Novel unmanned vehicle brake control module, unmanned vehicle brake system and unmanned vehicle

Abstract

The utility model discloses a novel unmanned vehicle brake control module, an unmanned vehicle brake system and an unmanned vehicle, and the novel unmanned vehicle brake control module comprises a whole vehicle control module, an unmanned driving control module, a brake control module and a switch module. The whole vehicle control module is in communication connection with the unmanned control module and the brake control module. The unmanned control module and the brake control module are in bidirectional fault monitoring connection; the unmanned control module is connected with the brake control module through a first hard wire; the unmanned control module is connected with the switch module through a second hard wire; the switch module is further connected with the brake control module. The brake control module is used for connecting a first brake system; the switch module is used for connecting a second brake system. According to the novel unmanned vehicle brake control module, when the unmanned control module or the brake control module breaks down, the vehicle can be quickly and effectively braked, and the safety of the vehicle is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned vehicle braking technical field, in particular to novel unmanned vehicle braking control module and unmanned vehicle braking system, unmanned vehicle. BACKGROUND

[0002] The drive and brake of the unmanned vehicle are all according to the established program logic operation of unmanned system, when unmanned system fault, off line, brake system loses control instruction, or when brake system fault, brake system is separated from the control of unmanned system, will lead to brake abnormal situation, influence vehicle driving safety, therefore, the market urgently needs the unmanned vehicle of realizing brake under the condition of unmanned system control failure or brake system communication failure. SUMMARY

[0003] To solve above-mentioned technical problem, the utility model provides novel unmanned vehicle braking control module and unmanned vehicle braking system, unmanned vehicle, wherein, novel unmanned vehicle braking control module includes whole vehicle control module, unmanned control module, brake control module, switch module,

[0004] Whole vehicle control module is connected with unmanned control module, brake control module communication respectively,

[0005] Unmanned control module and brake control module are connected between two-way fault monitoring,

[0006] Unmanned control module is connected with brake control module through first hard wire, and unmanned control module is connected with switch module through second hard wire, and switch module is also connected with brake control module,

[0007] Brake control module is used to connect the first brake system, and switch module is used to connect the second brake system.

[0008] Preferably, whole vehicle control module is connected with unmanned control module, brake control module CAN line communication respectively.

[0009] Preferably, unmanned control module and brake control module are connected through CAN line communication between two.

[0010] Preferably, switch module is relay module.

[0011] Preferably, whole vehicle control module is also connected with speed monitoring module, and speed monitoring module is used to brake under brake control module exception, and when the speed is less than the set speed, triggers unmanned control module to start switch module.

[0012] The utility model also provides unmanned vehicle braking system, adopts novel unmanned vehicle braking control module as above any described.

[0013] Preferably, the braking system is a hydraulic braking system.

[0014] The utility model provides an unmanned vehicle further provided by the utility model, adopts the unmanned vehicle braking system of any described above.

[0015] The novel unmanned vehicle braking control module provided by the utility model realizes quick and effective stopping of the vehicle when the unmanned driving control module or the braking control module fails, and ensures the safety of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A novel unmanned vehicle braking control module provided by the utility model is shown in the figure;

[0017] Wherein: 10, the whole vehicle control module; 20, the unmanned driving control module; 30, the braking control module; 40, the switch module; 50, the vehicle speed monitoring module; 61, the first braking system; 62, the second braking system; 71, the first CAN line; 72, the second CAN line; 73, the third CAN line; 74, the first hard line; 75, the second hard line. DETAILED DESCRIPTION

[0018] In order to make the technical means, creative features, purposes and effects realized by the utility model easy to understand, the utility model is further described in combination with specific embodiments, but the following embodiments are only preferred embodiments of the utility model, not all, based on the embodiments in the embodiments, other embodiments obtained by the person skilled in the art without creative labor belong to the protection scope of the utility model, and the experimental methods in the following embodiments are conventional methods, and the materials and reagents used in the following embodiments can be obtained from commercial channels if not specially specified.

[0019] In the description of the utility model, it should be pointed out that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the utility model. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0020] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0021] This utility model provides a novel unmanned vehicle braking control module and unmanned vehicle braking system, and an unmanned vehicle. The novel unmanned vehicle braking control module includes a vehicle control module 10, an unmanned driving control module 20, a braking control module 30, and a switch module 40.

[0022] The vehicle control module 10 is communicatively connected to the unmanned driving control module 20 and the braking control module 30, respectively.

[0023] The unmanned driving control module 20 and the braking control module 30 are connected by a bidirectional fault monitoring connection.

[0024] The autonomous driving control module 20 is connected to the braking control module 30 via a first hard wire 74; the autonomous driving control module 20 is connected to the switch module 40 via a second hard wire 75; the switch module 40 is also connected to the braking control module 30.

[0025] The braking control module 30 is used to connect to the first braking system 61; the switch module 40 is used to connect to the second braking system 62.

[0026] In specific implementation, such as Figure 1 As shown, the new unmanned vehicle braking control module includes a vehicle control module 10, an unmanned driving control module 20, a braking control module 30, and a switch module 40.

[0027] The vehicle control module 10 is the existing vehicle control unit (VCU) for unmanned vehicles; the autonomous driving control module 20 is the existing autonomous driving domain controller (ADU); the braking control module 30 is the existing hydraulic brake controller (HBS); and the switch module 40 is a relay module.

[0028] The vehicle control module 10 is communicatively connected to the autonomous driving control module 20 and the braking control module 30, respectively. Specifically, the vehicle control module 10 is connected to the autonomous driving control module 20 through the first CAN line 71 and to the braking control module 30 through the second CAN line 72.

[0029] A bidirectional fault monitoring connection is established between the autonomous driving control module 20 and the braking control module 30; specifically, the autonomous driving control module 20 achieves the bidirectional fault monitoring connection through the third CAN line 73.

[0030] The autonomous driving control module 20 is connected to the braking control module 30 via a first hard wire 74; the autonomous driving control module 20 is connected to the switch module 40 via a second hard wire 75; the switch module 40 is also connected to the braking control module 30.

[0031] The brake control module 30 is used to connect to the first brake system 61; the switch module 40 is used to connect to the second brake system 62. Both the first brake system 61 and the second brake system 62 are existing solenoid valve hydraulic line control brake systems; the handbrake solenoid valve in the second brake system 62 is a normally closed solenoid valve, which releases the handbrake when energized and actuates the handbrake when de-energized.

[0032] During operation, the autonomous driving control module 20 and the braking control module 30 monitor each other's operating status in real time.

[0033] When the autonomous driving control module 20 and the braking control module 30 are operating normally, the autonomous driving control module 20 sends the braking force percentage to the braking control module 30. The braking control module 30 responds to the braking force percentage, controls the brake actuator valve body in the first braking system 61, and outputs the corresponding braking force to the vehicle.

[0034] When a fault occurs in the autonomous driving control module 20 or the braking control module 30:

[0035] 1. When the braking control module 30 detects a fault or disconnection in the autonomous driving control module 20, and the braking system loses control commands (the braking control module 30 monitors whether the message data sent by the CAN bus ADU is continuous and valid): it is judged as a level 3 fault. The braking control module 30 reports the fault to the vehicle control module 10. The vehicle control module 10 executes the level 3 fault strategy (motor torque clearing, high voltage reduction); and simultaneously executes braking. The braking force is a percentage of the emergency braking force issued by the autonomous driving control module 20 before disconnection. The vehicle gradually stops when it loses power but has braking force.

[0036] 2. When the autonomous driving control module 20 detects that the braking control module 30 is disconnected, the autonomous driving control module 20 outputs a hard-wire trigger signal 1 to the braking control module 30 through the first hard wire 74, and the braking control module 30 starts the first braking system 61 to perform braking.

[0037] 3. In emergency situations, such as when the autonomous driving control module 20 determines that a collision may occur, the braking control module 30 malfunctions, or the braking system fails to activate, the autonomous driving control module 20 outputs a hard-wire signal 2 via the second hard-wire 75 to directly activate the handbrake solenoid valve (in the shortest possible time). Specifically, the autonomous driving control module 20 outputs the hard-wire signal 2 via the second hard-wire 75 to the handbrake relay coil in the switch module 40, serving as a trigger signal to forcibly cut off the power supply to the handbrake actuator valve body of the second braking system 62. Under normal circumstances, the power supply to the handbrake actuator valve body is controlled by the braking control module 30 through the normally closed contact of the relay to determine whether the parking brake is activated. Power on releases the parking brake, and power off activates it.

[0038] The novel unmanned vehicle braking control module provided in this embodiment of the invention, through the design of the vehicle control module 10, the unmanned driving control module 20, the braking control module 30, the switch module 40, and their interconnections, enables the vehicle to be quickly and effectively stopped when either the unmanned driving control module 20 or the braking control module 30 malfunctions, ensuring vehicle safety. This novel unmanned vehicle braking control module provided in this embodiment of the invention has a simple structure, low implementation cost, and can be widely applied in the field of unmanned vehicle technology.

[0039] In practical implementation, a bidirectional fault monitoring connection is established between the two modules; the vehicle control module 10 is connected to the autonomous driving control module 20 and the braking control module 30 via CAN bus communication. The autonomous driving control module 20 and the braking control module 30 are connected via CAN bus communication; this CAN bus connection enables high-speed data transmission, and also features low power consumption, strong anti-interference capability, and improved data transmission security.

[0040] Furthermore, the vehicle control module 10 is also connected to a vehicle speed monitoring module 50; the vehicle speed monitoring module 50 is used to brake in case of an abnormality in the braking control module 30, and to trigger the start switch module 40 of the autonomous driving control module 20 when the vehicle speed is less than the set vehicle speed.

[0041] When the autonomous driving control module 20 detects that the braking control module 30 has disconnected, the autonomous driving control module 20 outputs a hard-wire trigger signal 1 to the braking control module 30 through the first hard-wire 74. After the braking control module 30 activates the first braking system 61 to perform braking, when the vehicle speed monitoring module 50 detects that the vehicle speed has decelerated to below the set speed (e.g., 5 km / h), the autonomous driving control module 20 outputs a hard-wire signal 2 to the relay of the switch module 40 through the second hard-wire 75, cutting off the power supply to the solenoid valve of the second braking system 62, causing the second braking system 62 to work, and the vehicle is forced to stop, thereby safely shortening the fault braking time.

[0042] This utility model embodiment also provides an unmanned vehicle braking system, which adopts any of the novel unmanned vehicle braking control modules described above.

[0043] Furthermore, the braking system is a hydraulic braking system.

[0044] The unmanned vehicle provided by this utility model adopts any of the unmanned vehicle braking systems described above.

[0045] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A new unmanned vehicle brake control module characterized by: Including whole vehicle control module (10), unmanned control module (20), brake control module (30), switch module (40), wherein: The whole vehicle control module (10) is respectively connected with unmanned control module (20), brake control module (30) communication connection; The unmanned control module (20) and brake control module (30) between two-way fault monitoring connection; The unmanned control module (20) is connected with brake control module (30) through first hard line (74), and the unmanned control module (20) is connected with switch module (40) through second hard line (75);The switch module (40) is also connected with brake control module (30). The brake control module (30) is used for connecting first brake system (61);The switch module (40) is used for connecting second brake system (62).

2. The new unmanned vehicle brake control module according to claim 1, characterized in that: The whole vehicle control module (10) is respectively connected with unmanned control module (20), brake control module (30) CAN line communication connection.

3. The new unmanned vehicle brake control module according to claim 2, characterized in that: The unmanned control module (20) and brake control module (30) between through CAN line communication connection.

4. The new unmanned vehicle brake control module according to claim 1, characterized in that: The switch module (40) is relay module.

5. The new unmanned vehicle brake control module according to any one of claims 1-4, characterized by: The whole vehicle control module (10) is also connected with vehicle speed monitoring module (50);The vehicle speed monitoring module (50) is used for braking under brake control module (30) exception, and when the vehicle speed is less than the set speed, trigger unmanned control module (20) to start switch module (40).

6. An unmanned vehicle braking system characterized by: Adopt the new unmanned vehicle brake control module of any one of claims 1-5.

7. The unmanned vehicle braking system of claim 6, wherein: The brake system is hydraulic brake system.

8. An unmanned vehicle, characterized by: Adopt the unmanned vehicle brake system of claim 6 or 7.

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