1903 results about "Emergency brake" patented technology

The invention provides a railway line monitoring alarm method and system, and relates to the technical field of computers, and the method comprises the steps: continuously collecting a dynamic monitoring data set comprising a track structure vibration waveform sequence, a track surface optical image sequence and an environment meteorological parameter sequence through a plurality of sensor nodes of a target railway line; carrying out multi-modal feature fusion processing on the dynamic monitoring data set, generating a comprehensive state evaluation matrix containing a vibration energy distribution vector and the like, carrying out risk alarm grade classification on the comprehensive state evaluation matrix by utilizing a preset track safety evaluation model, and outputting an abnormal event type code and an abnormal region position code; then, a multi-stage linkage control instruction set containing a train emergency braking triggering instruction and the like is generated based on the multi-stage linkage control instruction set, the multi-stage linkage control instruction set is synchronously transmitted to a central dispatching system, the central dispatching system is driven to execute rail blocking, train speed regulation and control and equipment maintenance operation according to instruction priorities, and comprehensive and intelligent monitoring and efficient alarm response to railway lines are achieved.

The invention discloses a container wharf hazardous chemical transport vehicle intelligent tracking and positioning system comprising a data acquisition module used for acquiring vehicle positioning, driving behaviors and environment state data; the data fusion and time synchronization module is used for performing time alignment on the multi-source data; the behavior modeling and trajectory prediction module is used for extracting driving behavior characteristics and predicting a driving trajectory; the risk assessment and anomaly detection module is used for calculating an anomaly score and predicting a driving risk; the security strategy optimization module is used for constructing a zero-sum game security control model and optimizing speed limit, path and early warning strategies; the remote control and intelligent intervention module is used for executing remote speed regulation, emergency braking, path optimization and alarm pushing in the intelligent dispatching system; and the cloud monitoring and data analysis module is used for storing a track, an environment, a driving score and a safety strategy and predicting a long-term risk trend. According to the invention, based on intelligent game and multi-modal fusion, accurate tracking and safety management and control of the hazardous chemical substance transport vehicle are realized.

The invention relates to the technical field of vehicle safety, and discloses a braking method and system based on vehicle automatic emergency early warning and braking and a storage medium. The method comprises the following steps: fusing multi-modal sensor data to generate a dynamic environment perception graph and calibrating the dynamic environment perception graph; generating a real-time risk distribution map and a potential collision probability prediction matrix based on the dynamic risk assessment model; carrying out matrix multi-stage decision optimization to generate emergency braking trigger conditions, and dividing early warning levels and scheduling according to the conditions and a risk map; and the braking system control parameters are adapted according to the early warning instruction set, and a final execution scheme is generated after verification. The system comprises a sensing module, an evaluation module, a decision module, an early warning module and an execution module. Electronic equipment and a computer readable storage medium can execute the method. Through multi-modal fusion, dynamic risk assessment, graded early warning and redundancy check, the safety performance of the vehicle in a complex environment is improved, accurate early warning and reliable braking are achieved, and the method is suitable for the technical field of vehicle safety.

The invention discloses an intelligent automobile longitudinal driving assistance system based on driving characteristics. The intelligent automobile longitudinal driving assistance system comprises a driver state and environment sensing module, a driver characteristic real-time identification module, an intelligent decision-making and mode switching module and a style self-adaption longitudinal control module. The driver state and environment perception module analyzes environment information and driving behavior characteristics by constructing an extended intelligent driver model, and defines acceleration deviation to perform driving style clustering. And the driver feature real-time identification module deploys the BP neural network model in an online system to realize real-time identification of the driving style. The intelligent decision-making and mode switching module intelligently assesses risks in combination with driving styles and environment information, and dynamically switches four modes of cruise control, car following, early warning and emergency braking. And the style self-adaptive longitudinal control module adaptively adjusts a control strategy according to the driving style and the expected acceleration, and converts the expected acceleration into driving torque or braking pressure through a dynamic weight mechanism, so that personalized longitudinal control is realized.

The invention discloses an unmanned vehicle intelligent obstacle avoidance method and system based on a multi-modal sensor, and relates to the field of automatic driving and intelligent traffic. According to the technical key points of the invention, data of a laser radar and a depth camera are aligned through a space-time registration module; the laser radar point cloud is preprocessed, obstacle point cloud is segmented, fusion clustering is carried out in combination with three-dimensional semantic seed points output by a depth camera, and an obstacle cluster with a semantic tag is generated; and calculating a three-dimensional directed bounding box (OBB) of an obstacle, dynamically adjusting a safety distance according to the speed of the vehicle, expanding the OBB of the vehicle, and carrying out collision detection by adopting a separation axis theorem. When a collision risk is detected, the system sequentially triggers a first-level early warning instruction and a second-level emergency braking instruction, and safe and efficient unmanned vehicle dynamic obstacle avoidance is achieved. According to the method, the advantages of multiple sensors are fully utilized, the obstacle detection precision and the response speed are effectively improved, and reliable technical support is provided for application of the unmanned driving technology in a complex road environment.

The invention belongs to the field of data processing, and discloses a test method for pedestrian trajectory prediction and emergency braking in an automatic driving platform. Comprising the steps of segmenting a real road environment in advance, obtaining grades of small road segments according to calculation of segmentation coefficients, carrying out resource allocation on the small segments according to the grades, and collecting multi-source heterogeneous data; importance optimization is introduced into a Transform model, possible prediction trajectories of individuals are generated, graph data are constructed by using the possible prediction trajectories, an Autoencoder anomaly detection mechanism is introduced, high-risk trajectories are screened out, and high-risk scenes are output; combining the road geometric model with the high-risk scene to form a scene library, loading the scene in a simulation platform, carrying out automatic driving test, carrying out virtual-real data cross validation in combination with real vehicle test data, and obtaining performance evaluation of an algorithm; pedestrian track prediction and emergency braking in the automatic driving process are achieved.

The air quality intelligent monitoring system based on sensing data feedback comprises a sensing array module, a preprocessing module, a risk assessment module, an energy consumption decision module, a mode switching module, a data fusion module and a linkage module. The sensing array module generates an environment parameter signal; the preprocessing module generates a standardized characteristic signal; the risk assessment module receives the standardized characteristic signal and forms an early warning instruction signal; the energy consumption decision module analyzes the change gradient of the standardized feature vector and generates an activation instruction according to the vector stability; the mode switching module generates a state configuration signal and feeds back the state configuration signal to the sensing array module; fusing the data to generate a diffusion prediction signal; the linkage module generates an emergency braking instruction and transmits the emergency braking instruction back to the data fusion module. The intelligent air quality monitoring system based on sensing data feedback can solve the problem that intelligent linkage of multi-source pollution monitoring, dynamic energy saving and real-time early warning of industrial places is poor.

The invention provides a vehicle driving control method and device for a backlight scene, equipment and a medium. The method comprises the steps that multi-source information of a target vehicle is acquired in real time; performing fusion calculation on the multi-source information to obtain a current backlight risk index of the target vehicle; determining a driving assistance strategy or an automatic emergency braking strategy based on the backlight risk index; and controlling the target vehicle according to the driving assistance strategy or the automatic emergency braking strategy. According to the vehicle driving control scheme for the backlight scene, the backlight risk index is generated by fusing the multi-source information, the backlight scene is accurately judged, the corresponding driving assistance or automatic emergency braking strategy is formulated, the driving safety and reliability of the vehicle in the complex backlight environment are improved, and the driving safety of the vehicle in the complex backlight environment is improved. The problems that in the prior art, due to dependence on a single sensor in a backlight scene, the target recognition precision is low, a dynamic adaptation mechanism is lacked, and a braking strategy is difficult to pre-judge and adjust in advance are solved.

The invention belongs to the technical field of control valve adjustment, and particularly relates to a military and civilian dual-purpose ship electric control valve actuator which comprises a target analysis module, a dynamic compensation module, a parameter transmission module, a closed loop calibration module and an emergency braking module. Valve displacement increments and initial motor rotating speed parameters are distributed for all the sub-windows, the comprehensive influence of gear return difference, thermal deformation, friction and vibration interference on valve displacement is effectively considered in the execution process of the sub-windows, a mechanism coupling compensation factor with a dynamic learning optimization mechanism is generated, displacement errors are combined to be superposed to the rotating speed parameters of the next window, and a dynamic learning optimization mechanism is generated. According to a double-layer correction framework of child window dynamic compensation and tail end closed-loop calibration, technical closed-loop from local interference suppression to global precision guarantee is achieved, an emergency braking module is additionally arranged to avoid the risk of out-of-control displacement caused by sudden load impact, and efficient and safe operation of a ship is effectively guaranteed.

The invention relates to an automatic emergency braking control method and device, computer equipment and a vehicle. The method comprises the following steps: acquiring own vehicle state information, and determining whether an own vehicle meets a preset effective condition or not according to the own vehicle state information; under the condition that the own vehicle state information meets a preset effective condition, target vehicle state information is obtained, and the longitudinal collision time between the own vehicle and the target vehicle is calculated according to the target vehicle state information and the own vehicle state information; under the condition that the longitudinal collision time meets a preset collision condition, determining that the target vehicle is a short-distance early warning target, and giving an alarm; and detecting the definition of the current lane line, and controlling the vehicle to brake and decelerate according to the current road curvature under the condition that the current lane line is not clear and the vehicle is in a stable straight moving state. The method can adapt to vehicle requirements, reduces the false triggering probability, avoids vehicle instability, and improves the vehicle driving safety and reliability.

In various examples, a line of sight (LOS) filter may be used to determine whether or not a detected object represents a potential collision risk, filter out detected objects that are deemed not to be a collision risk, and provide a representation of the remaining detected objects for evaluation by one or more downstream automatic emergency braking (AEB), collision mitigation braking systems (CMBS), and / or other modules of an ego-machine. For example, the LOS filter may use an estimated position of a detected object to derive a corresponding LOS angle between the heading of the ego-machine and the detected object, and apply one or more thresholds based on the LOS angle to identify detected objects that are non-collision risks. As such, the LOS filter may remove non-collision risks from consideration by the downstream AEB, CMBS, and / or other module(s).

The invention provides a vehicle control method and device, a vehicle and a storage medium, the method is applied to the field of vehicles, and the method comprises the steps that under the condition that the vehicle is in a direct drive mode, whether the vehicle is in an emergency braking working condition or not is judged; if the vehicle is in the emergency braking working condition, it is determined that the vehicle needs to be controlled to exit from the direct drive mode, and a target torque reduction gradient in the process that the vehicle exits from the direct drive mode is determined; and according to the target torque reduction gradient, torque reduction of the engine is controlled, and under the condition that the output torque of the engine is reduced to the target torque, a clutch of the vehicle is controlled to be in an open state, so that the vehicle is controlled to exit the direct drive mode. According to the method, the vehicle can be controlled to exit the direct-drive mode in advance, the problem of clutch opening delay is solved, the situation that an engine is reversely dragged is avoided, and the safety of the vehicle is improved.

The invention discloses an aggregate loading size identification and detection control system based on radar identification, and particularly relates to the field of constructional engineering, which comprises a multi-source sensing module, a feature extraction module, an index calculation module, a threshold judgment module, a logic decision module and a control execution module. Characteristic parameters such as phase difference and coordinate deviation are extracted through multi-modal processing, four kinds of comprehensive indexes such as volume uniformity and overload risk are generated, risk grading early warning is achieved through a three-level threshold system, a control instruction is generated in combination with a state machine model and a logic gate strategy, and the system is provided with an electro-hydraulic proportional valve and a redundant braking mechanism. The system supports multi-stage response from rate adjustment to emergency braking, has the characteristics of multi-dimensional dynamic monitoring, intelligent decision making and environment self-adaption, effectively improves the safety and automation level of bulk cargo loading operation, and is suitable for continuous operation requirements of complex industrial scenes.

Provided are a method and system for auxiliary emergency braking after a braking failure, and an electronic device, a computer-readable storage medium, a computer program product and a computer program. The method comprises: obtaining a braking system failure factor parameter numerical value on the basis of a braking system health state observer or a fault diagnosis module of a current vehicle; constructing a braking risk decision function on the basis of a braking system failure factor and related data of the current vehicle to calculate a current braking risk value, and obtaining a desired lateral displacement of the current vehicle on the basis of the current braking risk value and steering system data; constructing an integral heuristic barrier Lyapunov function on the basis of the desired lateral displacement of the vehicle and vehicle state information after decision making, and obtaining a desired vehicle traveling yaw angle on the basis of a calculation result of the function; and converting the desired vehicle traveling yaw angle into an input front wheel steering angle value of the current vehicle, and converting the input front wheel steering angle value of the current vehicle into steering-assist electric motor output data, so that a steering system intervenes in and controls safe braking after a braking process fails.

The invention discloses a vehicle driving early warning and braking control method and system based on visible light and infrared light, and belongs to the field of image processing and vehicle control. The method comprises the following steps: acquiring bimodal data, namely visible light data and infrared data, by using a visible light camera and an infrared thermal imager, and preprocessing the bimodal data; feature fusion is carried out on the preprocessed bimodal data, and a YOLOV5 model is input for training, so that a Yolo-DMFF-object model is obtained; a Yolo-DMFF-object model is used for detecting a target object and measuring the distance; according to the detected target object and distance, the emergency braking module is controlled to give out voice early warning and emergency braking; according to the method, object identification and vehicle early warning braking functions are fused through fusion of identification and distance measurement technologies, function connection from target detection to vehicle control is realized, an efficient and reliable solution is provided for intelligent driving in a complex traffic environment, and driving safety, response speed and driving convenience are improved.

The invention discloses an automatic emergency braking control method and device based on a black spot technology and a vehicle. When the vehicle enters a black spot area, the vehicle obtains an optimal active braking parameter to correct the active braking parameter of the vehicle, and automatic emergency braking is executed based on the corrected active braking parameter; the method for obtaining the optimal active braking parameters comprises the following steps: dynamically delimiting a black spot area according to multi-dimensional data when emergency braking of each vehicle is triggered; obtaining the multi-dimensional data in the black spot area; and obtaining the optimal active braking parameters based on the vehicle speed, deceleration fluctuation, braking distance, vehicle weight and environment information during emergency braking. And the optimal active braking parameter when emergency braking is triggered in the black spot area is obtained. According to the method, the black spot technology is combined, the black spot area is established, ADAS program upgrading is conducted on the vehicle entering the black spot area, the vehicle can better adapt to the vehicle condition and the road condition in the area, the active braking curve is optimized, the comfort degree is improved, the situation that braking is not stopped after the automatic emergency braking function is triggered is reduced, and safety is improved.

The invention provides a train operation control method and device under severe weather, and the method comprises the steps: obtaining train idling slip information sent by a train automatic protection subsystem or a train control and management system, and determining a rail slippery state according to the train idling slip information; determining a severe weather mode instruction of the target train based on the rail slippery state and the weather state; and sending a severe weather mode instruction to the train automatic protection subsystem or the train control and management system, wherein the severe weather mode instruction is used for indicating a target train in the target operation area to enter a severe weather mode. According to the train operation control method and device in the severe weather, the severe weather mode instruction of the target interval is determined according to the wet and slippery state of the rail and the weather state, safety protection can be carried out on the guaranteed emergency braking rate in the severe weather, and the situation that due to the fact that the train braking adhesion coefficient is reduced to break through the existing design boundary, the train operation efficiency is improved is avoided. Therefore, the safety of train operation is improved.

An electrified vehicle includes a human-machine interface to enable a towed vehicle mode to enable electric pumps to lubricate and / or cool vehicle components and to disable driver assistance features while the electrified vehicle is being towed by another vehicle. The electrified vehicle includes a drivetrain having an electric machine configured to provide propulsive torque to vehicle wheels, a high-voltage traction battery selectively connected to the electric machine, a battery powered fluid pump configured to pump fluid to the drivetrain, and a controller programmed to, after receiving a signal enabling towed vehicle operation of the electrified vehicle, control operation of the battery powered fluid pump while the electrified vehicle is being towed. The controller may disable one or more driver assistance features and alerts such as automatic emergency braking, automatic shifting of the drivetrain, automatic parking brake operation, automatic headlights, automatic steering, cruise control, parking assistance, and external object distance detection.

The invention relates to an electric drive semitrailer grading AEB control decision-making method considering road surface factors, and the method comprises the following steps: S1, enabling a vehicle to obtain front vehicle information and road surface information through a sensor, a high-precision map and other ways, calculating a correction adhesion coefficient through combining with the state of the vehicle, and determining the maximum gradient limit; s2, outputting a maximum braking deceleration correction factor through fuzzy control by taking the correction adhesion coefficient and the gradient as input; s3, according to the advantages and disadvantages of the road surface working conditions and the maximum braking deceleration correction factor, the maximum braking deceleration is calculated according to the working conditions; s4, calculating a safe braking distance and collision time according to the current state of the vehicle and the speed and distance of the front vehicle; and S5, the collision time is used for early warning decision making, the safety braking distance is used for emergency braking decision making, the corrected maximum braking deceleration serves as a full-force braking target value, and graded AEB control is achieved. According to the method, road surface factors are fully considered, vehicle safety can be guaranteed under different attachment conditions and slope road surfaces, and the braking stability is remarkably improved.

The invention discloses a method for reducing the loss of an automatic driving vehicle collision test device, and the method comprises the following steps: obtaining preset test vehicle parameters which comprise the maximum deceleration amax of an automatic emergency braking system, the test vehicle speed vtest and the communication system delay time t delay; when an emergency braking system of the test vehicle is triggered, emergency avoidance triggering time t triggering is calculated through a formula t triggering = v test / amax + t delay; after position data of the test vehicle and the background target object are collected in real time, the real-time relative distance D is calculated, and the collision time t collision is calculated through a formula t collision = D / v test; and when t collision is less than or equal to t trigger, driving the background target object to move away from the collision direction through the mechanical execution mechanism. Before collision, the target object is actively driven to be away from the collision direction, and structural damage caused by direct collision can be avoided.

The invention relates to the technical field of photovoltaic module manufacturing, in particular to a lamination process parameter self-adaptive regulation and control system and method. Comprising a multi-source sensing module, an edge calculation module and a dynamic execution module, and temperature, pressure and thickness data of a lamination process are collected in real time through an infrared thermal imaging unit, a distributed pressure sensing unit and an ultrasonic thickness monitoring unit; the edge calculation module adopts a CNN-LSTM hybrid model to perform spatial-temporal feature fusion analysis on the multi-source data, predicts a defect risk level and generates a regulation and control instruction; the dynamic execution module achieves dynamic parameter adjustment through the partition temperature control unit, the hydraulic servo unit and the emergency braking unit, the problems of parameter stiffness, defect detection lag and the like of a traditional lamination process are solved, the AOI spot check defect rate is reduced to 0.6% from 1.3%, the lamination period is shortened by 3 minutes, and the production efficiency and the product quality are remarkably improved.

The invention discloses a dynamic adjusting method, device and equipment for vehicle braking force and a medium. The method comprises the steps that when a vehicle is braked on a ramp road section, the ramp angle of the ramp road section is determined; according to the driving direction of the vehicle on the ramp road section, the ramp angle, the brake pedal pressure, the vehicle gravity and a preset braking performance coefficient, the target braking force of the vehicle is calculated, and the braking performance coefficient is used for representing that when the vehicle is braked on a non-ramp road section, the target braking force of the vehicle is obtained. The conversion relation between the brake pedal pressure and the target brake force is obtained; the braking air pressure of a vehicle brake is adjusted according to the target braking force, so that the wheel end braking force of the vehicle reaches the target braking force, the vehicle braking force is dynamically adjusted according to the ramp angle, the braking performance is optimized in real time, it is ensured that the vehicle can keep consistent braking feeling under different gradients, the fatigue of a driver is effectively reduced, and the driving safety is improved. The emergency braking safety is improved, meanwhile, the predictability and consistency of the braking system are enhanced, and the driving experience is optimized.

The invention relates to the technical field of data processing, in particular to a PSU pressurization module and a control method thereof, and the PSU pressurization module comprises a data acquisition unit, a dynamic compensation unit, a cooperative control unit, a pressure closed-loop unit and an emergency response unit. The data acquisition unit is used for acquiring an energy accumulator pressure value, an environment temperature value and a braking command signal in real time; the dynamic compensation unit generates a viscosity compensation coefficient through a temperature and viscosity mapping table, and compares the viscosity compensation coefficient with the pressure value to generate a pressure deviation value and a deviation trigger threshold value; the cooperative control unit activates the hydraulic pump based on the pressure deviation value and adjusts the start-stop frequency in combination with the viscosity compensation coefficient; the pressure closed-loop unit adopts double electromagnetic valves to alternately release and supplement oil to inhibit pressure fluctuation; the emergency response unit activates the hydraulic pump and opens the bypass electromagnetic valve to output redundant flow during emergency braking, the technical limitation of an existing hydraulic system in an extreme environment is broken through, and the braking reliability is improved.

The invention belongs to the field of intelligent robots, particularly relates to an intelligent wheelchair following system based on single target tracking, and aims to solve the problem of poor effect of effectively avoiding obstacles in a complex scene and continuously following a single target under the condition of multi-target interference. The system comprises a sensor module used for restoring scene image data; the man-machine interaction module is used for acquiring a to-be-tracked target; the single-target tracking module is used for generating a moving strategy of the intelligent wheelchair; the intelligent decision-making module is used for generating an optimized path and dynamically adjusting the moving direction and speed of the wheelchair; the driving control module is used for realizing smooth steering and emergency braking of the intelligent wheelchair; and the communication module is used for realizing communication among the modules. According to the invention, three-dimensional positioning precision, target identification accuracy and tracking stability are improved, safety control and man-machine interaction are optimized, the method is especially suitable for people having difficulty in moving, and life self-care and social participation are improved.

The invention discloses an intelligent control method and system for motorcycle calipers. According to the method, multi-modal data such as vehicle speed, wheel speed, piston displacement, brake disc temperature, inclination angle and transverse acceleration are collected in real time through a multi-source sensor and are preprocessed; calculating a braking demand and an adhesion coefficient according to the data, and recognizing a straight line, a curve or an emergency braking scene in combination with the inclination angle and the transverse acceleration; inputting the data into a pre-trained brake control machine learning model to generate a target brake force change curve; controlling the driving motor and the calipers to brake based on the curve, and regularly optimizing the model according to brake feedback and historical data; predicting a braking efficiency attenuation trend by combining a part degradation model, and compensating the braking force to update the model; the motor current is adjusted in real time through closed-loop control so as to follow the target braking force; and continuously monitoring the temperature of the brake disc, and triggering thermal attenuation compensation when the temperature exceeds a threshold value. According to the invention, self-adaptive, accurate and reliable intelligent braking of the motorcycle is realized.

The invention provides an emergency braking control method, which is realized by using an emergency braking loop structure, and the emergency braking loop structure comprises a control loop connected with an occupied end and an action loop for connecting emergency braking electromagnetic valves of vehicles in parallel; a positive electrode power supply and a negative electrode power supply are provided for the control loop through the occupied end, and the control loop enables the two ends of an emergency braking loop relay to be powered on by connecting monitoring conditions and train lines in series; the action loop is used for connecting the emergency braking electromagnetic valves of all the vehicles in parallel, and when the relay of the emergency braking loop loses power, the normally open contact is disconnected, the emergency braking electromagnetic valves of all the vehicles lose power, and emergency braking is generated; according to the method, the problems and defects of an emergency braking loop of an existing motor train unit project can be solved, a specific monitoring function is executed through the emergency braking loop independent of a train control system, and the emergency braking loop adopts a control mode of a hardware relay control circuit, so that safe stopping of a motor train under the fault condition is guaranteed.

The invention relates to the technical field of vehicle safety, in particular to a vehicle autonomous emergency braking-oriented road surface attachment sensing method, which comprises the following steps of: acquiring all initial point cloud data in a preset sensing area in front of a vehicle by using a laser radar at the top of the vehicle, and segmenting the initial point cloud data to obtain a road surface point cloud data set in the preset sensing area; acquiring a reflected light intensity value of each piece of road surface point cloud data in a preset sensing area, and taking the road surface point cloud data of which the reflection intensity value is not in a high reflection intensity threshold range but is in a road surface reflection intensity threshold range as target point cloud data; based on the reflection intensity values of all the target point cloud data, generating a grayscale image, inputting the grayscale image into a classification model, outputting a pavement type prediction result, determining a pavement adhesion coefficient, and calculating brake pressure; and if the distance between the current vehicle and the front vehicle is smaller than the safe distance, the vehicle performs autonomous emergency braking based on the braking pressure. The safety and comfort of emergency braking are improved.

The invention discloses an anti-explosion differential steering wheel system with a caliper brake, which can solve the problem that a steering wheel is unstable due to different rotating speeds between two wheels during turning, can stably run in an anti-explosion environment, and realizes short-time and short-distance emergency braking. Torque is input through the driving motor, passes through the gearbox, the differential mechanism and the driving speed reducer and then is output to the tires, forward and backward power is provided for the differential steering wheel system, an inner wheel and an outer wheel can rotate at different speeds when a steering wheel turns at a high speed under the action of the differential mechanism assembly, the driving efficiency is improved, and the running stability of a vehicle is effectively guaranteed. Brake torque provided by the caliper brake assembly acts on tires through the gear box, the differential mechanism and the driving speed reducer, so that the steering wheel can complete braking in a short time and a short distance. All components of the differential steering wheel are subjected to explosion-proof sealing, and explosion-proof electric appliance elements are adopted, so that fire disasters or explosions in the external environment caused by the differential steering wheel can be effectively prevented.

The invention discloses a train protection zone processing method based on a train-to-train communication architecture, which comprises the following steps that: an ATP (Automatic Train Protection) of a fault train submits an application for requesting to establish a protection zone to an RC (Remote Control), and the RC sends inquiry information to all trains which establish communication with the RC in a control zone of the RC; after receiving inquiry information of the RC, the trains check the relation between the trains and the protection area and reply, and if all the trains reply to agree to establish the protection area, the RC establishes the protection area; according to the distance between the train inside and outside the protection area and the fault train and the corresponding driving direction, the running state of the train is determined; the running state is emergency braking or continuous running; and after the fault train does not report derailment to the RC or an obstacle exists on the track, the protection area of the fault train is cancelled. The safety and efficiency of train operation are improved.

The invention relates to the technical field of vehicle braking control, in particular to a self-adaptive error tolerance automatic emergency braking system and method, and provides a self-adaptive error tolerance automatic emergency braking system and a forward collision early warning system. The method aims at solving the accuracy problem caused by sensor errors in an existing system. The method specifically comprises the following steps: introducing a first-order error propagation model to quantify a key safety index error; comprising the steps of collision time real-time estimation based on a forward sensor, error propagation and tolerance analysis and FCW / AEB trigger logic design introducing a fault-tolerant band. In the design, the maximum tolerance error is set, and the sensor index requirement is reversely deduced, so that the robustness and safety of the system are improved, a quantifiable fault-tolerant boundary is provided for the AEB system, the application effect of the system in a complex road environment is improved, and the method is particularly suitable for high-risk scenes such as expressways and urban expressways and has wide application prospects. And the fault-tolerant capability and the practical application effect of the system are enhanced.