Brake control system and method for mining dump truck with electric wheels supporting drive-by-wire

Abstract

The invention discloses an electric wheel mining dump truck brake control system and method supporting drive-by-wire. The electric wheel mining dump truck brake control system comprises a vehicle control unit, a mode selection switch, a hydraulic brake module, an electric brake module, a vehicle speed sensor and a human intervention judgment module. The vehicle control unit has a data processing function; the mode selection switch is connected with the input end of the vehicle control unit and used for selecting a manned driving mode and an unmanned driving mode. The hydraulic braking module and the electric braking module are respectively connected with the vehicle control unit and are used for braking the vehicle; the vehicle speed sensor is connected with the input end of the vehicle control unit, and different braking modes are selected according to different vehicle speeds. The human intervention judgment module is connected with the vehicle control unit and used for judging whether a person intervenes to control the vehicle or not, and once the person intervenes to control the vehicle is judged, the whole vehicle enters the human mode immediately no matter how the mode selection switch selects.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of support brake control system and control method of electric wheel mine dump truck line control, belong to electric wheel mine dump truck technical field. BACKGROUND

[0002] With the development of unmanned technology, the automation degree of electric wheel mine dump truck is continuously improved. The traditional brake mode is mainly realized by driver according to vehicle speed, respectively operating electric brake pedal and hydraulic brake pedal. While supporting vehicle control technology of line control of manned mode and unmanned mode, brake control of vehicle provides more choices. However, how to effectively switch brake mode under different driving modes, ensure the safety and stability of vehicle, is a problem to be solved. SUMMARY

[0003] According to the deficiencies existing in the prior art, the present application provides a kind of support brake control system and control method of electric wheel mine dump truck of manned mode and unmanned mode.

[0004] The present application is realized according to the following technical scheme: In the first aspect, the present application provides a kind of support brake control system of electric wheel mine dump truck of line control, comprising: Vehicle controller, with data processing function; Mode selection switch, connected with the input end of the vehicle controller, for selecting manned driving mode and unmanned driving mode; Hydraulic brake module and electric brake module, respectively connected with the vehicle controller, to implement brake to vehicle; Vehicle speed sensor, connected with the input end of the vehicle controller, selects different brake modes according to different vehicle speeds; Man intervention judgment module, connected with the vehicle controller, for judging whether man intervenes control vehicle, once judging that man intervenes control vehicle, no matter how mode selection switch selects, vehicle immediately enters manned mode.

[0005] In some implementations, the output end of the vehicle controller is also connected with emergency brake electromagnetic valve, as long as the vehicle controller judges that the vehicle is in dangerous state, the vehicle controller controls emergency brake electromagnetic valve, and applies emergency brake to vehicle.

[0006] In some implementations, the hydraulic brake module includes hydraulic brake pedal and hydraulic brake electromagnetic valve, the hydraulic brake pedal is connected with the input end of the vehicle controller, and the hydraulic brake electromagnetic valve is connected with the output end of the vehicle controller;The electric brake module includes electric brake pedal and electric brake execution component, the electric brake pedal is connected with the input end of the vehicle controller, and the electric brake execution component is connected with the output end of the vehicle controller.

[0007] In some implementations, the electric braking actuator includes an AC cabinet control unit, an electric brake motor, and a braking resistor grid; the electric brake motor is connected to the AC cabinet control unit and serves as a signal output device for the AC cabinet control unit; the braking resistor grid is connected to the electric brake motor and serves as a braking energy release device for the electric brake motor; the vehicle controller is connected to the AC cabinet control unit via a CAN bus communication module and a CAN bus harness.

[0008] In some implementations, both the electric brake pedal and the hydraulic brake pedal are dual-channel signal pedals. Both the electric brake pedal and the hydraulic brake pedal have two independent output channels. The signal of each channel outputs a different voltage depending on the angle of the pedal, and the slopes of the output voltage curves of the two channels are complementary. The output voltage signals of the two channels are simultaneously input to the vehicle controller as a mutual verification basis for the vehicle controller to judge the reliability of each pedal input signal.

[0009] In some implementations, the human intervention detection module consists of a steering wheel angle sensor, a hydraulic brake pedal in the hydraulic braking module, and an electric brake pedal in the electric braking module. The vehicle controller determines in real time whether someone is intervening to control the vehicle by measuring the changes in the input signals from the steering wheel angle sensor and the pedals in the hydraulic and electric braking modules.

[0010] Secondly, this invention provides a braking control method for electric wheel mining dump trucks that supports drive-by-wire control: After the vehicle is powered on, the vehicle controller determines whether the vehicle is in a dangerous state. If it is in a dangerous state, the vehicle controller controls the emergency braking solenoid valve to apply emergency braking to the vehicle. Emergency braking has the highest priority. When the vehicle controller determines that the vehicle is not in a dangerous state, the vehicle controller determines whether the vehicle enters manned mode or unmanned mode based on the different input signals of the manned mode and unmanned mode states of the mode selection switch. Once in manned mode, the driver needs to select different brake pedals to brake the vehicle depending on the speed. After entering unmanned mode, the vehicle controller selects whether to apply the vehicle brakes according to the instructions of the unmanned driving system. When the vehicle brakes need to be applied, different brake pedals need to be selected according to different vehicle speeds to brake the vehicle. Once the vehicle enters unmanned mode, the vehicle controller will immediately switch to manned mode if it detects that someone has intervened to control the vehicle, regardless of the mode selection switch.

[0011] In some implementations, after entering manned mode, when the vehicle speed exceeds A, electric braking is used, and when the vehicle speed is less than or equal to A, hydraulic braking is used until the vehicle comes to a complete stop; after entering unmanned mode, when the vehicle speed exceeds A, electric braking is applied, and when the vehicle speed is less than or equal to A, hydraulic braking is applied until the vehicle comes to a complete stop.

[0012] In some implementations, the specific process of automatically switching from driverless mode to driver-controlled mode is as follows: the vehicle controller determines in real time whether someone is intervening to control the vehicle by measuring the changes in input signals from the steering wheel angle sensor, electric brake pedal, and hydraulic brake pedal.

[0013] In some implementations, both the electric brake pedal and the hydraulic brake pedal are dual-channel signal pedals. Both the electric brake pedal and the hydraulic brake pedal have two independent output channels. The signal of each channel outputs a different voltage depending on the pedal angle, and the slopes of the output voltage curves of the two channels are complementary. The output voltage signals of the two channels are simultaneously input to the vehicle controller as a mutual verification basis for the vehicle controller to judge the reliability of each pedal input signal. After completing the verification, the vehicle controller uses the valid data as the actual pedal signal to participate in the vehicle control.

[0014] Beneficial effects of this invention: This invention directly delegates the determination of whether the vehicle is in a dangerous state, whether the vehicle is in manned driving mode, and whether the vehicle is in unmanned driving mode to the vehicle controller (VCU). This decentralizes the authority to determine the critical mode to the vehicle controller (VCU), avoids the authority interaction between the vehicle controller (VCU) and the unmanned driving control system, simplifies the control complexity, and enhances the reliability of the vehicle logic implementation.

[0015] In addition to the mode selection switch that allows selection between manned and unmanned driving modes, this invention adds operation judgments for the steering wheel angle sensor, electric brake pedal, and hydraulic brake pedal. It can switch from unmanned driving mode to manned driving mode at any time, which can greatly improve the safety of the entire vehicle system in special dangerous conditions. Attached Figure Description

[0016] The accompanying drawings, as part of this invention, are provided to further illustrate the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation thereof. Clearly, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0017] In the attached diagram: Figure 1 This is a schematic diagram of a braking control system for an electric wheel mining dump truck that supports drive-by-wire control, according to the present invention. Figure 2 This is a flowchart of a braking control method for an electric wheel mining dump truck that supports drive-by-wire control, according to the present invention.

[0018] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] like Figure 1 As shown, the present invention provides a braking control system for an electric wheel mining dump truck that supports drive-by-wire control, including a vehicle controller (VCU), an inverter cabinet control unit (ACU), a CAN bus communication module, a mode selection switch, a steering wheel angle sensor, a vehicle speed sensor, an electric brake pedal, a hydraulic brake pedal, an emergency brake solenoid valve, a hydraulic brake solenoid valve, an electric brake motor, and a brake resistor grid.

[0022] The mode selection switch, steering wheel angle sensor, vehicle speed sensor, electric brake pedal, and hydraulic brake pedal are connected to the vehicle controller (VCU) via wiring harnesses and connectors, serving as signal input devices for the VCU. The emergency brake solenoid valve and hydraulic brake solenoid valve are connected to the VCU via wiring harnesses and connectors, serving as signal output devices for the VCU. The electric brake motor and inverter cabinet control unit (ACU) are connected via wiring harnesses and connectors, serving as signal output devices for the ACU. The brake resistor grid is connected to the electric brake motor via a high-voltage wire, serving as a braking energy release device for the electric brake motor. The VCU and ACU are connected via a CAN bus communication module and CAN bus wiring harness. The upstream autonomous driving system is connected to the VCU via wiring harnesses and a CAN bus communication module.

[0023] A further proposed solution involves using dual-channel signal pedals for both the electric and hydraulic brake pedals. Each pedal has two independent output channels, and the signal from each channel outputs a different voltage depending on the pedal angle. The slopes of the voltage curves from the two channels are complementary. The output voltage signals from both channels are simultaneously input to the vehicle control unit (VCU) as a mutual verification basis for the VCU to determine the reliability of each pedal input signal. After completing the verification, the VCU uses the valid data as the actual pedal signal to participate in vehicle control, thereby improving the reliability of vehicle braking control.

[0024] A further proposed solution is that after the vehicle enters unmanned mode, the vehicle control unit (VCU) uses the changes in input signals from the steering wheel angle sensor, electric brake pedal, and hydraulic brake pedal to determine in real time whether someone has intervened in controlling the vehicle. Once it is determined that someone has intervened in controlling the vehicle, the vehicle immediately enters manned mode regardless of the mode selection switch.

[0025] A further proposed solution is that, in manned mode, the driver needs to select different brake pedals based on the vehicle speed when braking. When the speed exceeds 5 km / h, electric braking is used, and when the speed is less than or equal to 5 km / h, hydraulic braking is used until the vehicle comes to a complete stop. In unmanned mode, the vehicle control unit (VCU) selects whether to apply full vehicle braking according to the instructions of the unmanned driving system. When full vehicle braking is required, the VCU determines whether to apply electric braking when the speed exceeds 5 km / h and whether to apply hydraulic braking when the speed is less than or equal to 5 km / h until the vehicle comes to a complete stop.

[0026] It should be noted that the above only provides a threshold of 5 km / h as the point at which electric or hydraulic braking is used. Of course, it is not limited to 5 km / h and should be adjusted according to actual needs.

[0027] A further proposed solution is that after the vehicle is powered on, the vehicle control unit (VCU) determines whether the vehicle is in a dangerous state. If it is in a dangerous state, the VCU outputs relevant signals to the emergency braking solenoid valve to apply emergency braking to the vehicle. Emergency braking has the highest priority, and under any operating condition, as long as the VCU determines that the vehicle is in a dangerous state, emergency braking will be applied immediately.

[0028] It should be noted that after the vehicle is powered on, if there are abnormalities in some key pressure values ​​of the hydraulic system, abnormalities in key parameters of the power system, or alarms in the fire extinguishing system, the vehicle control unit (VCU) can determine that the vehicle is in a dangerous state.

[0029] like Figure 2 As shown, the present invention also provides a braking control method for an electric wheel mining dump truck that supports drive-by-wire control, the specific steps of which are as follows: After the vehicle is powered on, the Vehicle Control Unit (VCU) determines whether the vehicle is in a dangerous state. If it is, the VCU outputs a relevant signal to the emergency brake solenoid valve to apply emergency braking. Emergency braking has the highest priority; under any operating condition, as long as the VCU determines the vehicle is in a dangerous state, emergency braking is applied immediately. When the VCU determines the vehicle is not in a dangerous state, it determines whether the vehicle enters manned or unmanned mode based on the input signal from the mode selection switch indicating manned or unmanned mode. In manned mode, the driver needs to select different brake pedals depending on the vehicle speed. When the speed exceeds 5 km / h, the electric brake pedal is used; when the speed is low... When the vehicle speed is 5 km / h or higher, the hydraulic brake pedal is used to brake the vehicle until it comes to a complete stop. After entering unmanned mode, the vehicle controller (VCU) receives CAN bus data commands from the autonomous driving system via the CAN bus communication module to select whether to apply vehicle braking. If vehicle braking is required, the VCU determines whether to apply electric braking if the vehicle speed exceeds 5 km / h, and whether to apply hydraulic braking if the vehicle speed is 5 km / h or lower, until the vehicle comes to a complete stop. After the vehicle enters unmanned mode, the VCU uses the input signal changes from the steering wheel angle sensor, electric brake pedal, and hydraulic brake pedal to determine in real time whether someone has intervened to control the vehicle. Once it is determined that someone has intervened to control the vehicle, the vehicle immediately enters manned mode, regardless of the mode selection switch.

[0030] In summary, this invention provides a braking control system and method for an electric wheel mining dump truck that supports both manned and unmanned modes, achieving the following functions and effects: This invention directly delegates the determination of whether the vehicle is in a dangerous state, whether the vehicle is in manned driving mode, and whether the vehicle is in unmanned driving mode to the vehicle controller (VCU). This decentralizes the authority to determine the critical mode to the vehicle controller (VCU), avoids the authority interaction between the vehicle controller (VCU) and the unmanned driving control system, simplifies the control complexity, and enhances the reliability of the vehicle logic implementation.

[0031] In addition to the mode selection switch that allows selection between manned and unmanned driving modes, this invention adds operation judgments for the steering wheel angle sensor, electric brake pedal, and hydraulic brake pedal. It can switch from unmanned driving mode to manned driving mode at any time, which can greatly improve the safety of the entire vehicle system in special dangerous conditions.

[0032] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0033] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features found in other embodiments but not others, combinations of features from different embodiments are also within the scope of protection of this invention and form different embodiments. For example, in the embodiments described above, those skilled in the art can use them in combination based on known technical solutions and the technical problems to be solved by this application.

[0034] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A braking control system for an electric wheel mining dump truck supporting drive-by-wire technology, characterized in that, include: The vehicle controller has data processing capabilities; A mode selection switch, connected to the input terminal of the vehicle controller, is used to select between manned driving mode and unmanned driving mode. The hydraulic braking module and the electric braking module are respectively connected to the vehicle controller to brake the vehicle; The vehicle speed sensor is connected to the input terminal of the vehicle controller and selects different braking modes according to different vehicle speeds; The human intervention detection module is connected to the vehicle controller and is used to determine whether someone has intervened in controlling the vehicle. Once it is determined that someone has intervened in controlling the vehicle, the vehicle immediately enters the human intervention mode, regardless of the mode selection switch.

2. The electric wheel braking control system for mining dump trucks supporting drive-by-wire control according to claim 1, characterized in that: The output terminal of the vehicle controller is also connected to an emergency braking solenoid valve. As long as the vehicle controller determines that the vehicle is in a dangerous state, the vehicle controller controls the emergency braking solenoid valve to apply emergency braking to the vehicle.

3. The electric wheel braking control system for mining dump trucks supporting drive-by-wire control according to claim 1, characterized in that: The hydraulic braking module includes a hydraulic brake pedal and a hydraulic brake solenoid valve. The hydraulic brake pedal is connected to the input terminal of the vehicle controller, and the hydraulic brake solenoid valve is connected to the output terminal of the vehicle controller. The electric braking module includes an electric brake pedal and an electric brake actuator. The electric brake pedal is connected to the input terminal of the vehicle controller, and the electric brake actuator is connected to the output terminal of the vehicle controller.

4. The electric wheel braking control system for mining dump trucks supporting drive-by-wire control according to claim 3, characterized in that: The electric braking actuator includes an AC cabinet control unit, an electric braking motor, and a braking resistor grid. The electric brake motor is connected to the converter cabinet control unit and serves as a signal output device for the converter cabinet control unit; the brake resistor grid is connected to the electric brake motor and serves as a braking energy release device for the electric brake motor; the vehicle controller is connected to the converter cabinet control unit via a CAN bus communication module and a CAN bus harness.

5. The electric wheel braking control system for mining dump trucks supporting drive-by-wire control according to claim 3, characterized in that: Both the electric brake pedal and the hydraulic brake pedal are dual-channel signal pedals. Each pedal has two independent output channels. The signal of each channel outputs a different voltage depending on the pedal angle, and the slopes of the output voltage curves of the two channels are complementary. The output voltage signals of the two channels are simultaneously input to the vehicle controller as a mutual verification basis for the vehicle controller to judge the reliability of each pedal input signal.

6. The electric wheel braking control system for mining dump trucks supporting drive-by-wire control according to claim 1, characterized in that: The human intervention detection module consists of a steering wheel angle sensor, a hydraulic brake pedal in the hydraulic braking module, and an electric brake pedal in the electric braking module. The vehicle controller determines in real time whether someone is intervening to control the vehicle by measuring the changes in the input signals from the steering wheel angle sensor, the hydraulic braking module, and the pedals in the electric braking module.

7. A braking control method for an electric wheel mining dump truck supporting drive-by-wire technology, characterized in that: After the vehicle is powered on, the vehicle controller determines whether the vehicle is in a dangerous state. If it is in a dangerous state, the vehicle controller controls the emergency braking solenoid valve to apply emergency braking to the vehicle. Emergency braking has the highest priority. When the vehicle controller determines that the vehicle is not in a dangerous state, the vehicle controller determines whether the vehicle enters manned mode or unmanned mode based on the different input signals of the manned mode and unmanned mode states of the mode selection switch. Once in manned mode, the driver needs to select different brake pedals to brake the vehicle depending on the speed. After entering unmanned mode, the vehicle controller selects whether to apply the vehicle brakes according to the instructions of the unmanned driving system. When the vehicle brakes need to be applied, different brake pedals need to be selected according to different vehicle speeds to brake the vehicle. Once the vehicle enters unmanned mode, the vehicle controller will immediately switch to manned mode if it detects that someone has intervened to control the vehicle, regardless of the mode selection switch.

8. The braking control method for electric wheel mining dump trucks supporting drive-by-wire control according to claim 7, characterized in that: When entering manned mode, electric braking is used when the vehicle speed exceeds A, and hydraulic braking is used when the vehicle speed is less than or equal to A, until the vehicle comes to a complete stop. When entering unmanned mode, electric braking is applied when the vehicle speed exceeds A, and hydraulic braking is applied when the vehicle speed is less than or equal to A, until the vehicle comes to a complete stop.

9. The braking control method for electric wheel mining dump trucks supporting drive-by-wire control according to claim 7, characterized in that: The specific process of automatically switching from driverless mode to driver-controlled mode is as follows: The vehicle controller determines in real time whether someone is intervening to control the vehicle by measuring the changes in input signals from the steering wheel angle sensor, electric brake pedal, and hydraulic brake pedal.

10. The braking control method for electric wheel mining dump trucks supporting drive-by-wire control according to claim 7, characterized in that: Both the electric brake pedal and the hydraulic brake pedal are dual-channel signal pedals. Each pedal has two independent output channels. The signal of each channel outputs a different voltage depending on the pedal angle, and the slopes of the output voltage curves of the two channels are complementary. The output voltage signals of the two channels are simultaneously input to the vehicle controller as a mutual verification basis for the vehicle controller to judge the reliability of each pedal input signal. After completing the verification, the vehicle controller uses the valid data as the actual pedal signal to participate in the vehicle control.

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