate, and the rotation of the gear No. 2 16 drives the gear No. 1 14 to rotate, and the rotation of the gear No. 1 14 drives the driving shaft 11 to rotate synchronously, and the rotation of the driving shaft 11 drives the winding drum 12 to rotate.

[0041] As a preferred embodiment, the No. 1 servo motor 15 plays a driving role. By starting the No. 1 servo motor 15, the drive shaft 11 can be driven to rotate, thereby driving the winding drum 12 to rotate to reel in the brake rope 13, thereby pulling the brake pedal 101 to achieve automatic emergency braking.

[0042] An independent power supply 17 is provided on one side of the No. 1 servo motor 15 , and an inductive sensor 18 is provided on an inner wall of one side of the fixing box 10 , and a detection end of the inductive sensor 18 corresponds to the brake steel rope 13 .

[0043] As a preferred embodiment, the independent power supply 17 can supply power to the No. 1 servo motor 15 and the No. 2 servo motor 35 separately, thereby avoiding difficulty in automatic braking when the vehicle circuit fails. The inductive sensor 18 can detect the movement state of the brake rope 13 to facilitate the judgment of the braking state. When the brake rope 13 moves, it will change the inductance value inside the sensor, thereby causing the sensor output signal to change, so as to determine the movement state of the brake rope 13, thereby detecting when the brake rope 13 pulls the brake pedal 101, and cooperating with the vehicle's own speed sensor to monitor whether the braking is effective.

[0044] An auxiliary coolant tank 19 is provided on one side of the brake master cylinder 3, one end of the auxiliary coolant tank 19 is connected to a liquid separation pump 20, a guide pipe 21 is arranged at the output end of the liquid separation pump 20, and the outer walls of one side of multiple groups of brake calipers 8 are connected to a liquid storage tank 22, and the end of the guide pipe 21 away from the liquid separation pump 20 is connected to the liquid storage tank 22.

[0045] As a preferred embodiment, the auxiliary coolant tank 19 can store coolant inside, and a refilling port is provided on the top for replenishment at any time. The coolant in the auxiliary coolant tank 19 can be diverted to the guide pipe 21 by the liquid separation pump 20 and then conducted to the liquid storage tank 22 on one side of each brake caliper 8. The liquid storage tank 22 also plays a storage role to facilitate rapid cooling.

[0046] A dispensing pipe 23 is connected to one side of the bottom of the liquid storage tank 22 , and a cooling mist nozzle 24 is connected to one end of the dispensing pipe 23 away from the liquid storage tank 22 . The cooling mist nozzle 24 is arranged at the edge of the brake caliper 8 corresponding to the brake disc 9 , and a micro pump 25 is arranged in the middle of the dispensing pipe 23 .

[0047] As a preferred embodiment, the coolant in the liquid storage tank 22 can be drawn into the dispensing pipe 23 by the micro pump 25, and then transported to the cooling mist nozzle 24 through the dispensing pipe 23 for spray cooling, thereby preventing the brake disc 9 from overheating and causing thermal attenuation of the brake mechanism 1 and thus brake failure.

[0048] An auxiliary braking mechanism 26 is provided on one side of the brake caliper 8, and the auxiliary braking mechanism 26 includes a connecting frame 27, a bidirectional threaded rod 28, a moving block 29, a strip groove 30, a connecting rod 31, a mounting seat 32 and a brake clamp pad 33. The middle part of the inner wall of the connecting frame 27 is connected with the bidirectional threaded rod 28 through a bearing, and the outer walls of the two sides of the bidirectional threaded rod 28 are threadedly connected with the moving blocks 29 at opposite positions, and the bottom outer wall of the connecting frame 27 is provided with a strip groove 30.

[0049] As a preferred embodiment, the auxiliary braking mechanism 26 plays the role of emergency braking when the braking mechanism 1 has an abnormality, thereby ensuring that the vehicle can safely perform emergency braking, and the bidirectional threaded rod 28 is driven to rotate by the second servo motor 35. The rotation of the bidirectional threaded rod 28 drives the moving blocks 29 on both sides to perform translational movement in relative directions. The movement of the moving blocks 29 drives the connecting rod 31 to perform synchronous movement. The movement of the connecting rod 31 drives the mounting seat 32 and the brake pad 33 to perform synchronous translational movement, thereby performing a secondary brake stop on the brake disc 9, thereby ensuring emergency braking.

[0050] The bottom ends of the two groups of moving blocks 29 are connected with connecting rods 31, and the ends of the connecting rods 31 away from the moving blocks 29 are connected with mounting seats 32 through strip grooves 30. The two groups of mounting seats 32 are arranged opposite to each other, and a brake pad 33 is arranged on the side of the mounting seat 32 away from the connecting rod 31. The two groups of brake pads 33 are arranged on both sides of the brake disc 9, and the outer walls of the brake pads 33 are connected with fixed protrusions 34. A No. 2 servo motor 35 is arranged on the outer wall of one side of the connecting frame 27, and the output end of the No. 2 servo motor 35 is connected to the bidirectional threaded rod 28. The No. 2 servo motor 35 drives the bidirectional threaded rod 28 to rotate, and the rotation of the bidirectional threaded rod 28 drives the moving blocks 29 on both sides to perform translational motion in relative directions. The movement of the moving block 29 drives the connecting rod 31 to perform synchronous motion, and the movement of the connecting rod 31 drives the mounting seat 32 and the brake pad 33 to perform synchronous translational motion.

[0051] As a preferred embodiment, the mounting seat 32 plays a role in installation and fixing, and the brake pads 33 are semi-metallic friction materials. The brake disc 9 is clamped and rubbed by the brake pads 33 on both sides to achieve the braking effect. The second servo motor 35 plays a driving role and can drive the two sets of brake pads 33 to perform braking work.

[0052] A mounting groove 36 is provided on one side of the mounting seat 32 close to the brake pad 33, a mounting block 37 is provided on the outer wall on one side of the brake pad 33 away from the fixing protrusion 34, the mounting block 37 is embedded in the mounting groove 36, a clamping groove 38 is provided on one side outer wall of the mounting block 37, a limiting cavity 39 is provided in the middle of the mounting seat 32, a threaded rod 40 is connected to the middle of the limiting cavity 39 through a bearing, a threaded moving block 41 is arranged and connected to the middle outer wall of the threaded rod 40, a top block 42 is connected to the outer wall on one side of the threaded moving block 41, an end of the top block 42 away from the threaded moving block 41 passes through the limiting cavity 39 and is embedded in the clamping groove 38, a mounting knob 43 is provided on one side of the mounting seat 32, and an output end of the mounting knob 43 is connected to the threaded rod 40.

[0053] As a preferred embodiment, the threaded rod 40 can be driven to rotate by twisting the installation knob 43. The rotation of the threaded rod 40 drives multiple groups of threaded moving blocks 41 to perform translational movement, thereby driving the top block 42 to perform translational movement, thereby achieving the engagement of the top block 42 with the slot 38, thereby fixing the brake clamp 33. When the brake clamp 33 is severely worn, the installation knob 43 can be twisted to separate the top block 42 from the slot 38, thereby facilitating the disassembly and replacement of the brake clamp 33, thereby maintaining a good braking effect.

[0054] A control component 44 is provided on one side of the braking mechanism 1, and the control component 44 includes an automatic driving abnormal state monitoring module 45, an emergency braking trigger module 46, a data processor 47, a controller 48 and an alarm 49. An emergency braking trigger module 46 is provided on one side of the automatic driving abnormal state monitoring module 45, a data processor 47 is provided on one side of the emergency braking trigger module 46, a controller 48 is provided on one side of the data processor 47, and an alarm 49 is provided on one side of the controller 48.

[0055] As a preferred embodiment, the control component 44 can detect the vehicle condition and control the braking mechanism 1 and the auxiliary braking mechanism 26 at the same time to facilitate emergency braking. The operating status of the automatic driving system in the vehicle can be monitored by the automatic driving abnormal state monitoring module 45, and the emergency braking can be triggered by the emergency braking trigger module 46. When emergency braking is performed, an alarm operation can be performed through the alarm 49.

[0056] The emergency braking method includes the following steps:

[0057] Step 1: First, the operating status of the in-vehicle automatic driving system is monitored through the automatic driving abnormal state monitoring module 45, and the fault alarm information of the automatic driving system is collected. The in-vehicle automatic driving system includes a laser radar and a high-definition camera that work together synchronously. When the vehicle automatic driving system detects that an obstacle is suddenly encountered during driving, the signal is transmitted to the automatic driving abnormal state monitoring module 45, and the automatic driving abnormal state monitoring module 45 sends abnormal alarm information to the emergency brake trigger module 46;

[0058] Step 2: When the emergency brake trigger module 46 detects that emergency braking is required, it transmits a signal to the controller 48. The controller 48 controls the No. 1 servo motor 15 to start quickly, and the No. 2 gear 16 is driven by the No. 1 servo motor 15 to rotate. The rotation of the No. 2 gear 16 drives the No. 1 gear 14 to rotate. The rotation of the No. 1 gear 14 drives the drive shaft 11 to rotate synchronously. The rotation of the drive shaft 11 drives the winding drum 12 to rotate. The winding drum 12 rotates to reel the brake steel rope 13, thereby pulling the brake pedal 101 to retract, thereby driving the brake caliper 8 to stop the brake disc 9 through the brake master cylinder 3, thereby realizing automatic emergency braking;

[0059] Step 3: After emergency braking, the wheel speed sensor of the vehicle is used to monitor whether the brake has stopped, thereby determining whether the brake system is normal. When the brake system fails, a signal is transmitted to the controller 48, and the controller 48 controls the auxiliary brake mechanism 26 to start quickly, and the second servo motor 35 drives the bidirectional threaded rod 28 to rotate, and the rotation of the bidirectional threaded rod 28 drives the moving blocks 29 on both sides to perform translational motion in relative directions, and the movement of the moving blocks 29 drives the connecting rod 31 to perform synchronous motion, and the movement of the connecting rod 31 drives the mounting seat 32 and the brake clamp 33 to perform synchronous translational motion, thereby performing a second brake stop on the brake disc 9, thereby ensuring emergency braking;

[0060] Step 4: When the brake mechanism 1 is started, the coolant in the liquid storage tank 22 is drawn into the liquid distribution pipe 23 through the micro pump 25, and then transported to the cooling mist nozzle 24 through the liquid distribution pipe 23. The coolant is sprayed out by the cooling mist nozzle 24 to cool the brake disc 9, so as to prevent the brake disc 9 from overheating and causing thermal attenuation of the brake mechanism 1 and thus brake failure.

[0061] The working process of the present application is as follows: first, the operating status of the in-vehicle automatic driving system is monitored by the automatic driving abnormal state monitoring module 45, and the fault alarm information of the automatic driving system is collected. When the vehicle automatic driving system detects that an obstacle is suddenly encountered during driving, the signal is transmitted to the automatic driving abnormal state monitoring module 45. The automatic driving abnormal state monitoring module 45 sends an abnormal alarm information to the emergency brake trigger module 46, and the controller 48 controls the No. 1 servo motor 15 to start quickly, and the No. 2 gear 16 is driven by the No. 1 servo motor 15 to rotate, and the No. 2 gear 16 rotates to drive the No. 1 gear 14 to rotate, and the No. 1 gear 14 rotates to drive the drive shaft 11 to rotate synchronously, and the drive shaft 11 rotates to drive the winding drum 12 to rotate, and the winding drum 12 rotates to reel the brake steel rope 13, thereby pulling the brake pedal 101 to contract, thereby driving the brake caliper 8 to stop the brake disc 9 through the brake master cylinder 3, thereby realizing automatic emergency braking.

[0062] After emergency braking, the wheel speed sensor of the vehicle is used to monitor whether the brakes have stopped, thereby determining whether the brake system is normal. When the brake system fails, a signal is transmitted to the controller 48, and the auxiliary brake mechanism 26 is controlled by the controller 48 to start quickly. The bidirectional threaded rod 28 is driven by the No. 2 servo motor 35 to rotate. The rotation of the bidirectional threaded rod 28 drives the moving blocks 29 on both sides to perform translational movement in relative directions. The movement of the moving block 29 drives the connecting rod 31 to move synchronously. The movement of the connecting rod 31 drives the mounting seat 32 and the brake pad 33 to perform synchronous translational movement to stop the brake disc 9 for the second time, thereby ensuring emergency braking. At the same time, when the brake mechanism 1 is started, the coolant in the liquid storage tank 22 is drawn into the liquid distribution pipe 23 through the micro pump 25, and then transported to the cooling mist nozzle 24 through the liquid distribution pipe 23. The cooling mist nozzle 24 sprays coolant to cool the brake disc 9 to prevent the brake disc from overheating, resulting in thermal attenuation of the brake mechanism 1 and brake failure.

Claims

1. An unmanned emergency braking device, comprising a braking mechanism (1), characterized in that: The brake mechanism (1) comprises a brake pedal (101), a vacuum booster (2), a brake master cylinder (3), a hydraulic oil pipe (4), a brake combination valve (5), an ABS controller (6), a brake wheel cylinder (7), a brake caliper (8) and a brake disc (9); one side of the brake pedal (101) is connected to the vacuum booster (2); the side of the vacuum booster (2) away from the brake pedal (101) is connected to the brake master cylinder (3); the outer wall of the brake master cylinder (3) is connected to a hydraulic oil pipe (4); the hydraulic oil pipe (4) away from the brake pedal (101) is connected to the brake master cylinder (3); One end of the brake master cylinder (3) is connected to a brake combination valve (5), one side of the brake combination valve (5) is provided with an ABS controller (6), the outer wall of the brake combination valve (5) is connected to a brake oil pipe (501), one side of multiple groups of the brake oil pipes (501) are provided with a brake wheel cylinder (7), one end of the brake oil pipe (501) away from the brake combination valve (5) is connected to a brake caliper (8), the brake end of the brake caliper (8) is provided with a brake disc (9), and the surface of the brake disc (9) is provided with heat dissipation holes (91); A fixed box (10) is provided on one side of the vacuum booster (2); the middle inner wall of the fixed box (10) is connected to a driving shaft (11) via a bearing; the middle outer wall of the driving shaft (11) is connected to a winding drum (12); the outer wall of the winding drum (12) is connected to a brake steel rope (13); the end of the brake steel rope (13) away from the winding drum (12) passes through the fixed box (10) and is connected to the outer wall of one side of the bottom of the brake pedal (101).

2. The unmanned emergency braking device according to claim 1, characterized in that: A first gear (14) is connected to an outer wall of one side of the driving shaft (11), and a first servo motor (15) is connected to an inner wall of one side of the bottom of the fixing box (10). The output end of the first servo motor (15) is connected to a second gear (16), and the second gear (16) is meshed with the first gear (14). The first servo motor (15) drives the second gear (16) to rotate, and the rotation of the second gear (16) drives the first gear (14) to rotate. The rotation of the first gear (14) drives the driving shaft (11) to rotate synchronously, and the rotation of the driving shaft (11) drives the winding drum (12) to rotate.

3. The unmanned emergency braking device according to claim 2, characterized in that: An independent power supply (17) is provided on one side of the first servo motor (15), an inductive sensor (18) is provided on an inner wall of one side of the fixing box (10), and a monitoring end of the inductive sensor (18) corresponds to the brake steel rope (13).

4. The unmanned emergency braking device according to claim 1, characterized in that: An auxiliary coolant tank (19) is provided on one side of the brake master cylinder (3), one end of the auxiliary coolant tank (19) is connected to a liquid separation pump (20), a guide tube (21) is arranged at the output end of the liquid separation pump (20), and one side outer wall of multiple groups of brake calipers (8) are connected to a liquid storage tank (22), and one end of the guide tube (21) away from the liquid separation pump (20) is connected to the liquid storage tank (22).

5. The unmanned emergency braking device according to claim 4, characterized in that: A liquid dispensing pipe (23) is connected to one side of the bottom of the liquid storage tank (22); an end of the liquid dispensing pipe (23) away from the liquid storage tank (22) is connected to a cooling mist nozzle (24); the cooling mist nozzle (24) is arranged at the edge of the brake caliper (8) corresponding to the brake disc (9); and a micro pump (25) is arranged in the middle of the liquid dispensing pipe (23).

6. The unmanned emergency braking device according to claim 5, characterized in that: An auxiliary braking mechanism (26) is arranged on one side of the brake caliper (8), and the auxiliary braking mechanism (26) comprises a connecting frame (27), a bidirectional threaded rod (28), a moving block (29), a strip groove (30), a connecting rod (31), a mounting seat (32) and a brake clamping pad (33). The middle part of the inner wall of the connecting frame (27) is connected to the bidirectional threaded rod (28) through a bearing, and the outer walls of the bidirectional threaded rod (28) at opposite positions on both sides are threadedly connected to the moving blocks (29), and the outer wall at the bottom of the connecting frame (27) is provided with a strip groove (30).

7. The unmanned emergency braking device according to claim 6, characterized in that: The bottom ends of the two groups of moving blocks (29) are connected to a connecting rod (31), and one end of the connecting rod (31) away from the moving block (29) passes through a strip groove (30) and is connected to a mounting seat (32). The two groups of mounting seats (32) are arranged opposite to each other, and a brake clamping pad (33) is arranged on one side of the mounting seat (32) away from the connecting rod (31). The two groups of brake clamping pads (33) are arranged on both sides of the brake disc (9), and the outer wall of the brake clamping pad (33) is connected to a fixing protrusion (34). One end of the connecting frame (27) A second servo motor (35) is provided on the side outer wall, and the output end of the second servo motor (35) is connected to the bidirectional threaded rod (28). The second servo motor (35) drives the bidirectional threaded rod (28) to rotate, and the rotation of the bidirectional threaded rod (28) drives the moving blocks (29) on both sides to perform translational movement in relative directions. The movement of the moving blocks (29) drives the connecting rod (31) to perform synchronous movement, and the movement of the connecting rod (31) drives the mounting seat (32) and the brake clamp (33) to perform synchronous translational movement.

8. The unmanned emergency braking device according to claim 7, characterized in that: A mounting groove (36) is provided on one side of the mounting seat (32) close to the brake pad (33); a mounting block (37) is provided on the outer wall of one side of the brake pad (33) away from the fixing protrusion (34); the mounting block (37) is embedded in the mounting groove (36); a clamping groove (38) is provided on one side of the outer wall of the mounting block (37); a limiting cavity (39) is provided in the middle of the mounting seat (32); the middle of the limiting cavity (39) is connected to the fixing protrusion (34) by a bearing A threaded rod (40) is provided, and a threaded moving block (41) is arranged and connected to the middle outer wall of the threaded rod (40), and a top block (42) is connected to the outer wall of one side of the threaded moving block (41), and one end of the top block (42) away from the threaded moving block (41) passes through a limiting cavity (39) and is embedded in a slot (38), and a mounting knob (43) is provided on one side of the mounting seat (32), and the output end of the mounting knob (43) is connected to the threaded rod (40).

9. The unmanned emergency braking device according to claim 1, characterized in that: A control component (44) is provided on one side of the braking mechanism (1), and the control component (44) comprises an automatic driving abnormal state monitoring module (45), an emergency braking trigger module (46), a data processor (47), a controller (48) and an alarm (49); an emergency braking trigger module (46) is provided on one side of the automatic driving abnormal state monitoring module (45), a data processor (47) is provided on one side of the emergency braking trigger module (46), a controller (48) is provided on one side of the data processor (47), and an alarm (49) is provided on one side of the controller (48).

10. An emergency braking method of an unmanned emergency braking device, using an unmanned emergency braking device according to any one of claims 1 to 9, characterized in that: The emergency braking method comprises the following steps: Step 1: First, the operating state of the in-vehicle automatic driving system is monitored through the automatic driving abnormal state monitoring module (45), and the fault alarm information of the automatic driving system is collected. The in-vehicle automatic driving system includes a laser radar and a high-definition camera that work together synchronously. When the vehicle automatic driving system detects that an obstacle is suddenly encountered during driving, the signal is transmitted to the automatic driving abnormal state monitoring module (45), and the automatic driving abnormal state monitoring module (45) sends abnormal alarm information to the emergency brake trigger module (46); Step 2: When the emergency brake trigger module (46) detects that emergency braking is required, it transmits a signal to the controller (48), and the controller (48) controls the No. 1 servo motor (15) to start quickly, and the No. 2 gear (16) is driven by the No. 1 servo motor (15) to rotate, and the No. 2 gear (16) rotates to drive the No. 1 gear (14), and the No. 1 gear (14) rotates to drive the drive shaft (11) to rotate synchronously, and the rotation of the drive shaft (11) drives the winding drum (12) to rotate, and the winding drum (12) rotates to reel in the brake steel rope (13), thereby pulling the brake pedal (101) to retract, thereby driving the brake caliper (8) to stop the brake disc (9) through the brake master cylinder (3), thereby realizing automatic emergency braking; Step 3: After emergency braking, the wheel speed sensor of the vehicle is used to monitor whether the brake has stopped, thereby determining whether the brake system is normal. When the brake system fails, a signal is transmitted to the controller (48), and the controller (48) controls the auxiliary brake mechanism (26) to start quickly, and the second servo motor (35) drives the bidirectional threaded rod (28) to rotate. The rotation of the bidirectional threaded rod (28) drives the moving blocks (29) on both sides to perform translational movement in relative directions. The moving blocks (29) move to drive the connecting rod (31) to perform synchronous movement. The connecting rod (31) moves to drive the mounting seat (32) and the brake clamp (33) to perform synchronous translational movement, thereby performing a second brake stop on the brake disc (9), thereby ensuring emergency braking; Step 4: When the brake mechanism (1) is started, the coolant in the liquid storage tank (22) is drawn into the liquid distribution pipe (23) through the micro pump (25), and then transported to the cooling mist nozzle (24) through the liquid distribution pipe (23). The cooling mist nozzle (24) sprays the coolant to cool the brake disc (9), so as to prevent the brake disc from overheating and causing thermal attenuation of the brake mechanism (1) and thus brake failure.

Images