Unmanned formula car braking system

Abstract

The utility model discloses a driverless formula car braking system, including adjustable slide rail, brake pedal and brake actuating mechanism, adjustable slide rail is provided with foot support, first base and second base in proper order, brake pedal bottom is connected with first base through brake stay bar, brake stay bar one end is connected with first base, brake stay bar one end is connected with second base, brake stay bar one end is connected with second base, brake stay bar one end is connected with second base, brake stay bar one end is connected with the brake actuating mechanism. The other end is connected with the brake actuating mechanism; the brake executing mechanism is connected with the second base through a mounting support, the brake supporting rod is connected with two brake main cylinders through a brake balance rod arranged in a penetrating mode, and a brake air cylinder is arranged below the foot support and located at the bottom of the brake balance rod. According to the unmanned formula car braking system, a manned mode braking system and an unmanned mode braking system are designed to be connected in parallel, normal braking and emergency braking are freely switched under the unmanned condition, mutual interference is avoided in the mechanical structure, the positions of pedals and sliding rails are adjustable, all parts are modularly designed, and the braking system is convenient to use and easy to popularize. Disassembly and assembly are convenient, and the driving experience of a driver is high.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile parts, in particular to a braking system for an unmanned formula racing car. Background Art

[0002] With the rapid development of technology, the automotive industry is moving towards connectivity, intelligence, electrification, and personalization. Autonomous driving technology, a key development trend in recent years, has become a core component of the intelligent automotive sector. Autonomous vehicles, also known as wheeled mobile robots, rely on environmental perception sensors to obtain information about surrounding road conditions and utilize computer systems for intelligent decision-making and control to achieve autonomous driving. This technology, a product of the interdisciplinary integration of computer science, mechanical engineering, control science, environmental science, and biological science, holds broad application prospects, potentially benefiting both national defense and improving public quality of life.

[0003] Currently, automakers and internet companies around the world are increasing their investment in the research and development of autonomous vehicles. Researchers are particularly focused on autonomous driving technologies in specific scenarios, which place higher demands on safety and reliability, especially in autonomous Formula One racing cars operating at high speeds and in complex environments.

[0004] In autonomous Formula One racing, the braking system, particularly the brake-by-wire system, is a critical component. This system requires a high degree of control-by-wire, integration, modularity, and versatility. Brake-by-wire is the most complex component associated with autonomous driving, ensuring precise braking at high speeds. Furthermore, the emergency braking system is crucial to the design of the racing car, ensuring rapid response before the vehicle stops or starts, or in the event of an emergency (such as a power failure or system short circuit), mitigating the risk of accidents.

[0005] Technical solution of prior art 1:

[0006] Existing unmanned braking systems utilize a wire rope-linkage mechanism. The principle is that a steering gear flange pulls a cable, which in turn pulls a lever, which in turn rotates the brake pedal to achieve braking. This braking solution, known as brake-by-wire, can achieve braking effectiveness, but it places strict demands on the rope tension. Control accuracy decreases as the rope tension decreases, making it difficult for the wire rope-linkage mechanism to precisely control braking force.

[0007] Disadvantages of the prior art 1:

[0008] 1. The braking force of the mechanical actuator is insufficient.

[0009] 2. The tension of the wire rope is difficult to control accurately.

[0010] 3. Ergonomics is not taken into consideration, resulting in a poor driving experience.

[0011] Technical solution of existing technology 2:

[0012] Another unmanned braking system uses a spring-link structure. The principle of this solution is that the spring is connected to the connecting rod where the brake pedal is located. The servo drives the spring, which pulls the connecting rod, which in turn drives the brake pedal to achieve braking. This braking system can also achieve braking effect, but when the braking urgency or pedal push speed changes, the braking force changes rapidly, and the spring-link mechanism cannot respond quickly.

[0013] Disadvantages of the second prior art

[0014] 1. The spring-link mechanism cannot respond quickly.

[0015] 2. The braking force of the mechanical actuator is insufficient.

[0016] 3. Not suitable for other working conditions.

[0017] 4. Ergonomics is not taken into consideration, resulting in a poor driving experience. Summary of the Invention

[0018] This utility model aims to provide a braking system for an unmanned Formula One racing car. The braking systems for manned and unmanned modes are designed to be connected in parallel, mechanically eliminating interference. This allows for both normal braking and emergency braking without interference in unmanned conditions. Furthermore, the system incorporates a pedal rail adjustment function and modularizes its components for easy assembly and disassembly, enhancing the driver's driving experience.

[0019] To achieve the above objectives, the present invention provides a braking system for an unmanned formula racing car, comprising an adjustable slide rail, a brake pedal, and a brake actuator. The adjustable slide rail is provided with a footrest, a first base, and a second base in sequence. The bottom of the brake pedal is connected to the first base via a brake support rod. One end of the brake support rod is connected to the first base, and the other end of the brake support rod is connected to the brake actuator.

[0020] The brake actuator is connected to the second base through a mounting bracket, a brake balance rod is provided through the brake support rod, both ends of the brake balance rod are connected to a brake master cylinder, and a brake cylinder is provided at the bottom of the brake balance rod below the footrest.

[0021] Preferably, one end of the brake strut is rotatably connected to the first base via a first rotating shaft, the other end of the mounting bracket, the bottom of the brake master cylinder, and the bottom of the brake cylinder are all connected to the second base via a second rotating shaft, and the first base and the second base are both connected to the adjustable slide rail via a quick-release pin.

[0022] Preferably, the piston end of the brake master cylinder is hinged to the brake balance rod through a hinge, the piston end of the brake cylinder is connected to a brake cylinder fork arm, the brake cylinder fork arm is rotatably connected to the brake strut through a brake cylinder connecting rod, and the brake strut is provided with a third rotating shaft that cooperates with the brake cylinder fork arm.

[0023] Preferably, the brake actuator includes a steering gear body and a flange arranged at an output end of the steering gear body, the steering gear body is connected to a mounting support via a steering gear mounting bracket, and the mounting support is fixedly connected to the mounting bracket.

[0024] Preferably, the outer ring of the flange is provided with a ball bearing, the outer ring of the ball bearing is provided with a cam mechanism, the cam mechanism is rotatably connected to the brake strut through a servo connecting rod, a retaining ring is provided on the outside of the ball bearing, and a servo paddle is embedded in the outer end face of the flange, and the ball bearing, the retaining ring and the servo paddle are sequentially installed in the cam mechanism.

[0025] Preferably, three upper mounting holes and one lower mounting hole are provided on the brake pedal, four positioning holes are provided on the contact surface between the brake strut and the brake pedal, the upper mounting holes, the lower mounting holes and the positioning holes have the same structure, and the brake strut is provided with a fourth rotating shaft that cooperates with the servo connecting rod.

[0026] Preferably, it further comprises a PI controller and an oil pressure sensor electrically connected to the brake actuator, the PI controller is electrically connected to a solenoid valve, and the solenoid valve is electrically connected to the brake cylinder.

[0027] Preferably, the steering gear body is electrically connected to the PI controller, the solenoid valve is electrically connected to a high-pressure gas cylinder, and the PI controller is provided with an over-travel switch.

[0028] Therefore, the present invention adopts the above-mentioned unmanned formula racing car braking system, and the beneficial effects are as follows:

[0029] (1) The system of the utility model is designed to connect the braking system in manned mode and the braking system in unmanned mode in parallel. In terms of control effect, the braking system in manned mode, the normal braking system in unmanned mode and the emergency braking system in unmanned mode are independent of each other and do not interfere with each other in their respective braking mechanical structures. Emergency braking can also be achieved in the unmanned mode.

[0030] (2) When the vehicle is manned, the servo of the system does not work; when the vehicle is unmanned, the servo runs, which effectively isolates the vehicle from external interference and ensures that the control signal is the only source.

[0031] (3) Compared with the existing technology, the cam-linkage mechanism in the system of the utility model makes the braking force of the unmanned braking system controllable, ensuring the conversion flexibility, control flexibility and accuracy between different brakes.

[0032] (4) The modular design and brake adjustability of the system of the utility model make the space utilization rate high and make up for the shortcomings of other similar existing technologies that do not consider ergonomics.

[0033] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a side view of an embodiment of a braking system for an unmanned formula racing car according to the present invention;

[0035] Figure 2 This is a schematic diagram from another perspective of an embodiment of a braking system for an unmanned formula racing car according to the present invention;

[0036] Figure 3 This is a schematic diagram from the driver's perspective of an embodiment of a braking system for an unmanned formula racing car according to the present invention;

[0037] Figure 4 This is a partial enlarged view of a brake actuator of an embodiment of a brake system for an unmanned formula racing car of the present invention;

[0038] Figure 5 This is an exploded view of a brake actuator of an embodiment of a brake system for an unmanned formula racing car according to the present invention;

[0039] Figure 6 This is a schematic diagram of a PI controller design for an embodiment of a braking system for an unmanned formula racing car according to the present invention;

[0040] Figure 7 This is a schematic diagram of the normal braking structure of an embodiment of a braking system for an unmanned formula racing car of the utility model;

[0041] Figure 8 This is a schematic diagram of the normal braking logic design of an embodiment of the braking system of an unmanned formula racing car of the utility model;

[0042] Figure 9 This is a schematic diagram of the emergency braking structure of an embodiment of a braking system for an unmanned formula racing car of the present invention;

[0043] Figure 10 This is a schematic diagram of the emergency braking system control of an embodiment of the braking system of an unmanned formula racing car of the present invention;

[0044] Figure 11 The utility model is a schematic diagram of the installation position of an adjustable brake pedal of an embodiment of a braking system for an unmanned formula racing car.

[0045] Reference numerals

[0046] 1. Servo body; 2. Servo paddle; 3. Cam mechanism; 4. Servo connecting rod; 5. Brake pedal; 6. Brake strut; 7. Brake balance bar; 8. Brake master cylinder; 9. Footrest; 10. Adjustable slide rail; 11. First base; 12. Second base; 13. Overtravel switch; 14. Brake cylinder; 15. Brake cylinder push rod; 16. Brake cylinder fork arm; 17. Brake cylinder connecting rod; 18. Mounting bracket; 19. Servo mounting bracket; 20. Quick release pin; 21. Retaining ring; 22. Flange; 23. Ball bearing; 24. Mounting support. DETAILED DESCRIPTION

[0047] The technical solution of the present utility model is further described below through the accompanying drawings and embodiments.

[0048] Unless otherwise defined, the technical or scientific terms used in this utility model shall have the usual meanings understood by persons of ordinary skill in the field to which this utility model belongs. The words "first", "second" and similar terms used in this utility model do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0049] like Figure 1-Figure 3 As shown, a braking system for an unmanned formula racing car includes an adjustable slide rail 10, a brake pedal 5, and a brake actuator. A footrest 9, a first base 11, and a second base 12 are sequentially arranged on the adjustable slide rail 10. The bottom of the brake pedal 5 is connected to the first base 11 via a brake strut 6. One end of the brake strut 6 is rotatably connected to the first base 11 via a first rotating shaft 20, and the other end of the brake strut 6 is connected to the brake actuator.

[0050] The brake actuator is connected to the second base 12 through the mounting bracket 18. A brake balance rod 7 is provided through the brake strut 6. Both ends of the brake balance rod 7 are connected to a brake master cylinder 8. A brake cylinder 14 is provided at the bottom of the brake balance rod 7 below the footrest 9.

[0051] The other end of the mounting bracket 18 , the bottom of the brake master cylinder 8 , and the bottom of the brake cylinder 14 are all connected to the second base 12 via a second rotating shaft, and the first base 11 and the second base 12 are both detachably connected to the adjustable slide rail 10 via a quick-release pin 20 .

[0052] Brake actuator front and rear position adjustment

[0053] The brake actuator provided by the utility model is connected to the adjustable slide rail 10 only by two quick-release pins 20. When the position of the brake pedal 5 needs to be adjusted, it is only necessary to pull out the two quick-release pins 20. After being pulled out, the brake actuator is separated from the adjustable slide rail 10, and the brake actuator is adjusted to the required appropriate position and aligned with the corresponding holes on the first base 11, the second base 12 and the adjustable slide rail 10. The quick-release pins 20 are inserted to complete the adjustment of the brake position.

[0054] Brake pedal with 5-sided height and angle adjustment

[0055] like Figure 11 As shown, the brake pedal 5 of the present invention is provided with upper and lower holes, and four corresponding hole spacings are drilled on one side of the brake support rod 6. The height of the brake pedal 5 can be adjusted by simply removing and installing the fixing screws. The upper surface of the brake pedal 5 is designed to be curved. As the brake pedal 5 is adjusted up and down, the contact angle with the driver's foot also changes synchronously, achieving an adjustable angle of the brake pedal 5. In actual use, appropriate adjustment can be made based on the driver's comfort.

[0056] The piston end of the brake master cylinder 8 is hinged to the brake balance rod 7 through a hinge, and the piston end of the brake cylinder 14 is connected to the brake cylinder fork arm 16. The brake cylinder fork arm 16 is rotatably connected to the brake strut 6 through the brake cylinder connecting rod 17. The brake strut 6 is provided with a third rotating shaft that cooperates with the brake cylinder fork arm 16.

[0057] like Figure 4 As shown, the brake actuator includes a servo body 1 and a flange 22 arranged at the output end of the servo body 1. The servo body 1 is connected to a mounting support 24 through a servo mounting bracket 19. The mounting support 24 is fixedly connected to the mounting bracket 18 and then fixed to the vehicle body.

[0058] like Figure 5As shown, the outer ring of flange 22 is fitted with a ball bearing 23. The outer ring of ball bearing 23 is equipped with a cam mechanism 3. Cam mechanism 3 is rotatably connected to brake strut 6 via servo linkage 4. Brake strut 6 is equipped with a fourth rotating shaft that mates with servo linkage 4. A retaining ring 21 is mounted on the outer surface of ball bearing 23 to limit its axial movement. A servo paddle 2 is embedded in the outer end face of flange 22. The ball bearing 23, retaining ring 21, and servo paddle 2 are sequentially mounted in cam mechanism 3. This brake actuator design ensures that the mechanism's movement during manned and emergency braking does not interfere with the unmanned servo.

[0059] like Figure 6 As shown, the system of the present invention is also provided with a PI controller and an oil pressure sensor electrically connected to the brake actuator. The PI controller is electrically connected to the solenoid valve and the steering gear body 1, and the solenoid valve is electrically connected to the brake cylinder 14. The solenoid valve is electrically connected to the high-pressure gas cylinder, and the PI controller is provided with an overtravel switch 13.

[0060] The unmanned braking system provided by the utility model provides the following three braking modes:

[0061] Example 1

[0062] Normal braking in unmanned mode

[0063] like Figure 7 、 Figure 8 As shown, the unmanned braking system collects data from various sensors (cameras, lidar), calculates it through an onboard computer, and then transmits it to a PI controller (industrial computer). The IPC determines whether to issue a braking command to the servo body 1. Upon receiving the braking command, the servo body 1 rotates flange 22, with the rotation angle controlled by the IPC. Flange 22 drives the servo paddle 2, which in turn moves the cam mechanism 3. The cam mechanism 3 drives the servo connecting rod 4, transmitting force to the brake pedal 5. The brake master cylinder 8 converts the mechanical force into hydraulic pressure, which is transmitted through the brake lines to the brake calipers. The brake calipers clamp the brake discs, achieving simultaneous locking of all four wheels.

[0064] Example 2

[0065] Emergency braking in unmanned mode

[0066] like Figure 9 、 Figure 10As shown, under FSAE regulations, unmanned emergency braking requires an instantaneous braking speed of ≥40 km / h, and the braking distance must be within 10 meters. Emergency braking uses high-pressure gas as the braking medium. Overtravel switch 13 controls a PI controller (industrial computer), which in turn controls a two-position, three-way electromagnetic servo valve, thereby controlling the operation of brake cylinder 14. Brake cylinder 14 continuously outputs a fixed pressure through a pressure reducing valve. Emergency braking is set to a power-off trigger. When the car's safety circuit is disconnected, the solenoid valve is de-energized, and high-pressure gas is rapidly injected into the air inlet of brake cylinder 14. Brake cylinder push rod 15 is rapidly depressed. This push rod 15 is connected to brake cylinder connecting rod 17, which drives brake pedal 5 downward, compressing master cylinder 8 and ultimately generating braking force, achieving four-wheel locking.

[0067] Example 3

[0068] Parallel design of manned mode braking and unmanned mode braking

[0069] The brake actuator provided by the utility model can switch the vehicle's driving mode between unmanned driving mode and manual driving mode via a single-touch switch button. Typically, the single-touch switch button is located near the steering wheel for easy access by the driver. When the vehicle switches to unmanned driving mode, an unmanned braking mode is used, which includes normal braking and emergency braking.

[0070] Because the cam mechanism 3 of the unmanned brake actuator is connected to the outer ring of the ball bearing 23, the inner ring of the ball bearing 23 is connected to the outer ring of the flange 22, the servo paddle 2 is connected to the flange 22, and the flange 22 is connected to the output end of the servo body 1. The servo body 1 is connected to the servo mounting bracket 19 and the mounting support 24 and fixed to the mounting bracket 18, the cam mechanism 3 rotates during the movement of the servo paddle 2, but the servo paddle 2 does not rotate, and therefore does not reverse the servo body 1. This ensures that the emergency braking and unmanned braking (normal braking) modes do not interfere with each other. When the vehicle switches to manned driving mode, the manned braking mode is used. In this mode, the brake servo is inactive and does not interfere with other braking modes. The manned braking and unmanned braking are connected without generating motion correlation, thus achieving the parallel nature of the brake actuator.

[0071] Therefore, the present invention utilizes the aforementioned unmanned formula racing car braking system, featuring a cam-link mechanism. This design allows for controllable braking force, ensuring flexible switching between different brakes, control flexibility, and accuracy. The modular design and brake adjustability improve space utilization and address the shortcomings of similar inventions that lack ergonomic considerations.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A braking system for an unmanned formula racing car, characterized by: The invention comprises an adjustable slide rail, a brake pedal and a brake actuator, wherein a footrest, a first base and a second base are sequentially arranged on the adjustable slide rail, the bottom of the brake pedal is connected to the first base via a brake support rod, one end of the brake support rod is connected to the first base, and the other end of the brake support rod is connected to the brake actuator; The brake actuator is connected to the second base through a mounting bracket, a brake balance rod is provided through the brake support rod, both ends of the brake balance rod are connected to a brake master cylinder, and a brake cylinder is provided at the bottom of the brake balance rod below the footrest.

2. The unmanned formula racing car braking system according to claim 1, characterized in that: One end of the brake strut is rotatably connected to the first base via a first rotating shaft, the other end of the mounting bracket, the bottom of the brake master cylinder, and the bottom of the brake cylinder are all connected to the second base via a second rotating shaft, and the first base and the second base are both connected to the adjustable slide rail via a quick-release pin.

3. The unmanned formula racing car braking system according to claim 2, characterized in that: The piston end of the brake master cylinder is hinged to the brake balance rod through a hinge, and the piston end of the brake cylinder is connected to a brake cylinder fork arm, and the brake cylinder fork arm is rotatably connected to the brake strut through a brake cylinder connecting rod, and a third rotating shaft is provided on the brake strut to cooperate with the brake cylinder fork arm.

4. The unmanned formula racing car braking system according to claim 3, characterized in that: The brake actuator includes a steering gear body and a flange arranged at the output end of the steering gear body. The steering gear body is connected to a mounting support through a steering gear mounting bracket, and the mounting support is fixedly connected to the mounting bracket.

5. The unmanned formula racing car braking system according to claim 4, characterized in that: The outer ring of the flange is provided with a ball bearing, the outer ring of the ball bearing is provided with a cam mechanism, the cam mechanism is rotatably connected to the brake strut through a servo connecting rod, a retaining ring is provided on the outside of the ball bearing, and a servo paddle is embedded in the outer end surface of the flange, and the ball bearing, the retaining ring and the servo paddle are sequentially installed in the cam mechanism.

6. The unmanned formula racing car braking system according to claim 5, characterized in that: The brake pedal is provided with three upper mounting holes and one lower mounting hole, and the contact surface between the brake strut and the brake pedal is provided with four positioning holes. The upper mounting holes, the lower mounting holes and the positioning holes have the same structure, and the brake strut is provided with a fourth rotating shaft that cooperates with the servo connecting rod.

7. The unmanned formula racing car braking system according to claim 6, characterized in that: It also includes a PI controller and an oil pressure sensor electrically connected to the brake actuator. The PI controller is electrically connected to a solenoid valve, and the solenoid valve is electrically connected to the brake cylinder.

8. The unmanned formula racing car braking system according to claim 7, characterized in that: The steering gear body is electrically connected to the PI controller, the solenoid valve is electrically connected to a high-pressure gas cylinder, and the PI controller is provided with an over-travel switch.

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