CN106740788A - A kind of method of low-cost unmanned vehicle brake hard - Google Patents
A kind of method of low-cost unmanned vehicle brake hard Download PDFInfo
- Publication number
- CN106740788A CN106740788A CN201510804401.7A CN201510804401A CN106740788A CN 106740788 A CN106740788 A CN 106740788A CN 201510804401 A CN201510804401 A CN 201510804401A CN 106740788 A CN106740788 A CN 106740788A
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- China
- Prior art keywords
- entire car
- car controller
- navigation terminal
- control
- unmanned vehicle
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- 238000000034 method Methods 0.000 title claims abstract description 8
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000012795 verification Methods 0.000 claims abstract description 4
- 238000003745 diagnosis Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Situation present invention is generally directed to the failure of low-cost unmanned vehicle entire car controller proposes a kind of method of brake hard.Unmanned vehicle electric-control system is mainly made up of navigation terminal and entire car controller, and wherein the control of entire car controller integrating whole automobile and servo driving function include Throttle Opening Control, course changing control, control for brake and gearshift control.The technical characterstic of the method mainly includes：Navigation terminal has CAN communication verifying function with entire car controller.After entire car controller fails, communication verification failure, navigation terminal adapter braking motor control exports low side drive signal by single-pole double throw power relay K1 and K2 energization work, braking motor is driven from entire car controller and is changed into battery feed direct drive, controls emergency brake of vehicle.It is this that the method that entire car controller failure rear tube braking motor is controlled is detected by navigation terminal, it is ensured that unmanned vehicle can stop in time after out of control, it is to avoid security incident occur.
Description
Technical field
The present invention relates to unmanned vehicle field of electric control, overall failure diagnosis and DC motor Driver control are related generally to.
Background technology
As automotive electronic technology is continued to develop, the unmanned vehicle of automatic Pilot is increasingly becoming the trend of automobile industry research and development.Unmanned vehicle electronic control system mainly includes navigation terminal, entire car controller and servo drive controller.Navigation terminal is mainly used in providing vehicle azimuth information；Entire car controller is mainly and sends corresponding full-vehicle control order according to expectation path planning and the external sensor information of Real-time Collection；Servo drive controller mainly drives corresponding executing agency to realize engine start and stop, vehicle acceleration and deceleration, gear switch and course changing control after receiving entire car controller order.It is reduces cost, it is also possible to which servo drive control is integrated in entire car controller.
Because unmanned vehicle various functions are controlled by an electronic control unit completion, electronic control unit there is a possibility that failure, vehicle will necessarily be caused safely after electronic control unit failure have a strong impact on.Therefore vehicle electric-control system has to formulate perfect fault diagnosis functions, and formulates corresponding safeguard measure.
The content of the invention
The present invention proposes a kind of low-cost unmanned vehicle in entire car controller（Integrating whole automobile is controlled and servo driving function）The method of brake hard in the case of failure.The method, to entire car controller fault detect and the drive control to braking motor, allows unmanned vehicle to be stopped in time under runaway condition, it is to avoid to cause security incident by navigation terminal.
Specific technical scheme is as follows：
Navigation terminal passes through CAN with entire car controller（Controller Area Network）Communication verifying function judges entire car controller working condition.If verified successfully, illustrate that entire car controller is in normal operating conditions；If verification failure, illustrate that entire car controller fails, vehicle is in runaway condition.
Navigation terminal detects entire car controller failure rear tube braking motor drive control, export low side drive signal control power relay work, the type of drive of braking motor is driven by entire car controller and switches to battery feed to drive, and braking motor controls vehicle parking under battery feed open loop driving.
Below by brief description of the drawings, the invention will be further described with specific embodiment.
Brief description of the drawings
Fig. 1 is electric operation control circuit figure of the entire car controller to braking motor；
Fig. 2 communicates check plot for navigation terminal with entire car controller；
Fig. 3 is electric operation control circuit figure of the navigation terminal to braking motor.
Specific embodiment
Reference picture 1, K1, K2 are single-pole double throw power relay, and VCC is 12V battery feeds.During entire car controller normal work, the low side drive module output high level of navigation terminal, K1, K2 relay is not powered on and is in acquiescence working condition.Braking motor rotating and speed governing are controlled by entire car controller motor drive module.Wherein, motor is rotated forward, vehicle braking deceleration；Motor reversal, vehicle pine braking.
Reference picture 2, navigation terminal sends the inquiry signal that frame ID is 500 to entire car controller every 20ms, and entire car controller needs to respond immediately to the answer signal that frame ID is 501 after receiving the signal.Navigation terminal does not receive the answer signal of entire car controller after being 60ms in continuous three cycles, communication verification failure, navigation terminal thinks that entire car controller is in failure state.
Reference picture 3, after navigation terminal detects entire car controller failure, low side drive module output low level causes K1, K2 relay power and switch operating state.Braking motor drives change to be driven by the open loop of 12V battery feeds by entire car controller, and control emergency brake of vehicle parking, braking time is demarcated according to vehicle by navigation terminal and determined.
Claims (3)
1. a kind of method of low-cost unmanned vehicle brake hard, it is characterised in that：There is CAN communication verifying function between navigation terminal and entire car controller；Navigation terminal has braking motor drive control function.
2. the CAN communication verifying function between navigation terminal according to claim 1 and entire car controller, it is characterised in that：Navigation terminal sends inquiry signal with the fixed cycle by CAN communication to entire car controller, if entire car controller can at the appointed time to navigation terminal replies answer signal after the inquiry signal is received, communication is verified successfully；Otherwise, communication verification failure.
3. the braking motor drive control function that navigation terminal according to claim 1 has, it is characterised in that：Navigation terminal exports low side drive signal control single-pole double throw power relay K1 and K2 energization work, and braking motor is driven by entire car controller and switches to battery feed to directly drive, and braking time is demarcated according to vehicle by navigation terminal and determined.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510804401.7A CN106740788A (en) | 2015-11-20 | 2015-11-20 | A kind of method of low-cost unmanned vehicle brake hard |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510804401.7A CN106740788A (en) | 2015-11-20 | 2015-11-20 | A kind of method of low-cost unmanned vehicle brake hard |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106740788A true CN106740788A (en) | 2017-05-31 |
Family
ID=58915712
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510804401.7A Pending CN106740788A (en) | 2015-11-20 | 2015-11-20 | A kind of method of low-cost unmanned vehicle brake hard |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106740788A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108871794A (en) * | 2018-07-04 | 2018-11-23 | 北京踏歌智行科技有限公司 | Mining automatic driving vehicle fault self-diagnosis method and device |
| CN109760518A (en) * | 2017-11-08 | 2019-05-17 | 郑州宇通客车股份有限公司 | Vehicle, emergency brake of vehicle control system and method and emergency braking apparatus for vehicle |
| CN113147409A (en) * | 2021-03-16 | 2021-07-23 | 东风汽车集团股份有限公司 | Electronic parking redundancy control system and method |
| CN113534778A (en) * | 2021-08-03 | 2021-10-22 | 中车青岛四方机车车辆股份有限公司 | Anti-surging test device and method thereof |
| CN115230653A (en) * | 2022-08-05 | 2022-10-25 | 合众新能源汽车有限公司 | Parking control method and device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1722030A (en) * | 2004-07-15 | 2006-01-18 | 株式会社日立制作所 | vehicle control device |
| CN103420310A (en) * | 2013-08-16 | 2013-12-04 | 杨鹏波 | Unmanned electric forward-movement-type clamping vehicle |
| EP2722687A1 (en) * | 2012-10-22 | 2014-04-23 | Sick Ag | Safety device for a vehicle |
| CN104836832A (en) * | 2014-12-10 | 2015-08-12 | 北汽福田汽车股份有限公司 | Vehicle CAN signal transmission safety and verification method |
-
2015
- 2015-11-20 CN CN201510804401.7A patent/CN106740788A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1722030A (en) * | 2004-07-15 | 2006-01-18 | 株式会社日立制作所 | vehicle control device |
| EP2722687A1 (en) * | 2012-10-22 | 2014-04-23 | Sick Ag | Safety device for a vehicle |
| CN103420310A (en) * | 2013-08-16 | 2013-12-04 | 杨鹏波 | Unmanned electric forward-movement-type clamping vehicle |
| CN104836832A (en) * | 2014-12-10 | 2015-08-12 | 北汽福田汽车股份有限公司 | Vehicle CAN signal transmission safety and verification method |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760518A (en) * | 2017-11-08 | 2019-05-17 | 郑州宇通客车股份有限公司 | Vehicle, emergency brake of vehicle control system and method and emergency braking apparatus for vehicle |
| CN109760518B (en) * | 2017-11-08 | 2024-08-02 | 宇通客车股份有限公司 | Vehicle, vehicle emergency brake control system and method and vehicle emergency brake device |
| CN108871794A (en) * | 2018-07-04 | 2018-11-23 | 北京踏歌智行科技有限公司 | Mining automatic driving vehicle fault self-diagnosis method and device |
| CN113147409A (en) * | 2021-03-16 | 2021-07-23 | 东风汽车集团股份有限公司 | Electronic parking redundancy control system and method |
| CN113534778A (en) * | 2021-08-03 | 2021-10-22 | 中车青岛四方机车车辆股份有限公司 | Anti-surging test device and method thereof |
| CN115230653A (en) * | 2022-08-05 | 2022-10-25 | 合众新能源汽车有限公司 | Parking control method and device |
| CN115230653B (en) * | 2022-08-05 | 2024-05-24 | 合众新能源汽车股份有限公司 | Parking control method and device |
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| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170531 |