Method for controlling sudden stop of vehicle based on remote control
By obtaining real-time torque information of the vehicle, judging the loss of control and implementing remote control emergency braking and torque breaking source power, the accident problem caused by driverless cars being out of control during driving is solved, and rapid emergency stop is achieved.
Patent Information
- Application Number
- CN202410153921.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-04
- Publication Date
- 2025-08-05
AI Technical Summary
When a driverless car loses control during driving, it may lead to traffic accidents.
By obtaining the real-time torque information of the vehicle, we judge whether the vehicle is out of control, and implement torque reduction control when it is out of control, and then control the vehicle braking and disconnecting the torque source power supply through the remote control to achieve emergency stop.
When the vehicle is out of control, the operator can quickly perform emergency braking to avoid traffic accidents.
Smart Images
Figure CN120428699A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of vehicle control, and more specifically, to a method for remotely controlling an emergency stop of a vehicle. Background Art
[0002] With the continuous development of technologies such as artificial intelligence, big data, and the Internet of Things, intelligent transportation is gradually becoming the mainstream form of future transportation. As an important part of intelligent transportation, driverless vehicles will play an important role in the future transportation field. Driverless vehicles can achieve more efficient route planning and driving methods through automation and intelligent technologies, avoid congestion, reduce traffic accidents, etc., thereby improving traffic efficiency.
[0003] Due to the complexity of traffic, if a driverless vehicle loses control during driving, this may lead to traffic accidents. Summary of the Invention
[0004] To solve the above technical problems, the present invention is solved by the following technical solutions.
[0005] A method for remotely controlling an emergency stop of a vehicle, the method comprising the following steps; S1. Obtain vehicle out-of-control information; In this step, obtain the real-time torque of the motor during vehicle driving; S2. Determine whether the vehicle is out of control according to the vehicle out-of-control information; In this step, compare the deviation between the real-time torque of the motor and the actual required torque, and perform vehicle torque reduction control. If the real-time torque of the motor does not change with the torque reduction control, it is determined that the vehicle is out of control; S3. If the vehicle is out of control, brake in time; In this step, control the vehicle's service brake and control the vehicle's parking brake; S4. Disconnect the power supply of the torque source; In this step, the vehicle powers off and stops.
[0006] As a preferred solution of the present invention, in S1, the real-time torque of the motor during vehicle driving is obtained by the vehicle control unit.
[0007] As a preferred solution of the present invention, in S2, if the deviation between the real-time torque of the motor and the actual required torque exceeds the set deviation range, and the real-time torque of the motor changes with the torque reduction control, a warning prompt is given.
[0008] As a preferred solution of the present invention, in S2, if the deviation between the real-time torque of the motor and the actual required torque exceeds the set deviation range, and the real-time torque of the motor does not change following the torque reduction control, the vehicle control performs vehicle torque clearing until the real-time torque of the motor is 0, and an alarm is given.
[0009] As a preferred solution of the present invention, in S3, the vehicle driving mode is switched to the remote control mode through the remote controller. At this time, the vehicle enters the remote control mode and controls the vehicle's service brake. At this time, the remote controller emits a radio frequency signal corresponding to the brake pedal opening of the vehicle for the service brake. The remote control receiver converts the received signal into a CAN signal and sends it to the bus vehicle controller. The vehicle controller calculates and outputs the maximum requested brake opening for unmanned driving and remote control braking to the vehicle braking system, and the vehicle braking system performs the service brake.
[0010] As a preferred solution of the present invention, in S3, the remote controller emits a radio frequency signal for parking brake. The remote control receiver converts the received signal into a CAN signal and sends it to the bus. The vehicle controller sends a parking brake request to the vehicle braking system, and the vehicle braking system performs the parking brake.
[0011] As a preferred solution of the present invention, the remote controller emits an emergency stop radio frequency signal. The remote control receiver converts the received signal into a CAN signal and sends it to the bus, and disconnects the wake-up signal of the vehicle controller and the drive motor controller. After receiving the emergency stop signal from the remote controller through the CAN bus, the vehicle controller immediately executes the vehicle service brake, parking brake, torque zeroing, and vehicle high-voltage power-off, and at the same time sends a command to disconnect the power supply of the drive motor controller to the fuse box to achieve vehicle power-off and parking.
[0012] Compared with the prior art, the beneficial effects of the present invention are: In this invention, during the actual driving process of the driverless vehicle, the real-time torque of the motor can be obtained by the vehicle control unit. If the real-time torque of the motor exceeds the deviation range after being compared with the actual required torque, there may be a situation where the driverless vehicle gets out of control. At this time, further judgment is made to perform torque reduction control on the vehicle. If the real-time torque of the motor does not change following the torque reduction control, it indicates that the driverless vehicle has got out of control. At this moment, the operator can use remote control to perform emergency braking on the driverless vehicle. First, control the vehicle's service braking. During this process, the remote controller emits a radio frequency signal corresponding to the brake pedal opening of the vehicle for service braking. The remote receiver converts the received signal into a CAN signal and sends it to the bus vehicle control unit to calculate and output the maximum requested braking opening to the vehicle braking system for service braking; subsequently, control the vehicle's parking braking. The remote controller emits a radio frequency signal for parking braking. The remote receiver converts the received signal into a CAN signal and sends it to the bus. The vehicle control unit sends a parking braking request to the vehicle braking system, and the vehicle braking system performs parking braking; finally, disconnect the power supply of the torque source. The remote controller emits an emergency stop radio frequency signal. The remote receiver converts the received signal into a CAN signal and sends it to the bus, and disconnects the wake-up signal between the vehicle control unit and the drive motor controller. After receiving the emergency stop signal from the remote controller through the CAN bus, the vehicle control unit immediately executes the vehicle's service braking, parking braking, torque zeroing, and vehicle high-voltage power-off, and simultaneously sends a command to disconnect the power supply of the drive motor controller to the fuse box to achieve vehicle power-off and parking. Through the above process, when the driverless vehicle gets out of control during the driving process, the operator can make a timely response and quickly perform emergency braking on the driverless vehicle. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 It is a schematic diagram of the flowchart of the emergency stop method in this invention.
[0014] Figure 2 It is a schematic diagram of the control block diagram of the emergency stop method in this invention.
[0015] Figure 3 It is a schematic diagram of the control principle diagram of the emergency stop method in this invention.
[0016] Figure 4 It is a schematic diagram of the circuit wiring of the remote controller in this invention. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0017] To further understand the content of this invention, the invention will be described in detail in combination with the drawings and embodiments. It should be understood that the embodiments are only for explaining the invention rather than limiting it. Embodiment
[0018] As Figures 1-4As shown, this embodiment provides a method for remotely controlling a vehicle to make an emergency stop. The method includes the following steps: S1. Obtain vehicle out-of-control information; in this step, the vehicle controller obtains the real-time torque of the motor during vehicle driving. S2. Determine whether the vehicle is out of control according to the vehicle out-of-control information; in this step, compare the deviation between the real-time torque of the motor and the actual required torque, and perform vehicle torque reduction control. If the real-time torque of the motor does not change following the torque reduction control, it is determined that the vehicle is out of control, and the vehicle controller needs to clear the vehicle torque until the real-time torque of the motor is 0, and an alarm is given; if the deviation between the real-time torque of the motor and the actual required torque exceeds the set deviation range, and the real-time torque of the motor changes following the torque reduction control, a warning prompt is given. S3. If the vehicle is out of control, brake in time; in this step, first control the vehicle's service brake. Switch the vehicle driving mode to the remote control mode through the remote controller. At this time, the vehicle enters the remote control mode and controls the vehicle's service brake. At this time, the remote controller emits a radio frequency signal corresponding to the brake pedal opening of the service brake of the vehicle, and the remote receiver converts the received signal into a CAN signal and sends it to the bus vehicle controller to calculate and output the maximum requested brake opening to the vehicle brake system for the vehicle to perform service braking; secondly, control the vehicle's parking brake. The remote controller emits a radio frequency signal for parking brake, the remote receiver converts the received signal into a CAN signal and sends it to the bus, and the vehicle controller sends a parking brake request to the vehicle brake system, and the vehicle brake system performs parking braking. S4. Disconnect the power supply of the torque source; in this step, the remote controller emits an emergency stop radio frequency signal, the remote receiver converts the received signal into a CAN signal and sends it to the bus, and disconnects the wake-up signal between the vehicle controller and the drive motor controller. After receiving the emergency stop signal from the remote controller through the CAN bus, the vehicle controller immediately executes the vehicle's service brake, parking brake, torque zeroing, and vehicle high-voltage power-off, and at the same time sends a command to disconnect the power supply of the drive motor controller to the fuse box to achieve vehicle power-off and parking.
[0019] Through the above steps, when an out-of-control situation occurs during the driving of a driverless vehicle, the driverless vehicle can brake relatively quickly to avoid traffic accidents.
[0020] In summary, the above are only the preferred embodiments of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope covered by the patent of the present invention.
Claims
1. A method for emergency stopping a vehicle based on remote control, characterized in that: The method comprises the following steps: S1. Obtain vehicle out-of-control information; In this step, the real-time torque of the motor is obtained during the vehicle's driving process; S2. determining whether the vehicle is out of control based on the vehicle out-of-control information; In this step, the real-time torque of the motor is compared with the actual required torque to determine the deviation, and the vehicle torque reduction control is performed. If the real-time torque of the motor does not change with the torque reduction control, it is determined that the vehicle is out of control; S3. If the vehicle loses control, brake immediately; In this step, the vehicle's service brake and the vehicle's parking brake are controlled; S4, disconnect the torque source power supply; In this step, the vehicle is powered off and parked.
2. The method for remotely controlling a vehicle to stop suddenly according to claim 1, characterized in that: In S1, the real-time torque of the motor is obtained through the vehicle controller during vehicle driving.
3. The method for remotely controlling a vehicle emergency stop according to claim 1, wherein: In S2, if the deviation between the real-time torque of the motor and the actual required torque exceeds the set deviation range, and the real-time torque of the motor changes with the torque reduction control, a warning prompt is issued.
4. The method for remotely controlling a vehicle emergency stop according to claim 1, wherein: In S2, if the deviation between the real-time torque of the motor and the actual required torque exceeds the set deviation range, and the real-time torque of the motor does not change with the torque reduction control, the vehicle control clears the vehicle torque until the real-time torque of the motor is 0, and an alarm is issued.
5. The method for remotely controlling a vehicle emergency stop according to claim 1, wherein: In S3, the vehicle driving mode is switched to the remote control mode through the remote control. At this time, the vehicle enters the remote control mode and controls the vehicle's service braking. At this time, the remote control sends a radio frequency signal corresponding to the vehicle's brake pedal opening for service braking. The remote control receiver converts the received signal into a CAN signal and sends it to the bus vehicle controller for unmanned driving and remote control braking to calculate and output the maximum requested brake opening to the vehicle braking system, and the vehicle braking system performs service braking.
6. The method for remotely controlling a vehicle emergency stop according to claim 5, characterized in that: In S3, the remote control sends a radio frequency signal for parking brake, the remote control receiver converts the received signal into a CAN signal and sends it to the bus, the vehicle controller sends the parking brake request to the vehicle braking system, and the vehicle braking system performs parking brake.
7. The method for controlling a vehicle to stop suddenly based on remote control according to claim 1, characterized in that: The remote control sends out an emergency stop RF signal, and the remote control receiver converts the received signal into a CAN signal and sends it to the bus, and disconnects the wake-up signal between the vehicle controller and the drive motor controller. After the vehicle controller receives the remote control emergency stop signal through the CAN bus, it immediately executes the vehicle's service brake, parking brake, torque reset, and vehicle high voltage power-off, and at the same time sends a power disconnect command to the drive motor controller to the fuse box to achieve vehicle power-off and parking.