CN111055764A - Logistics truck reversing and unloading auxiliary parking system and control method thereof - Google Patents
Logistics truck reversing and unloading auxiliary parking system and control method thereof Download PDFInfo
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- CN111055764A CN111055764A CN201911198450.5A CN201911198450A CN111055764A CN 111055764 A CN111055764 A CN 111055764A CN 201911198450 A CN201911198450 A CN 201911198450A CN 111055764 A CN111055764 A CN 111055764A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
- B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
- B60Q9/006—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a distance sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a logistics truck reversing and unloading auxiliary parking system and a control method thereof, wherein the system comprises a distance sensor, a power supply, a system switch and a central control unit, the distance sensor and the system switch are connected with the central control unit, the power supply supplies power to the central control unit, a target parking distance is preset in the central control unit, the central control unit is in signal connection with a brake anti-lock system, an automobile body controller, an engine management system and an automatic gearbox control unit of a logistics truck by means of an automobile bus, and the central control unit obtains an accelerator pedal signal, a brake pedal signal and a hand brake signal from the logistics truck. The invention enables a driver to quickly and simply stop the truck to a target stop distance when unloading and backing, can control the speed within a certain range to cope with an emergency event needing to stop, and avoids the condition that the unloading platform is collided by misoperation.
Description
Technical Field
The invention relates to the field of automobile brake control, in particular to a reversing and unloading auxiliary parking system of a logistics freight car and a control method thereof.
Background
Parking distance control systems have been applied to more and more private cars and trucks. The ordinary PDC (Parkinson distance control) system is composed of an ultrasonic sensor and a sound generator, the distance between the tail of the vehicle and a rear obstacle is measured through the ultrasonic sensor, and sounds with different frequencies are emitted according to the distance to remind a driver. Some backup assistance systems also use a camera to transmit video data back for reference by the driver. However, in any of the parking distance control systems, the vehicle itself is not controlled, but only the distance between the vehicle tail and the obstacle is prompted, and the driving skill of the driver is highly demanded. Even if the driver has certain control capability on the automobile, the accurate parking position cannot be ensured. This phenomenon is more obvious for logistics trucks which are more difficult to handle, and often the situation that the logistics trucks reverse too fast to hit the unloading platform occurs.
Disclosure of Invention
The invention aims to provide a logistics goods van reverse unloading auxiliary parking system and a control method thereof.
The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.
According to one aspect of the invention, the logistics truck reversing and unloading auxiliary parking system comprises a distance sensor, a power supply, a system switch and a central control unit, wherein the distance sensor and the system switch are connected with the central control unit, the power supply supplies power to the central control unit, a target parking distance is preset in the central control unit, the central control unit is in signal connection with a brake anti-lock system, an automobile body controller, an engine management system and an automatic gearbox control unit of a logistics truck by means of an automobile bus, and the central control unit obtains an accelerator pedal signal, a brake pedal signal and a hand brake signal from the logistics truck.
In an embodiment said central control unit of the system obtains gear information from said automatic gearbox control unit.
In one embodiment, the central control unit of the system obtains the current vehicle speed from the anti-lock braking system and controls the vehicle speed through the anti-lock braking system.
In an embodiment, the distance sensor of the system is an ultrasonic sensor.
In one embodiment, the central control unit of the system is further in signal connection with a truck air conditioning system, and the central control unit corrects the offset value of the ultrasonic sensor according to the external temperature collected by the truck air conditioning system.
According to another aspect of the invention, there is also provided a control method of any one of the above logistics wagon reversing auxiliary parking systems, including:
step one, acquiring gear information and a current distance from an automatic gearbox control unit;
step two, confirming the system switch state;
step three, comparing the target parking distance with the current target parking distanceDistance, calculating the maximum speed V of vehiclemAnd the most suitable vehicle speed Vs；
Step four, judging the state of a brake pedal of the vehicle, entering step five if the brake pedal is released, and ending if the brake pedal is not released;
step five, acquiring the current vehicle speed VnAccording to the maximum vehicle speed VmAnd the most suitable vehicle speed VsControlling the backing speed until the vehicle stops;
sixthly, controlling light through the automobile body controller to remind a driver of finishing the backing-up;
and seventhly, collecting hand brake signals, and finishing the system after the driver pulls the hand brake.
In an embodiment, the first step of the method specifically includes: and acquiring gear information from the automatic gearbox control unit system, judging whether the current gear is a reverse gear, measuring the current distance by using a distance sensor if the current gear is the reverse gear, and finishing if the current gear is not the reverse gear.
In an embodiment, the second step of the method specifically includes: and detecting whether a system switch is pressed down, if not, judging the backing car as non-unloading parking, not starting the system, and if the system switch is pressed down, starting the system.
In an embodiment, the fifth step of the method specifically includes: judging whether the target stopping distance is reached, if the target stopping distance is reached, entering the step six, and if the target stopping distance is not reached, communicating the central control unit with the anti-lock braking system to obtain the current vehicle speed VnThe current vehicle speed V is calculatednAnd the most suitable vehicle speed VsComparing, the current speed V is controlled by the anti-lock braking systemnApproaching the most suitable vehicle speed Vs。
In an embodiment, the fifth step of the method further includes: comparing the current vehicle speed VnWith a maximum vehicle speed VmIf V isn＞VmControlling the truck to decelerate if Vn≤VmThen no deceleration is performed.
The embodiment of the invention has the beneficial effects that: the invention enables a driver to quickly and simply stop the truck to a target stop distance when unloading and backing, can control the speed within a certain range to cope with an emergency event needing to stop, and avoids the condition that the unloading platform is collided by misoperation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
The above features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings. In the drawings, components are not necessarily drawn to scale, and components having similar relative characteristics or features may have the same or similar reference numerals.
FIG. 1 is a block diagram of the architecture of an embodiment of the system of the present invention;
FIG. 2 is a flow diagram of an embodiment of the method of the present invention.
Wherein: 1-an ultrasonic sensor; 2-a power supply; 3-a system switch; 4-ABS system; 5-BCM system; 6-an EMS system; 7-TCU system; 8-car bus; 9-a central control unit.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is noted that the aspects described below in connection with the figures and the specific embodiments are only exemplary and should not be construed as imposing any limitation on the scope of the present invention.
As shown in fig. 1, the embodiment of the invention discloses a logistics freight car reverse unloading auxiliary parking system, which comprises an ultrasonic sensor 1, a power supply 2, a system switch 3, an ABS (anti-lock brake system) system 4, a BCM (car body controller) system 5, an EMS (engine management) system 6, a TCU (automatic transmission control unit) system 7, a car bus (CAN)8 and a central control unit 9. The central control unit 9 of the auxiliary system is communicated with the ABS system 4 through an automobile bus 8 to complete the functions of vehicle speed acquisition and vehicle speed control; communicating with the BCM system 5 to obtain light and vehicle door state signals; communicating with the EMS system 6 to obtain the operating state of the engine (if an accelerator pedal signal and a brake pedal signal can be sent out by the bus through the EMS, the pedal states are collected at the same time); and communicating with the TCU system 7 to acquire gear information. The accelerator pedal signal and the brake pedal signal are input into the control intention of the driver, and if the EMS system can collect the two signals, other sensors are not needed.
In the present embodiment, the ultrasonic sensor 1 obtains the current distance data for the present system, and those skilled in the art can easily understand that a laser or an infrared sensor may be used instead, as long as the distance measurement function can be realized. Aiming at the problem that the ultrasonic sensor 1 has deviation at different temperatures, an air conditioning system can be used for collecting external temperature to correct the deviation value of the ultrasonic sensor 1.
In addition, the system presets a target parking distance, compares the target parking distance with the current distance and calculates the maximum vehicle speed V capable of stably parking to the target parking distance at the current distancemAnd the most suitable vehicle speed VsAnd then the vehicle speed is sent to the ABS system 4 for vehicle speed control. For example, when the target parking distance is 1m from the unloading platform and the current distance is 11m, the vehicle needs to walk 10m, and the optimal vehicle speed V issThe maximum speed V can be between 5km/h and 10km/hm15km/h can be taken, and the ABS system 4 can use the most suitable vehicle speed VsAnd adjusting the current vehicle speed for the target value, adjusting the vehicle speed to the most appropriate reversing vehicle speed, and stopping the vehicle after the target stopping distance is reached.
Meanwhile, if the current vehicle speed V isnGreater than the maximum vehicle speed VmThe speed of the vehicle is also regulated and controlled by the ABS system 4 so as to deal with the emergency event that the vehicle needs to stop, and the condition that the platform is collided by misoperation is avoided.
On the basis of the above description, the light control function of the BCM system 5 is reserved, the power control function of the EMS system 6 is reserved, and the gear control function of the TCU system 7 is reserved.
As shown in fig. 2, the control method of the reverse unloading auxiliary docking system for the logistics freight car includes:
firstly, the system and the TCU system 7 communicate to obtain gear information, whether the gear is a reverse gear is judged, after the gear is judged to be the reverse gear, the ultrasonic sensor measures the real-time distance, and if the gear is not the reverse gear, the method is finished.
And secondly, detecting whether a system switch 3 is pressed down, if not, regarding the backing car as non-unloading parking, not starting the system, and if so, starting the system.
Thirdly, after the system is started, the target stopping distance is confirmed, the system compares the target stopping distance with the current distance and calculates the maximum vehicle speed V of the distance which can be stably stopped at the target stopping distancemAnd the most suitable vehicle speed Vs。
And fourthly, the system is communicated with the EMS system 6 to detect whether the brake pedal is released. If not, the process is finished. And if the brake pedal is released, entering a fifth step.
And fifthly, judging whether the target stopping distance is reached, entering a seventh step if the target stopping distance is reached, communicating the system with the ABS system 4 to obtain the current vehicle speed value if the target stopping distance is not reached, and converting the current vehicle speed V into the current vehicle speed VnAnd the previously calculated optimum vehicle speed VsIn comparison, the ABS system 4 controls the vehicle speed.
Simultaneously comparing the current vehicle speed VnAnd the maximum vehicle speed V capable of stopping stablymIf V isn＞VmThe ABS system 4 controls the deceleration of the vehicle to ensure that it does not collide with the landing platform. If the speed is not greater than the maximum speed, the vehicle is not decelerated.
And sixthly, the system is communicated with the ABS system 4 to control the truck to stop, and is communicated with the BCM system 5 to control light to remind a driver of finishing the backing.
And seventhly, the system collects hand brake signals to know that the system is finished after the driver pulls the hand brake.
By the control method, a driver can quickly and simply stop the truck to the target stop distance when unloading and backing, can control the speed within a certain range, cope with an emergency event needing stopping, and avoid the condition that the platform is collided by misoperation.
In conclusion, the invention provides a logistics freight car reversing and unloading auxiliary parking system and a control method, which can improve reversing efficiency and safety. The driver can quickly and simply stop the truck to the target stopping distance when unloading and backing, the speed of the truck can be controlled within a certain range, emergency events needing stopping can be responded, and the situation that the truck collides with the unloading platform due to misoperation is avoided.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The above description is only a preferred example of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present application should be included in the scope of the present application.
Claims (10)
1. The utility model provides a commodity circulation freight train is backed a car and is unloaded supplementary system of berthing which characterized in that: including distance sensor, power, system switch and well accuse unit, distance sensor and system switch with well accuse unit connects, the power to well accuse unit power supply, the target stopping distance has been preset in well accuse unit, well accuse unit is with the help of car bus and the braking anti-lock system of commodity circulation freight train itself, automobile body controller, engine management system and automatic gearbox control unit signal connection, well accuse unit obtains accelerator pedal signal, brake pedal signal and manual brake signal from commodity circulation freight train department.
2. The reverse unloading auxiliary docking system for the logistics freight car as claimed in claim 1, wherein: the central control unit acquires gear information from the automatic gearbox control unit.
3. The reverse unloading auxiliary docking system for the logistics freight car as claimed in claim 1, wherein: and the central control unit acquires the current vehicle speed from the anti-lock braking system and controls the vehicle speed through the anti-lock braking system.
4. The reverse unloading auxiliary docking system for the logistics freight car as claimed in claim 1, wherein: the distance sensor is an ultrasonic sensor.
5. The reverse unloading auxiliary docking system for the logistics freight car as claimed in claim 4, wherein: the central control unit is further in signal connection with a truck air conditioning system, and corrects the deviation value of the ultrasonic sensor according to the external temperature collected by the truck air conditioning system.
6. A control method of the logistics freight car reverse auxiliary parking system as claimed in any one of claims 1 to 5,
it is characterized by comprising:
step one, acquiring gear information and a current distance from an automatic gearbox control unit;
step two, confirming the system switch state;
step three, comparing the target parking distance with the current distance, and calculating the maximum vehicle speed V capable of stably parkingmAnd the most suitable vehicle speed Vs；
Step four, judging the state of a brake pedal of the vehicle, entering step five if the brake pedal is released, and ending if the brake pedal is not released;
step five, acquiring the current vehicle speed VnAccording to the maximum vehicle speed VmAnd the most suitable vehicle speed VsControlling the backing speed until the vehicle stops;
sixthly, controlling light through the automobile body controller to remind a driver of finishing the backing-up;
and seventhly, collecting hand brake signals, and finishing the system after the driver pulls the hand brake.
7. The control method of the logistics wagon reversing auxiliary docking system as claimed in claim 6, wherein the first step specifically comprises: and acquiring gear information from the automatic gearbox control unit system, judging whether the current gear is a reverse gear, measuring the current distance by using a distance sensor if the current gear is the reverse gear, and finishing if the current gear is not the reverse gear.
8. The control method of the logistics wagon reversing auxiliary docking system as claimed in claim 6, wherein the second step specifically comprises: and detecting whether a system switch is pressed down, if not, judging the backing car as non-unloading parking, not starting the system, and if the system switch is pressed down, starting the system.
9. The control method of the logistics wagon reversing auxiliary docking system as claimed in claim 6, wherein the step five specifically comprises:
judging whether the target stopping distance is reached, if the target stopping distance is reached, entering the step six, and if the target stopping distance is not reached, communicating the central control unit with the anti-lock braking system to obtain the current vehicle speed VnThe current vehicle speed V is calculatednAnd the most suitable vehicle speed VsComparing and controlling the current vehicle speed VnApproaching the most suitable vehicle speed Vs。
10. The control method of the logistics wagon backup auxiliary docking system of claim 9, wherein the step five further comprises:
comparing the current vehicle speed VnWith a maximum vehicle speed VmIf V isn＞VmControlling the truck to decelerate if Vn≤VmThen no deceleration is performed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911198450.5A CN111055764A (en) | 2019-11-29 | 2019-11-29 | Logistics truck reversing and unloading auxiliary parking system and control method thereof |
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| CN201911198450.5A CN111055764A (en) | 2019-11-29 | 2019-11-29 | Logistics truck reversing and unloading auxiliary parking system and control method thereof |
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Cited By (3)
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| CN112046298A (en) * | 2020-08-11 | 2020-12-08 | 宁波智翔信息技术有限公司 | Reverse protection method based on truck |
| CN115199741A (en) * | 2022-09-13 | 2022-10-18 | 盛瑞传动股份有限公司 | Control method of reverse gear speed, automatic gearbox and vehicle |
| CN116189414A (en) * | 2023-02-20 | 2023-05-30 | 中铁工程装备集团有限公司 | Transport vehicle scheduling system for shield construction |
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