CN109062197A

CN109062197A - A kind of emergency backup methods of driverless electric automobile

Info

Publication number: CN109062197A
Application number: CN201811305090.XA
Authority: CN
Inventors: 王树凤; 刘哲; 袁亚东; 崔国臣; 李志豪; 王永庆
Original assignee: Shandong University of Science and Technology
Current assignee: Shandong University of Science and Technology
Priority date: 2018-11-05
Filing date: 2018-11-05
Publication date: 2018-12-21

Abstract

The invention discloses an emergency rescue method for an unmanned electric vehicle. An ad hoc interface connected to the executive mechanism is added to the unmanned electric vehicle. The ad hoc interface includes a power supply terminal and a signal terminal, which are respectively connected with the executive mechanism to form a power supply. lines and signal lines. When the unmanned electric vehicle loses its unmanned driving function due to lack of power, failure of sensors, control computers, etc., or failure to obtain external network information, but the executive mechanism is not damaged, the rescue vehicle uses a rescue cable to connect to the special interface of the faulty vehicle. The electric energy is transmitted to the actuator through the power line, and the control command is provided to the actuator through the signal line, so as to realize the follow-up driving of the fault vehicle to the rescue vehicle. Through the ad hoc interface, the backup battery can also be used to provide electric energy for the faulty car, and the steering wheel, acceleration and deceleration pedals, brakes and other devices can be connected to transmit control commands to realize the rescue of the faulty car.

Description

A kind of emergency backup methods of driverless electric automobile

Technical field

The present invention relates to vehicle control technology field, specially a kind of emergency relief side of driverless electric automobile Method.

Background technique

Currently, not only major automobile vendor carries out unmanned test one after another with the rapid development of unmanned technology The research and development of sample car, internet and mobile operator also actively set foot in this field, in external Google's pilotless automobile certainly More than 1,300,000 miles of road tests are had been completed under dynamic model formula, Baidu's automatic driving car project started to walk in 2013 at home, and The full-automatic driving under city, loop and super expressway mixing road conditions was realized in 2015, this has further speeded up nobody and has driven Sail the process that vehicle is applied on real road；When automatic driving vehicle enters real road traveling, automatic driving vehicle occurs How to carry out rescuing when failure just should further consider the problems of as us, before the present invention, application No. is It is proposed in the patent of 201610621478.5 and 201711285179.X using unmanned technology, additional various rescues are set It is standby, disabled vehicle is rescued, but carries out the case where two patents of invention are not similarly pilotless automobile to disabled vehicle special Other places reason, for driverless electric automobile due to short of electricity, sensor controls the failures such as computer or cannot obtain external network letter It ceases and loses unmanned function this is likely to the problem in road driving, need a kind of emergency backup methods, it should Method should make full use of driverless electric automobile itself, not need additional various rescue aids, thus simplify rescue operations, contracting Short rescue time, rescue driverless electric automobile timely and effectively.

Summary of the invention

It is an object of the invention to be directed to driverless electric automobile, due to short of electricity, the failures such as sensor, control computer or External network information cannot be obtained and lose unmanned function this is likely to the problem in road driving, propose one Kind emergency backup methods, method make full use of driverless electric automobile itself, do not need additional various rescue aids, Neng Goujian Change rescue operations, shortens rescue time, rescue driverless electric automobile timely and effectively, avoid due to vehicle trouble And vehicle is caused to cause danger with occupant, and account for road for a long time and impact to normal traffic.

Object of the present invention is to be achieved through the following technical solutions: increase by one and executing agency to driverless electric automobile Connected ad hoc interface, ad hoc interface include power end and signal end, can convey electric energy by power end, can by signal end To transmit control instruction.

The ad hoc interface considers that on-off switch is arranged in practical situations in crew module, is controlled by occupant, if connecting Then interface can convey electric energy, transmission control instruction, and interface is invalid if closing, and prevents the hidden danger such as electric leakage.

As disabled vehicle, ad hoc interface power end and signal end are connected with executing agency respectively constitutes power circuit and signal Route, wherein the route of power circuit and power supply to executing agency is parallel line, signal line and control computer to executing machine The route of structure is parallel line.

As relief car, ad hoc interface (tailstock port) and own power source and rescue vehicle control are connected, the interface and Ad hoc interface on disabled vehicle is general-purpose interface, can convey electric energy, transmission control instruction by the interface.

The ad hoc interface, when driverless electric automobile is due to the failures such as short of electricity or sensor, controller, or cannot External network information is obtained to losing unmanned function, but when executing agency does not damage, wherein executing agency is driving electricity Machine, steering motor and braking motor；Disabled vehicle occupant is sent an SOS by vehicle-mounted or mobile device, surrounding breakdown lorry Can be arrived rapidly implementation rescue；Relief car is connected using rescue cable with disabled vehicle ad hoc interface, is event by power circuit Hinder vehicle and electric energy be provided, provides control acceleration and deceleration, braking and course changing control by signal line for the executing agency of disabled vehicle and instruct, Realize disabled vehicle for the servo-actuated traveling of relief car.

The ad hoc interface, when driverless electric automobile power supply delivers power to driving motor, steering motor, braking electricity When the route damage of machine, electric energy can be conveyed by the power circuit that ad hoc interface power end and said mechanism are constituted；Control electricity Brain transmit signals to driving motor, steering motor, braking motor route damage when, can by ad hoc interface signal end with it is upper State the signal line transmission of control signals of mechanism composition.

The ad hoc interface can use reserve battery as disabled vehicle and provide electric energy, and external steering wheel, acceleration and deceleration are stepped on The devices such as plate, brake send control instruction, rescue disabled vehicle.

Detailed description of the invention

Fig. 1 is disabled vehicle ad hoc interface of the present invention and executing agency's connection schematic diagram.

Fig. 2 is relief car of the present invention and disabled vehicle connection line schematic diagram.

Fig. 3 is the rescue cable schematic diagram that realization relief car of the present invention is connect with disabled vehicle.

Fig. 4 is realization disabled vehicle of the present invention traveling feed speed control block diagram servo-actuated for relief car.

Fig. 5 is realization disabled vehicle of the present invention traveling course changing control block diagram servo-actuated for relief car.

Specific embodiment

Specific introduction is done to the present invention below in conjunction with attached drawing and vehicle driving control process:

Ad hoc interface power end and signal end are connected with driving motor, braking motor, steering motor composition respectively as shown in Figure 1: Power circuit and signal line, power circuit and power supply to above-mentioned executing agency power supply line and signal line and control computer extremely The signal wire of above-mentioned executing agency is to be arranged in parallel；When driverless electric automobile is without failure, the vehicle own power source It is that above-mentioned executing agency conveys electric energy by power supply line, itself control computer is its driving motor, braking motor by signal wire And steering motor provides acceleration and deceleration, braking, course changing control instruction, realizes unmanned function, ad hoc interface, which is in, at this time closes State, the power circuit and signal line that ad hoc interface to executing agency is constituted do not play a role.

When driverless electric automobile is due to the failures such as short of electricity or sensor, controller, or external network cannot be obtained Information can enable the ad hoc interface to losing unmanned function, but when executing agency does not damage.

As shown in Figure 2: relief car is connected using rescue cable with disabled vehicle ad hoc interface, is disabled vehicle by power circuit Electric energy is conveyed, is that acceleration and deceleration, braking and course changing control instruction are transmitted in disabled vehicle executing agency by signal line, realizes disabled vehicle The traveling being servo-actuated for relief car.

As shown in Figure 3: relief car and disabled vehicle are attached using the reinforcing tow strap of power cable, signal cable one.

Realization disabled vehicle traveling feed speed control servo-actuated for relief car is illustrated in conjunction with Fig. 1, Fig. 2 and Fig. 4: in event During barrier vehicle follows relief car to travel, two vehicles keep in low speed traveling, pre-set minimum front-and-rear vehicle distance S1 and most Big front-and-rear vehicle distance S2, relief car obtain front-and-rear vehicle distance information S by sensor in real time.

As front-and-rear vehicle distance S < S1, rescue vehicle control issues control instruction, passes through the signal being connected with ad hoc interface Route is applied to the driving motor and braking motor of disabled vehicle, implements to brake and reduces driving motor revolving speed；When actual measurement front and back vehicle When being between S1 and S2 away from S, rescue vehicle control issues control instruction and is made by the signal line being connected with ad hoc interface The driving motor of disabled vehicle is used, keeps driving motor revolving speed constant；When surveying front-and-rear vehicle distance S > S2, vehicle control is rescued The driving motor that control instruction is applied to disabled vehicle by the signal line being connected with ad hoc interface is issued, driving motor is improved Turn；Realize that two following distances are maintained between S1 and S2, it is ensured that servo-actuated traveling of the disabled vehicle for relief car.

Realization disabled vehicle traveling course changing control servo-actuated for relief car is illustrated in conjunction with Fig. 1, Fig. 2 and Fig. 5: being run over Relief car changes in a certain position front wheel angle δ in journey, and rescue vehicle control receives the transition information of front wheel angle δ simultaneously Control instruction is issued after doing respective handling, by lag time t, wherein lag time t is by rescue vehicle control according to rescue The information such as truck position, travel speed and front-and-rear vehicle distance are calculated, and are applied to event by the signal line being connected with ad hoc interface Hinder the steering motor of vehicle, control disabled vehicle front-wheel rotates equal angular in the position that relief car front wheel angle changes, and realizes Two vehicles turn to consistent in same position, it is ensured that servo-actuated traveling of the disabled vehicle for relief car.

Claims

1. An emergency rescue method for unmanned electric vehicles is characterized in that: an ad hoc interface connected to the executive mechanism is added to the unmanned electric vehicles, and the ad hoc interface includes a power supply terminal and a signal terminal, respectively connected to the drive motor, The brake motor and the steering motor are connected to form a power line and a signal line. The power line and the power line and signal line from the power supply to the above-mentioned actuator and the signal line from the control computer to the above-mentioned actuator are all set in parallel, and the power can be transmitted through the power supply. Control instructions can be transmitted through the signal terminal;

The ad hoc interface is provided with an on-off switch in the passenger cabin, which is controlled by the occupant. If it is connected, the interface can transmit electric energy and transmit control instructions. If it is closed, the interface is invalid, preventing hidden dangers such as electric leakage;

As a faulty car, the special interface power supply terminal and signal terminal are respectively connected to the actuator to form a power supply line and a signal line, in which the power supply line and the line from the power supply to the actuator are parallel lines, and the signal line is parallel to the line from the control computer to the actuator line;

As a rescue vehicle, the ad hoc interface is connected to its own power supply and the control system of the rescue vehicle. This interface is a common interface with the ad hoc interface on the faulty vehicle, through which electric energy and control instructions can be transmitted;

The ad hoc interface, when the unmanned electric vehicle loses the unmanned driving function due to lack of power, failure of sensors, controllers, etc., or cannot obtain external network information, but the actuator is not damaged, wherein the actuator is the drive motor, Steering motor and braking motor, the rescue vehicle connects with the special interface of the faulty vehicle through the rescue cable, provides electric energy for the faulty vehicle through the power line, and provides control acceleration, deceleration, braking and steering control instructions for the actuator of the faulty vehicle through the signal line , to realize the follow-up driving of the breakdown vehicle to the rescue vehicle.

2. An emergency rescue method for unmanned electric vehicles according to claim 1, characterized in that: the rescue vehicle and the faulty vehicle are connected using a reinforced tow rope integrating power cables and signal cables.

3. An emergency rescue method for an unmanned electric vehicle according to claim 1, characterized in that: said ad hoc interface, when the power supply of the unmanned electric vehicle transmits electric energy to the drive motor, brake motor and steering motor When the circuit is damaged, the electric energy can be transmitted through the power circuit composed of the special interface power terminal and the above mechanism; The mechanism constitutes a signal line for transmission of control commands.

4. An emergency rescue method for an unmanned electric vehicle according to claim 1, characterized in that: said ad hoc interface can use a spare battery to provide electric energy for the faulty vehicle, and externally connect the steering wheel, acceleration and deceleration pedals, and brakes and other devices to send control commands to rescue the faulty vehicle.