CN214001615U - Unmanned vehicle brake control system and unmanned vehicle - Google Patents
Unmanned vehicle brake control system and unmanned vehicle Download PDFInfo
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- CN214001615U CN214001615U CN202121630230.8U CN202121630230U CN214001615U CN 214001615 U CN214001615 U CN 214001615U CN 202121630230 U CN202121630230 U CN 202121630230U CN 214001615 U CN214001615 U CN 214001615U
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Abstract
The utility model relates to a vehicle braking technical field provides an unmanned vehicle brake control system and unmanned car, is applied to unmanned aerial vehicle equipment or autopilot equipment, and this unmanned vehicle brake control system includes: the system comprises a flexible wire signal control module, a hard wire signal control module, a vehicle control unit and a braking system, wherein the vehicle control unit controls the braking system to take a preset braking measure according to a first type of braking request signal sent by the flexible wire signal control module; the hard wire signal control module controls the brake system to preferentially respond to a second type brake request signal generated when the hard wire signal control module is triggered to take a preset brake measure, the hard wire signal control module also sends a notification signal generated when the hard wire signal control module is triggered to the vehicle control unit, and the vehicle control unit receives actual brake force data fed back by the brake system under the condition of taking the brake measure. The utility model discloses a safety that unmanned car was guaranteed to multiple braking control measure.
Description
Technical Field
The utility model relates to a vehicle braking technical field, more specifically say, relate to an unmanned car braking control system and unmanned car.
Background
The braking system of the vehicle is a key for ensuring the safe running of the vehicle, so a plurality of different braking systems are generally arranged on the vehicle, such as a service braking system, a parking braking system, a safety braking system, an auxiliary braking system and the like. Especially, in some unmanned vehicles, i.e. automatic driving equipment or unmanned equipment, due to the complex application scene, the safety of the vehicle cannot be effectively ensured by a single type of braking system.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an unmanned car braking control system and unmanned car to solve among the prior art because unmanned car uses the scene complicated, the problem of the vehicle safety of traveling can't be guaranteed to the braking control system of single type.
In order to achieve the above object, the utility model adopts the following technical scheme:
on the one hand, the utility model provides an unmanned vehicle braking control system, including patchcord signal control module, hard-line signal control module, vehicle control unit and braking system, patchcord signal control module is connected with vehicle control unit, and vehicle control unit connects and is connected with braking system, and vehicle control unit takes preset braking measure according to the first type braking request signal control braking system that patchcord signal control module sent; the hard wire signal control module is connected with the brake system, controls the brake system to preferentially respond to a second type brake request signal generated when the hard wire signal control module is triggered and adopts a preset brake measure, is also connected with the vehicle control unit and sends a notification signal generated when the hard wire signal control module is triggered to the vehicle control unit; and the vehicle control unit receives actual braking force data fed back by the braking system under the condition of taking braking measures.
In one embodiment, the flexible wire signal control module further comprises an unmanned module, the unmanned module is connected with the vehicle control unit, and the unmanned module is used for sending a first braking request signal to the vehicle control unit when the unmanned vehicle is in an unmanned mode and receiving actual braking force data and a notification signal forwarded by the vehicle control unit.
In one embodiment, the flexible wire signal control module further comprises a remote driving module, the remote driving module is connected with the vehicle control unit, and the remote driving module is used for sending a second braking request signal to the vehicle control unit when the unmanned vehicle is in a remote driving mode and receiving actual braking force data and a notification signal forwarded by the vehicle control unit.
In one embodiment, the cord signal control module further includes a remote controller module, the remote controller module is connected to the vehicle controller, and the remote controller module is configured to send a third braking request signal to the vehicle controller.
In one embodiment, the unmanned vehicle braking control system further comprises a parking system, the parking system is connected with the vehicle control unit, the parking system performs parking braking on the unmanned vehicle according to a parking request sent by the vehicle control unit, and sends a parking signal that the unmanned vehicle is in a parking braking state to the vehicle control unit.
In one embodiment, the hard-wired signal control module comprises a safety edge-touching signal module, an emergency switch signal module or a remote control emergency stop signal module, the safety edge-touching signal module, the emergency switch signal module or the remote control emergency stop signal module is connected with the brake system and the vehicle controller, and the safety edge-touching signal module, the emergency switch signal module or the remote control emergency stop signal module sends a self-triggered notification signal to the vehicle controller under the condition that the safety edge-touching signal module, the emergency switch signal module or the remote control emergency stop signal module is triggered.
In one embodiment, the hard-wire signal control module comprises a safety edge signal module, an emergency switch signal module and a remote control emergency stop signal module, wherein the safety edge signal module, the emergency switch signal module, the remote control emergency stop signal module and the brake system are connected in series, the safety edge signal module, the emergency switch signal module and the remote control emergency stop signal module are respectively connected with the vehicle controller, and the safety edge signal module, the emergency switch signal module or the remote control emergency stop signal module sends a self-triggered notification signal to the vehicle controller under the condition that the safety edge signal module, the emergency switch signal module or the remote control emergency stop signal module is triggered.
In one embodiment, the hard-wired signal control module further comprises: the AEB anti-collision module is connected with the braking system and the whole vehicle controller, and sends a self-triggered notification signal to the whole vehicle controller under the condition that the AEB anti-collision module is triggered.
In one embodiment, the vehicle control bus comprises a CAN bus.
On the other hand, the utility model also provides an unmanned vehicle, it includes above-mentioned unmanned vehicle brake control system.
The utility model provides a compare the beneficial effect who exists with prior art and be: the vehicle control system is connected with a vehicle control unit through a flexible wire signal control module, the vehicle control unit is connected with a braking system, and the vehicle control unit controls the braking system to take preset braking measures according to a first type braking request signal sent by the flexible wire signal control module; the hard wire signal control module is connected with the brake system, controls the brake system to preferentially respond to a second type brake request signal generated when the hard wire signal control module is triggered and adopts a preset brake measure, is also connected with the vehicle control unit and sends a notification signal generated when the hard wire signal control module is triggered to the vehicle control unit; the vehicle control unit receives actual braking force data fed back by the braking system under the condition of taking braking measures, so that at least two different types of braking request signals are provided to control the braking system of the unmanned vehicle to take preset braking measures, the unmanned vehicle can control the braking system to take preset braking measures by sending corresponding types of braking request signals under different application scenes, and the safety of the unmanned vehicle is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a braking control system of an unmanned vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another braking control system for an unmanned vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another braking control system for an unmanned vehicle according to an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positions based on the orientations or positions shown in the drawings, and are for convenience of description only and not to be construed as limiting the technical solution. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.
Fig. 1 is a schematic structural diagram of a braking control system of an unmanned vehicle according to an embodiment of the present invention.
Referring to fig. 1, the brake control system 1 of the unmanned vehicle at least includes: the system comprises a vehicle control unit 11, a braking system 12, a flexible wire signal control module 13 and a hard wire signal control module 14. The flexible wire signal control module 13 is connected with the vehicle control unit 11, the vehicle control unit 11 is connected with the braking system 12, and the vehicle control unit 11 controls the braking system 12 to take a preset braking measure according to a first type braking request signal S1 sent by the flexible wire signal control module 13; the hard-wired signal control module 14 is connected with the braking system 12, the hard-wired signal control module 14 controls the braking system 12 to preferentially respond to a second type braking request signal S2 generated when the hard-wired signal control module 14 is triggered to take a preset braking measure, the hard-wired signal control module 14 is further connected with the vehicle control unit 11, and sends a notification signal generated when the hard-wired signal control module 14 is triggered to the vehicle control unit 11; the vehicle control unit 11 receives actual braking force data fed back by the braking system 12 when a braking measure is taken.
Here, the vehicle control unit 11 is a core electronic control unit for implementing a vehicle control decision, and is generally applied to new energy vehicle equipment, such as an unmanned vehicle. In practice, the Vehicle control unit 11 is also referred to as VCU (short for Vehicle control unit).
The braking system 12 refers to a series of specialized devices that apply a certain force to a wheel portion of a vehicle, thereby applying a certain degree of positive braking to the wheel. In a conventional manually driven vehicle, the corresponding braking action may be taken by the braking system 12 by the driver performing a braking operation, e.g. the driver causes the braking system 12 to take the corresponding braking action by depressing a brake pedal. In the unmanned vehicle, that is, the unmanned device or the automatic driving device, the braking system 12 may be controlled to take corresponding braking measures by collecting the sensing information around the unmanned vehicle and making a decision after processing the sensing information. For example, the unmanned vehicle makes a decision to request braking by image recognition of the acquired sensory information through an image recognition algorithm, and a corresponding braking measure is executed by the braking system 12 in response to the decision.
The cord signal control module 13 refers to a device or equipment for performing signal transmission in a cord manner in the control system. The flexible wire is used for signal transmission after digital processing. For example, in a brake control system of an unmanned vehicle, the vehicle control unit 11 sends a brake request signal to the brake system 12 through the CAN bus, such a signal transmission manner between the vehicle control unit 11 and the brake system 12 is a flexible wire manner, and the corresponding signal may also be referred to as a flexible wire signal.
The hard-wired signal control module 14 is a device or equipment for transmitting signals in a hard-wired manner in the control system, and is opposite to the flexible-wired signal control module 13. For example, in a brake control system of an unmanned vehicle, a certain sensor is directly connected with a pin of a controller chip in the brake system 12 in a hard-point manner, and when the sensor is triggered, a connection line between the sensor and the pin sends a brake request signal to the controller chip, so that the signal transmission manner between the sensor and the controller chip is a hard-line manner, and a corresponding signal can also be referred to as a hard-line signal.
According to the technical scheme provided by the embodiment of the utility model, the flexible wire signal control module 13 is connected with the vehicle control unit 11, the vehicle control unit 11 is connected with the braking system 12, and the vehicle control unit 11 controls the braking system 12 to take a preset braking measure according to the first type braking request signal S1 sent by the flexible wire signal control module 13; the hard-wired signal control module 14 is connected with the braking system 12, the hard-wired signal control module 14 controls the braking system 12 to preferentially respond to a second type braking request signal generated when the hard-wired signal control module 14 is triggered to take a preset braking measure, the hard-wired signal control module 14 is also connected with the vehicle control unit 11, and sends a notification signal generated when the hard-wired signal control module 14 is triggered to the vehicle control unit 11; the vehicle control unit 11 receives actual braking force data fed back by the braking system 12 under the condition of taking braking measures, so that at least two different types of braking request signals are provided to control the braking system 12 of the unmanned vehicle to take preset braking measures, the unmanned vehicle can control the braking system 12 to take preset braking measures by sending corresponding types of braking request signals under different application scenes, and the safety of the unmanned vehicle is improved.
Fig. 2 is a schematic structural diagram of another braking control system for an unmanned vehicle according to an embodiment of the present invention.
In some implementations, as shown in fig. 2, the patch cord signal control module 13 includes: the unmanned module 131 is connected with the vehicle control unit 11, and the unmanned module 131 is used for sending a first braking request signal to the vehicle control unit 11 when the unmanned vehicle is in the unmanned mode, and receiving actual braking force data and a notification signal forwarded by the vehicle control unit 11.
Here, the unmanned module 131 refers to an unmanned system of an unmanned vehicle. Under the condition that the unmanned vehicle automatically controls the unmanned vehicle by operating the unmanned vehicle system, the unmanned vehicle system can automatically identify an obstacle in front of the unmanned vehicle, send a braking request signal (namely a first braking request signal) to the vehicle control unit 11, send a braking request to the braking system 12 by the vehicle control unit 11, enable the braking system 12 to take a corresponding braking measure, and feed back the actual braking force of the braking measure to the unmanned braking system through the vehicle control unit 11.
The actual braking force refers to the rolling friction force actually taken by the vehicle braking system 12 when braking is taken. When the unmanned vehicle is in the unmanned mode, the actual braking force data of the braking system 12 is transmitted to the unmanned system, so that the driving data of the unmanned vehicle is recorded, and the data analysis or data query of the unmanned vehicle at the later stage is facilitated.
In some implementations, as shown in fig. 2, the flexible wire signal control module 13 further includes a remote driving module 132, the remote driving module 132 is connected to the vehicle control unit 11, and the remote driving module 132 is configured to send a second braking request signal to the vehicle control unit 11 when the unmanned vehicle is in the remote driving mode, and receive actual braking force data and a notification signal forwarded by the vehicle control unit 11.
Here, the remote driving module 132 refers to a remote driving system of the unmanned vehicle. Under the condition that the unmanned vehicle carries out remote driving control on the unmanned vehicle by operating the remote driving system, a driver at a remote driving end can send a braking request signal (namely a second braking request signal) to the vehicle control unit 11 according to an application scene, and then the vehicle control unit 11 sends a braking request to the braking system 12, so that the braking system 12 takes a corresponding braking measure, and the actual braking force of the braking measure is fed back to the unmanned braking driving system through the vehicle control unit 11.
Specifically, when the unmanned vehicle has both the unmanned module 131 and the remote driving module 132, which is equivalent to the unmanned vehicle supporting multiple driving modes, namely the unmanned mode and the remote driving mode, the unmanned vehicle can be respectively connected to the unmanned module 131 and the remote driving module 132 through vehicle control, and then the driving mode is switched by the vehicle control unit 11.
In some implementations, as shown in fig. 2, the cord signal control module 13 further includes a remote controller module 133, the remote controller module 133 is connected to the vehicle control unit 11, and the remote controller module 133 is configured to send a third braking request signal to the vehicle control unit 11.
Specifically, the remote controller module 133 is a component that wirelessly connects to a control terminal outside the unmanned vehicle to control the unmanned vehicle.
In some implementations, as shown in fig. 2, the unmanned vehicle brake control system further includes: the parking system 15 is connected with the vehicle control unit 11, and the parking system 15 adopts parking braking to the unmanned vehicle according to a parking request sent by the vehicle control unit 11 and sends a parking signal that the unmanned vehicle is in a parking braking state to the vehicle control unit 11.
The parking system 15 is a mechanism for preventing the vehicle from slipping by taking a braking measure for the vehicle when the vehicle is stopped or not used for a long time. The parking system 15 is generally divided into a mechanical parking system and an electronic parking system, the mechanical parking system realizes parking braking through a mechanical cable mechanism, and the electronic parking system replaces the cable mechanism with a control unit and transmits a braking signal to a motor for braking.
Specifically, the first type brake request signal S1 may be any one or more of the first, second, and third brake request signals described above. If the first type brake request signal S1 includes the aforementioned signals, the priority of the types is > brake request signal in the current driving mode > brake request signal in the non-current handling mode. Wherein, when the parking request and the first type brake request signal S1 exist at the same time, the priority is the parking request signal > the brake request signal in the non-current manipulation mode.
Here, the current driving mode, i.e., whether the unmanned vehicle is currently in the unmanned driving mode or the remote driving mode. For example, if the unmanned vehicle is currently in the unmanned driving mode, the first braking request signal sent by the unmanned driving module is the braking request signal in the current driving mode, the second braking request signal sent by the remote driving module, and the third braking request signal sent by the remote controller module 133 are the braking request signals in the non-current operating mode.
Fig. 3 is a schematic structural diagram of another braking control system for an unmanned vehicle according to an embodiment of the present invention.
In some implementations, the hard-wired signal control module 14 includes a safety-side-touching signal module 141, an emergency-switching signal module 142, and a remote-control emergency-stopping signal module 143, the safety-side-touching signal module 141, the emergency-switching signal module 142, the remote-control emergency-stopping signal module 143, and the brake system 12 are connected in series, and the safety-side-touching signal module 141, the emergency-switching signal module 142, and the remote-control emergency-stopping signal module 143 are respectively connected to the vehicle controller 11, and in a case that the safety-side-touching signal module 141, the emergency-switching signal module 142, or the remote-control emergency-stopping signal module 143 is triggered, the safety-side-touching signal module 141, the emergency-switching signal module 142, or the remote-control emergency-stopping signal module 143 sends a notification signal of its own triggering to the vehicle controller 11.
Specifically, the safety edge-touching signal module 141, the emergency switch signal module 142, and the remote control emergency stop signal module 143 are all components such as sensors or switches, for example, the safety edge-touching signal module 141 may be a safety edge-touching sensor for detecting whether a distance between the unmanned vehicle and a surrounding object is within a safety range, and if not, sending a signal, i.e., a safety edge-touching signal, so that the braking system 12 takes a preset braking measure. For another example, the remote control emergency stop signal module 143 is a signal receiver for receiving a braking command for emergency stop of the unmanned vehicle and automatically generating a braking signal according to the command, so that the braking system 12 takes braking measures. As another example, the emergency switch signal module 142 may be a switch that is touched to generate a brake signal that causes the brake system 12 to take braking action in the event an emergency stop is desired.
In this embodiment, the safety edge-touching signal module 141, the emergency switch signal module 142 and the remote control emergency stop signal module 143 are simultaneously arranged on the unmanned vehicle, and the safety edge-touching signal module 141, the emergency switch signal module 142 and the remote control emergency stop signal module 143 are connected in series with the braking system 12, so long as one of the safety edge-touching signal module 141, the emergency switch signal module 142 and the remote control emergency stop signal module 143 sends a signal, the braking system 12 can take corresponding braking measures, and on one hand, the safety of the unmanned vehicle is improved; on the other hand, the serial connection mode can simplify the wiring quantity and avoid occupying excessive interfaces.
In addition, in practical applications, only one of the safety margin signal module 141, the emergency switch signal module 142, and the remote control emergency stop signal module 143 may be provided on the unmanned vehicle. Equivalently, the hard-wired signal control module 14 includes a safety-side-touching signal module 141, an emergency-switching signal module 142, or a remote-control emergency-stopping signal module 143, where the safety-side-touching signal module 141, the emergency-switching signal module 142, or the remote-control emergency-stopping signal module 143 is connected to both the brake system 12 and the vehicle controller 11, and when the safety-side-touching signal module 141, the emergency-switching signal module 142, or the remote-control emergency-stopping signal module 143 is triggered, the safety-side-touching signal module 141, the emergency-switching signal module 142, or the remote-control emergency-stopping signal module 143 sends a notification signal that is triggered to the vehicle controller 11.
Specifically, the connection between the safety edge-touching signal module 141, the emergency switch signal module 142, or the remote control emergency stop signal module 143 and the braking system 12 is a hard-line point connection, that is, the signal sent to the braking system 12 is a hard-line signal, so that the stability of signal transmission can be ensured, the braking system 12 can take braking measures in time, and the safety of the unmanned vehicle is improved.
In some implementations, see fig. 3, the hardwired signal control module 14 further includes an AEB collision avoidance module 144, the AEB collision avoidance module 144 connected to the braking system 12 and the AEB collision avoidance module 144 connected to the vehicle control unit 11, the AEB collision avoidance module 144 sending its own triggered notification signal to the vehicle control unit 11 in the event that the AEB collision avoidance module 144 is triggered.
Here, AEB is an abbreviation for Autonomous embryo Braking. The AEB anti-collision module 144, i.e., the AEB system, measures the distance to the preceding vehicle or the obstacle by using a radar, compares the measured distance with an alarm distance and a safety distance by using the data analysis module, and performs alarm prompt when the distance is smaller than the alarm distance, and the AEB system is started even when the distance is smaller than the safety distance without the driver having to step on the brake pedal, so that the vehicle is automatically braked, and the driving is protected for safe travel.
Specifically, the second type brake request signal S2 may be a signal generated by any one of the safety margin signal module 141, the emergency switch signal module 142, the remote emergency stop signal module 143, and the AEB collision avoidance module 144 described above, or a plurality of simultaneously generated signals. In addition, if the brake system receives the first type brake request signal S1 and the second type brake request signal S2 at the same time, the second type brake request signal has a higher priority than the first type brake request signal.
Specifically, if a plurality of the safety-edge-of-touch signal module 141, the emergency switch signal module 142, the remote-control emergency stop signal module 143, and the AEB collision avoidance module 144 generate signals simultaneously, the priority among them is safety-edge-of-touch hard-wire brake signal > emergency switch hard-wire brake signal > remote-control emergency stop hard-wire brake signal > AEB-triggered hard-wire brake signal.
In some embodiments, referring to fig. 1, the connection between the vehicle control unit 11 and the braking system 12 is a vehicle bus connection, for example, the vehicle bus is a CAN bus, but the vehicle bus may also be other buses, which is not limited by the present invention.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides an unmanned vehicle brake control system, includes vehicle control unit and braking system, its characterized in that, unmanned vehicle brake control system still includes:
the vehicle control system comprises a flexible wire signal control module, a vehicle control unit and a brake system, wherein the flexible wire signal control module is connected with the vehicle control unit, the vehicle control unit is connected with the brake system, and the vehicle control unit controls the brake system to take a preset braking measure according to a first type braking request signal sent by the flexible wire signal control module;
the hard-wire signal control module is connected with the braking system, controls the braking system to preferentially respond to a second type braking request signal generated when the hard-wire signal control module is triggered to take a preset braking measure, is also connected with the whole vehicle controller, and sends a notification signal generated when the hard-wire signal control module is triggered to the whole vehicle controller;
and the vehicle control unit receives actual braking force data fed back by the braking system under the condition of taking braking measures.
2. The unmanned vehicle brake control system of claim 1, wherein the patch cord signal control module comprises:
the unmanned module is connected with the vehicle control unit and used for sending a first braking request signal to the vehicle control unit when the unmanned vehicle is in an unmanned mode and receiving the actual braking force data and the notification signal forwarded by the vehicle control unit.
3. The unmanned vehicle brake control system of claim 2, wherein the cord signal control module further comprises:
the remote driving module is connected with the vehicle control unit and used for sending a second braking request signal to the vehicle control unit when the unmanned vehicle is in a remote driving mode and receiving the actual braking force data and the notification signal forwarded by the vehicle control unit.
4. The unmanned vehicle brake control system of claim 3, wherein the cord signal control module further comprises:
the remote controller module is connected with the vehicle control unit and used for sending a third braking request signal to the vehicle control unit.
5. The unmanned vehicle brake control system of claim 4, further comprising:
the parking system is connected with the whole vehicle controller and is used for carrying out parking braking on the unmanned vehicle according to a parking request sent by the whole vehicle controller and sending a parking signal that the unmanned vehicle is in a parking braking state to the whole vehicle controller.
6. The unmanned vehicle brake control system of any one of claims 1-5, wherein the hard-wired signal control module comprises a safety-edge signal module, an emergency switch signal module, or a remote emergency stop signal module, and the safety-edge signal module, the emergency switch signal module, or the remote emergency stop signal module is connected to both the brake system and the vehicle controller, and the safety-edge signal module, the emergency switch signal module, or the remote emergency stop signal module sends a notification signal to the vehicle controller that the vehicle controller is triggered when the safety-edge signal module, the emergency switch signal module, or the remote emergency stop signal module is triggered.
7. The unmanned vehicle brake control system of any one of claims 1-5, wherein the hard-wired signal control module comprises a safety-edge-touching signal module, an emergency-switching signal module, and a remote-control emergency-stop signal module, the safety-edge-touching signal module, the emergency-switching signal module, the remote-control emergency-stop signal module, and the brake system are connected in series, and the safety-edge-touching signal module, the emergency-switching signal module, and the remote-control emergency-stop signal module are respectively connected with the vehicle controller, and in case that the safety-edge-touching signal module, the emergency-switching signal module, or the remote-control emergency-stop signal module is triggered, the safety-edge-touching signal module, the emergency-switching signal module, or the remote-control emergency-stop signal module sends a notification signal of its own triggering to the vehicle controller.
8. The unmanned vehicle brake control system of claim 7, wherein the hard-wired signal control module further comprises:
the AEB anti-collision module is connected with the braking system and the whole vehicle controller, and sends a self-triggered notification signal to the whole vehicle controller when the AEB anti-collision module is triggered.
9. The unmanned vehicle brake control system of claim 1, wherein a line connecting the vehicle control unit and the brake system is a CAN bus.
10. An unmanned vehicle comprising an unmanned vehicle brake control system according to any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121630230.8U CN214001615U (en) | 2021-07-19 | 2021-07-19 | Unmanned vehicle brake control system and unmanned vehicle |
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| CN202121630230.8U CN214001615U (en) | 2021-07-19 | 2021-07-19 | Unmanned vehicle brake control system and unmanned vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771876A (en) * | 2021-09-13 | 2021-12-10 | 荆州智达电动汽车有限公司 | Port vehicle control method based on multiple driving modes |
| CN114475542A (en) * | 2022-02-23 | 2022-05-13 | 江苏联成开拓集团有限公司 | New energy automobile braking control system based on intelligent networking information |
| CN114559911A (en) * | 2022-04-26 | 2022-05-31 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle collision control system and method |
-
2021
- 2021-07-19 CN CN202121630230.8U patent/CN214001615U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771876A (en) * | 2021-09-13 | 2021-12-10 | 荆州智达电动汽车有限公司 | Port vehicle control method based on multiple driving modes |
| CN113771876B (en) * | 2021-09-13 | 2024-07-12 | 荆州智达电动汽车有限公司 | Port vehicle control method based on multiple driving modes |
| CN114475542A (en) * | 2022-02-23 | 2022-05-13 | 江苏联成开拓集团有限公司 | New energy automobile braking control system based on intelligent networking information |
| CN114559911A (en) * | 2022-04-26 | 2022-05-31 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle collision control system and method |
| CN114559911B (en) * | 2022-04-26 | 2022-07-22 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle collision control system and method |
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