CN110667535A - A universal brake-by-wire device and braking method for automatic driving vehicles suitable for man-machine co-driving - Google Patents

Abstract

The invention relates to a universal wire-controlled brake device and a braking method for an automatic driving vehicle suitable for man-machine co-driving. The brake device comprises a brake pedal, a return spring connected to it, a wire-controlled brake device body and a brake Actuator, one end of the brake-by-wire device body is connected to the arc-shaped convex part of the brake pedal, and the other end is connected to the brake actuator. The brake actuator provides power for the brake-by-wire device body to realize the brake pedal. One-way drive; the invention not only has a simple and reliable structure, but also realizes the brake-by-wire in the unmanned mode while ensuring the independence of the manual braking system, and has low modification cost and high feasibility, is suitable for different types of vehicles, and has certain advantages Universality.

Description

A universal brake-by-wire device and control system for automatic driving vehicles suitable for human-machine co-driving dynamic method

technical field

The invention relates to a universal line-by-wire braking device and a braking method for an automatic driving vehicle suitable for man-machine co-driving, and belongs to the field of unmanned vehicles.

Background technique

The unmanned vehicle detects environmental information and vehicle status information through the perception system, makes decision processing through the on-board controller, and then controls the steering, acceleration, and braking of the vehicle through the lower computer to complete the autonomous driving of the vehicle.

The braking performance of unmanned vehicles is an important indicator to measure the entire automatic driving system, and the braking system is related to the safety of unmanned vehicles. At present, the unmanned driving technology is not yet mature, and manual driving is still required for complex scenes. Therefore, the modified braking system must ensure the independence of the original braking system and cannot affect the driver's operation of the brake pedal; Unexpected control results may occur at any time in the driving mode, and the driver must be able to intervene in the braking system at any time to ensure driving safety.

SUMMARY OF THE INVENTION

The invention provides a universal brake-by-wire device and braking method for an automatic driving vehicle suitable for man-machine co-driving, which not only has a simple and reliable structure, but also realizes the brake-by-wire in the unmanned mode while ensuring the independence of the manual braking system. Moreover, the modification cost is low and the feasibility is high, it is suitable for different types of vehicles, and has certain versatility.

The technical scheme adopted by the present invention to solve its technical problems is:

A universal wire-controlled brake device for automatic driving vehicles suitable for man-machine co-driving, comprising a brake pedal, a return spring connected to the brake pedal, a wire-controlled brake device body and a brake actuator, one end of the wire-controlled brake device body is connected to The arc-shaped convex part of the brake pedal is connected, and the other end is connected with the brake actuator, and the brake actuator provides power for the brake-by-wire device body to realize one-way driving of the brake pedal;

As a further preference of the present invention, the aforementioned brake-by-wire device body includes a connecting rod and a rocker arm, a straight notch is provided on the connecting rod, and the straight notch is close to one end of the connecting rod, one end of the rocker arm is hinged with a pin, and the pin is embedded in the In the straight slot, and the pin can reciprocate in the straight slot, and the other end of the rocker arm is connected to the rotating shaft of the steering gear;

As a further preference of the present invention, when the vehicle is braked, the steering gear rotates counterclockwise, and the rocker arm drives the pin to move toward the end close to the brake pedal in the straight notch; when the brake pedal is at the limit position, the pin is close to the straight notch One end of the brake pedal has a distance;

When the vehicle stops braking, the steering gear rotates clockwise, and the brake pedal is reset under the action of the return spring; when the brake pedal is in the release position, the pin contacts the end of the straight notch away from the brake pedal;

As a further preference of the present invention, the aforementioned brake actuator is a steering gear;

A braking method for a universal brake-by-wire device for an automatic driving vehicle suitable for human-machine co-driving, comprising the following modes:

In manual driving mode, the rocker arm is in the extreme position to fully release the brake pedal, when the driver depresses the brake pedal, the pin attached to the rocker arm will slide in the straight notch of the connecting rod while the servo is not rotating ;The length of the straight notch on the connecting rod ensures that the connecting rod will not drive the above rocker arm when the brake pedal is in the braking limit position in the manual driving mode;

In the driverless mode, the driver intervenes at any time to brake to ensure the safety of the driverless vehicle.

Through the above technical solutions, with respect to the prior art, the present invention has the following beneficial effects:

1. The present invention can achieve the effects of simple and reliable structure, convenient installation and low modification cost without changing the braking system of the original vehicle;

2. The present invention ensures the independence of the manual braking system and simultaneously realizes the brake-by-wire in the unmanned mode;

3. The present invention can still achieve manual intervention in the unmanned mode, which ensures the safety of unmanned driving.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

1 is a schematic structural diagram of a preferred embodiment of the present invention;

FIG. 2 is a schematic diagram of the state of the device when the driver depresses the brake pedal according to the preferred embodiment of the present invention.

In the picture: 1 is the brake pedal, 2 is the connecting rod, 3 is the rocker arm, and 4 is the steering gear.

Detailed ways

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, and only illustrate the basic structure of the present invention in a schematic manner, so they only show the structures related to the present invention.

As shown in Figures 1-2, the present invention involves the following characteristic components: 1 is a brake pedal, 2 is a connecting rod, 3 is a rocker arm, and 4 is a steering gear.

In the prior art, driving the brake pedal requires sufficient driving force and the limitation of the modification space, and a motor with a small size and a large torque is selected as the brake actuator. If the motor is driven artificially by the output end to rotate, it will require a large torque, and in the power-on state, it is almost impossible to rotate the motor by the artificial drive of the output end; The brake is realized by moving the pedal, but in the manned driving mode, the driver needs to do extra work on the drive motor. In the automatic driving mode, the motor is powered on, and the driving motor maintains a huge torque, and the driver can hardly intervene in the braking system. When the autonomous driving system fails, the consequences will be catastrophic.

Therefore, the present invention provides a universal brake-by-wire device for automatic driving vehicles suitable for man-machine co-driving, including a brake pedal, a return spring connected to the brake pedal, a brake-by-wire device body and a brake actuator, the brake-by-wire device. One end of the device body is connected to the arc-shaped convex part of the brake pedal, and the other end is connected to the brake actuator, and the brake actuator provides power for the brake-by-wire device body. On the premise of the independence of the original braking system, the brake-by-wire in the unmanned mode is realized, that is to say, the brake-by-wire device body in this application realizes one-way drive to the brake pedal;

The specific preferred embodiment 1 is as follows:

As shown in FIG. 1, the body of the brake-by-wire device provided by the present invention includes a connecting rod and a rocker arm. A straight notch is provided on the connecting rod, and the straight notch is close to one end of the connecting rod. One end of the rocker arm is hinged with a pin, and the pin is embedded in the connecting rod. In the straight slot, and the pin can reciprocate in the straight slot,

The preferred brake actuator is a steering gear, and the other end of the rocker arm is connected to the rotating shaft of the steering gear;

What the applicant wants to show is that the length of the connecting rod and the opening length of the straight notch are related to the total stroke of the brake pedal.

When the vehicle brakes, the steering gear rotates counterclockwise (forward rotation for the steering gear), and the rocker arm drives the pin to move toward the end of the brake pedal in the straight slot; when the brake pedal is at the limit position, the pin and the straight There is a distance from the end of the notch close to the brake pedal. The setting of the distance margin ensures that the force exerted by the driver on the brake pedal in the manual driving mode cannot be transmitted to the steering gear rocker arm through the connecting rod, and the brake pads are worn during the use of the car. It will lead to an increase in the braking stroke, and the distance margin can ensure that the braking system can still work reliably after the braking stroke is increased;

When the vehicle stops braking, the steering gear rotates clockwise, and the brake pedal is reset under the action of the return spring; when the brake pedal is in the release position, the pin contacts the end of the straight notch away from the brake pedal; A slight rotation of the steering gear in the braking direction can drive the brake pedal to ensure the timeliness of the brake-by-wire.

Example 2:

Through the structure of Embodiment 1 of the present application, the specific real-time steps are as follows:

In the manual driving mode, the rocker arm is in the limit position where the brake pedal is fully released. The so-called limit position means that the steering gear rotates slightly in the braking direction to drive the brake pedal; when the driver steps on the brake pedal, The pin connected to the rocker arm will slide in the straight notch of the above connecting rod without driving the steering gear to rotate, thus ensuring the independence of the original braking system; the length of the straight notch on the connecting rod ensures that in manual driving mode When the brake pedal is at the braking limit position, the connecting rod will not drive the above rocker arm (as shown in Figure 2);

In driverless mode, the driver can intervene in the braking at any time to ensure the safety of the driverless vehicle.

It will be understood by those of ordinary skill in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and, unless defined as herein, are not to be taken in an idealized or overly formal sense. explain.

The meaning of "and/or" described in this application means that each of them exists alone or both are included.

The meaning of "connection" described in this application may be a direct connection between components or an indirect connection between components through other components.

Taking the above ideal embodiments according to the present invention as inspiration, and through the above description, relevant personnel can make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the contents in the specification, and the technical scope must be determined according to the scope of the claims.

Claims (5)

1. a general-purpose brake-by-wire device for an automatic driving vehicle that is applicable to man-machine co-driving, comprising a brake pedal, and a return spring connected with it, characterized in that: also comprising a brake-by-wire device body and a brake actuator, the wire One end of the control brake device body is connected with the arc-shaped convex part of the brake pedal, and the other end is connected with the brake actuator. 2. The universal brake-by-wire device for an automatic driving vehicle suitable for man-machine co-driving according to claim 1, characterized in that: the aforementioned brake-by-wire device body comprises a connecting rod and a rocker arm, and a straight notch is provided on the connecting rod , and the straight notch is close to one end of the connecting rod, one end of the rocker arm is hinged with the pin, the pin is embedded in the straight notch, and the pin can reciprocate in the straight notch, and the other end of the rocker arm is connected to the rotating shaft of the steering gear. 3. The universal brake-by-wire device for automatic driving vehicles suitable for man-machine co-driving according to claim 2, is characterized in that: When the vehicle brakes, the steering gear rotates counterclockwise, and the rocker arm drives the pin to move in the straight notch to the end close to the brake pedal; when the brake pedal is at the limit position, the pin is at a distance from the end of the straight notch close to the brake pedal ; When the vehicle stops braking, the steering gear rotates clockwise, and the brake pedal is reset under the action of the return spring; when the brake pedal is in the release position, the pin contacts the end of the straight notch away from the brake pedal. 4 . The universal brake-by-wire device for an automatic driving vehicle according to claim 1 , wherein the brake actuator is a steering gear. 5 . 5. A braking method for a universal brake-by-wire device for an automatic driving vehicle that is suitable for man-machine co-driving, characterized in that: comprising the following modes: In manual driving mode, the rocker arm is in the extreme position to fully release the brake pedal, when the driver depresses the brake pedal, the pin attached to the rocker arm will slide in the straight notch of the connecting rod while the servo is not rotating ;The length of the straight notch on the connecting rod ensures that the connecting rod will not drive the above rocker arm when the brake pedal is in the braking limit position in the manual driving mode; In the driverless mode, the driver intervenes at any time to brake to ensure the safety of the driverless vehicle.

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