CN115158253A

CN115158253A - Brake apparatus, method, system, and medium for unmanned vehicle to replace safer

Info

Publication number: CN115158253A
Application number: CN202210767376.XA
Authority: CN
Inventors: 孙超林; 余福珍; 苏俊伟; 肖志远
Original assignee: Anhui Aier Power Technology Co ltd
Current assignee: Anhui Aier Power Technology Co ltd
Priority date: 2022-07-01
Filing date: 2022-07-01
Publication date: 2022-10-11

Abstract

The invention relates to the technical field of unmanned driving, in particular to a brake device, a method, a system and a medium for replacing a security officer by an unmanned vehicle, wherein the brake device comprises the following components: the brake pedal device comprises a driving mechanism and a connecting rod mechanism, wherein the driving mechanism is hinged with the connecting rod mechanism and used for driving the connecting rod mechanism to tread a brake pedal when receiving a control instruction sent by a controller, a shell is arranged outside the driving mechanism and the connecting rod mechanism, one end of the shell is rotatably connected with a vertical plate of an L-shaped adjusting plate, and a horizontal plate of the L-shaped adjusting plate is connected and fixed with a vehicle body.

Description

Brake apparatus, method, system, and medium for unmanned vehicle to replace safer

Technical Field

The invention relates to the technical field of unmanned driving, in particular to a brake device, a brake method, a brake system and a brake medium for replacing a security officer by an unmanned vehicle.

Background

With the development of artificial intelligence technology, unmanned driving and intelligent driving are applied to vehicles more and more. At present, unmanned driving is only limited to be used in environments with simple road conditions, such as campuses, scenic spots, enterprise parks, airports and the like, and relatively low transport capacity. For the use scene with complex road conditions, further testing is needed.

In an actual road, a safety person needs to be configured at a driving position in the tests of unmanned driving, intelligent driving and automatic driving, and if an emergency situation is met or a driving system is halted, stuck and the like, the safety person is required to press a brake pedal to brake. If the driving system is crashed or stuck and the driving distance is short, a safety worker cannot step down the brake pedal in time to cause safety accidents, and the personal safety of the safety worker is threatened. Moreover, the work of the safety personnel is boring and tasteless, so that the safety personnel can easily feel a thought or sleep, and once danger occurs, inevitable loss can be caused.

Disclosure of Invention

In view of the above, the present invention provides a braking apparatus, a method, a system and a medium for an unmanned vehicle to replace a security officer, so as to solve the problems that the security officer needs to perform emergency braking to cause danger to the security officer in an unmanned test and accidents caused by negligence of the security officer are avoided.

According to a first aspect of embodiments of the present invention, there is provided a braking method of an unmanned vehicle for replacing a safer, including:

the brake pedal device comprises a driving mechanism and a connecting rod mechanism, wherein the driving mechanism is hinged with the connecting rod mechanism and used for driving the connecting rod mechanism to tread a brake pedal when receiving a control instruction sent by a controller;

wherein, actuating mechanism with link mechanism's outside is provided with the casing, just the one end of casing is connected with the vertical board of L type regulating plate with rotatable mode, the horizontal plate and the vehicle body connection and the fixing of L type regulating plate.

Preferably, the method further comprises the following steps:

and the boosting mechanism is used for assisting the driving mechanism to tread the brake pedal.

Preferably, the drive mechanism comprises: the motor and the reduction gear, just the output shaft and the link mechanism fixed connection of reduction gear.

Preferably, the link mechanism includes: the first end of the crank is fixedly connected with an output shaft of the speed reducer, and the second end of the crank is hinged with the first end of the connecting rod;

the second end of the connecting rod is hinged with a push rod, and the push rod slides on a sliding block fixedly connected with the shell;

and one end of the push rod outside the shell is provided with a roller for treading a brake pedal.

Preferably, the power assisting mechanism is a tension spring, wherein one end of the tension spring is connected to the hinge of the crank and the connecting rod, and the other end of the tension spring is hinged to the shell.

Preferably, a release button is provided on the housing.

Preferably, the actuating end of the brake device is arranged in a suspended manner.

According to a second aspect of an embodiment of the present invention, there is provided a braking method of an unmanned vehicle for replacing a securer, including:

acquiring state information of a driving system, wherein the state information comprises normality and abnormality;

judging whether a brake device is started or not according to the state information;

if the state information is abnormal, starting the brake device;

and if the state information is normal, receiving and executing a control command of a driving system.

According to a third aspect of embodiments of the present invention, there is provided a brake system of an unmanned vehicle for replacing a safer, comprising:

the system comprises an acquisition module, a judgment module and a display module, wherein the acquisition module is used for acquiring state information of a driving system, and the state information comprises normality and abnormality;

the judging module is used for judging whether to start a brake device according to the state information;

if the state information is abnormal, starting the brake device;

According to a fourth aspect of embodiments of the present invention, there is provided a computer-readable storage medium having stored thereon a rewritable computer program;

when the computer program is run on a computer device, it causes the computer device to perform the method described above.

The technical scheme provided by the embodiment of the invention can have the following beneficial effects:

the invention comprises the following steps: the brake pedal device comprises a driving mechanism and a connecting rod mechanism, wherein the driving mechanism is hinged with the connecting rod mechanism and used for driving the connecting rod mechanism to tread a brake pedal when receiving a control instruction sent by a controller, a shell is arranged outside the driving mechanism and the connecting rod mechanism, one end of the shell is rotatably connected with a vertical plate of an L-shaped adjusting plate, and a horizontal plate of the L-shaped adjusting plate is connected and fixed with a vehicle body.

In addition, according to the technical scheme provided by the invention, the actuating end of the brake device is arranged in a suspended manner, so that the driving of a driver is not hindered.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a block diagram of a brake device for an unmanned vehicle in place of a safer according to an exemplary embodiment;

FIG. 2 is a diagram illustrating an internal structure of a brake device of an unmanned vehicle in place of a safer according to an exemplary embodiment;

FIG. 3 is a simplified diagram illustrating the movement of a brake device of an unmanned vehicle in place of a safer according to an exemplary embodiment;

FIG. 4 is a diagram illustrating a brake release button position for an unmanned vehicle in place of a safer according to an exemplary embodiment;

FIG. 5 is a schematic diagram illustrating an unmanned vehicle replacing a safer's brake application force direction in accordance with an exemplary embodiment;

FIG. 6 is a schematic diagram illustrating crank and pushrod motion according to an exemplary embodiment;

FIG. 7 is a time-displacement graph of a brake apparatus according to an exemplary embodiment;

8A-B are load characteristic graphs that are shown in accordance with an exemplary embodiment;

FIG. 9 is a flowchart illustrating a method for replacing a safer's brakes with an unmanned vehicle, according to an exemplary embodiment;

FIG. 10 is a flow chart illustrating a method for replacing a safer brake system 700 with an unmanned vehicle, according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.

Example one

In one embodiment, referring to fig. 1, fig. 1 is a block diagram illustrating a brake apparatus of an unmanned vehicle for replacing a safer according to an exemplary embodiment, as shown in fig. 1, the apparatus including:

the brake pedal device comprises a driving mechanism 1 and a connecting rod mechanism 2, wherein the driving mechanism 1 is hinged with the connecting rod mechanism 2 and is used for driving the connecting rod mechanism 2 to tread a brake pedal when receiving a control instruction sent by a controller;

wherein, the driving mechanism 1 and the outside of the link mechanism 2 are provided with a housing 3, and one end of the housing 3 is rotatably connected with a vertical plate 41 of an L-shaped adjusting plate 4, and a horizontal plate 42 of the L-shaped adjusting plate 4 is connected and fixed with the vehicle body 5.

It should be noted that, the horizontal plate 42 of the L-shaped adjusting plate 4 is provided with 4 slot-shaped openings for passing through bolts when being fixed with the automobile body, and the L-shaped adjusting plate can also be applied to different automobile types for adjusting relative positions when fixing positions. One end of the housing 3 is rotatably connected to the vertical plate 41 of the L-shaped adjusting plate 4, and may be hinged, or connected by a bearing, or connected by a bolt, etc., as long as it is rotatable, which is within the scope of the present application.

It should be noted that application scenarios to which the technical solution provided by this embodiment is applicable include, but are not limited to: automatic driving of the vehicle, assisted driving unmanned, driving, etc. The technical scheme provided by the embodiment can be loaded in a central control system of the current vehicle for use and can also be loaded in electronic equipment for use when in actual use; the electronic devices include, but are not limited to: vehicle-mounted computer and external computer equipment.

In the case of unmanned test, automatic driving, assisted driving, and the like, it is necessary to arrange a safety operator at a driving position, and in the case of a driving system breakdown, stuck, crash, and the like, it is necessary for the safety operator to press a brake pedal to brake the vehicle. If in the test process, the security officer thinks, dozes off or other attention is not concentrated, and the incident takes place very easily, can threaten the security of security officer like this, and the technical scheme of this application plays crucial effect to getting off to security officer in the real unmanned driving.

It should be noted that, the brake device can provide an uninterrupted independent power supply, and can also get electricity from the vehicle body.

In one embodiment, referring to fig. 2, fig. 2 is a view illustrating an internal structure of a brake apparatus of an unmanned vehicle for replacing a safer according to an exemplary embodiment, and as shown in fig. 2, the apparatus further includes: and the power-assisted mechanism 6 is used for assisting the driving mechanism 1 to step on the brake pedal.

Wherein the drive mechanism 1 comprises: a motor (not shown in the figure) and a speed reducer 11, and an output shaft of the speed reducer is fixedly connected with the link mechanism 2.

The link mechanism 2 includes: the crank 21, the connecting rod 22 and the push rod 23, wherein the first end of the crank 21 is fixedly connected with the output shaft of the speed reducer 11, and the second end of the crank is hinged with the first end of the connecting rod 22;

the second end of the connecting rod 22 is hinged with a push rod 23, and the push rod 23 slides on a slide block 31 on the shell 3;

one end of the push rod 23 outside the housing 3 is provided with a roller 231 for stepping on the brake pedal 7.

It should be noted that, at present, in the automatic driving, the intelligent driving and the unmanned driving, the brake pedal 7 is pulled down by the internal assisting force for braking the vehicle, but the vehicle cannot be braked under the conditions of system breakdown, jamming and crash, and the assisting force of the brake pedal 7 disappears when the system breakdown, jamming and crash, and a large acting force is required for stepping on the brake pedal 7 at this time, so that a large torque needs to be provided by the motor, and the power is increased along with the large torque. However, in order to ensure that the original vehicle battery can satisfy the conditions that a driving system and an unmanned vehicle can replace a brake system of a security guard as far as possible under the condition that the original vehicle battery is not changed, the power of the motor is required to be smaller, so the invention sufficiently considers the balance relationship of the driving system and the unmanned vehicle, and is provided with the power assisting mechanism 6 to assist the motor to brake.

It should be noted that, because the roller 231 is provided, the friction resistance is reduced in the process of stepping on the brake pedal 7 by the brake device, and the sliding friction is changed into rolling friction, so as to reduce the damage to the brake pedal 7 in the braking process.

It should be noted that, after a large number of experiments, when the original vehicle driving system is crashed, stuck and crashed, the power assisting system fails, and the relationship between the pedal force and the travel is 0-20mm and 350N;20-40mm,420N, and 500N for the rest.

It should be noted that, in order to adapt to the driving environment of vehicles in different regions, such as high temperature, high cold, etc., the temperature range of the motor and the reducer 11 in the present invention is-40 ℃ to 80 ℃ when selecting. In order to obtain larger torque, the reducer 1 is a worm gear reducer, the reduction ratio of the reducer is 40: 69%/1.2=57.5%. The parameters of the motor are, power: 206W, voltage 42V, rated torque 0.66Nm, maximum torque 2Nm, rated speed 3000RPM, rated voltage operating parameters of output power 207.2W, rated voltage 42V, no-load speed 4200RPM, torque coefficient: 0.06Nm/A. The present embodiment only lists parameters of one motor, but it does not mean that the motor is only one, and other motor parameters adopting the technical solution of the present invention are within the protection scope of the present application.

Referring to fig. 3, in one embodiment, fig. 3 is a simplified diagram illustrating the motion of a brake device of an unmanned vehicle in place of a safer according to an exemplary embodiment, as shown in fig. 3,

specifically, the boosting mechanism 6 is a tension spring 61, wherein one end of the tension spring 61 is connected to the hinge of the crank 21 and the connecting rod 22, and the other end is hinged to the housing 3.

It should be noted that the power assisting mechanism 6 may be a tension spring 61, the connection position of which can be shown in fig. 2-3, or other mechanisms that can assist in providing power, and will not be specifically described herein.

It should be noted that the included angle between the motion range of the crank 21 and the horizontal line is 0-75 °, as shown in fig. 3, and the installation position of the tension spring 61 and the crank 21 always has an included angle.

Referring to fig. 4, in one embodiment, fig. 4 is a position diagram of a brake release button of an unmanned vehicle for replacing a safer according to an exemplary embodiment, and as shown in fig. 4, a release button 8 is provided on a housing 3.

It should be noted that the reason for setting the release button is that, in the process of automatic driving, intelligent driving and unmanned driving, the brake device of the invention needs to be stopped emergently when an emergency occurs, and at this time, locking occurs, that is, the brake pedal is not rebounded after being stepped on, and the brake device can be restored to the initial state by manually clicking the release button.

In one embodiment, the actuating end of the brake device is arranged in a floating manner.

It should be noted that, according to the technical scheme provided by the invention, the execution end of the brake device is arranged in a suspended manner, so that the brake device is suitable for an iBooster brake vehicle type and does not hinder a driver from driving. Referring to fig. 5, fig. 5 is a schematic view illustrating a direction of a brake applying force of an unmanned vehicle to replace a safer according to an exemplary embodiment, wherein 9 and 10 may represent the applying force direction of the position where the brake of the present invention is disposed. Wherein, the position of the action point can be reasonably selected according to a specific mechanism and a vehicle type. This embodiment only exemplifies one specific location, and other locations adopting this scheme are also within the scope of the present invention.

It should be noted that, according to the structural principle of the present invention, specifically, the speed calculation method is as follows:

setting an included angle of 75 degrees between the initial state of the crank 21 and the push rod 23, wherein the motion range of the crank 21 is 0-75 degrees, as shown in FIG. 6;

crank 21 length R =110mm;

length of connecting rod 22

The rotating speed of the motor is 2000RPM, the rotating speed of the motor is V degrees/ms, and V =0.3 degrees/ms;

the execution time T (T is more than or equal to 0 and less than or equal to 250 ms);

the included angle between the crank 21 and the push rod 23 is alpha =75 ° -V × T;

extension of the push rod 23 over time

Through calculation: at 250ms, the movement distance of the brake device is 122.5mm displacement, and a specific time-displacement curve chart is shown in figure 7.

Wherein, the movement distance of the braking device is required to be less than 120mm and less than 122.5mm, and the technical scheme of the invention meets the design requirement.

It should be noted that, according to the structural principle of the present invention, specifically, the torque calculation method is as follows:

setting an included angle beta between the vertical force of the crank 21 and the push rod 23;

the connecting rod 22 and the push rod 23 form an included angle gamma;

the rebound force of the brake pedal 7 at different positions is FT;

motor crank 21 output force F = FT/cos γ cos (β - γ) -F1 cos (40 ° + α/2);

tension spring force F1= L1 × K;

the extension amount L1 of the tension spring 61;

the elasticity coefficient K of the tension spring 61;

the specifications of the tension spring 61 are shown in table 1:

TABLE 1

Material of	Outer diameter mm	Wire diameter mm	Number of turns
				Musical instrument steel wire	12	2.5	44

Under the conditions of no assistance and assistance, at normal temperature and low temperature, the motor load conditions in the whole movement process are shown in table 2:

TABLE 2

Under no assistance, since the force of the tension spring 61 is greater than the rebound force of the brake pedal, when the brake pedal 7 is depressed, the motor is in an idle state and basically has no load, but in a reset state, the load state shown in fig. 8A-B is required.

Through calculation and as shown in fig. 8A-B, under the conditions of normal temperature, low temperature, assistance and no assistance, the maximum output torque of the motor is 1.86Nm of rated torque, the rated torque of the motor is 0.66Nm, and the maximum torque is 2Nm, so that the model selection of the motor, the model selection of the speed reducer and the structural design meet the requirements of the technical scheme of the application.

Wherein, the maximum force is checked:

the rebound force of the brake pedal 7 is 500N when the temperature is minus 40 ℃ and the speed advances by 40 mm;

the transmission efficiency of the speed reducer is 57.5%;

the transmission efficiency of the mechanism is 90%;

the arrangement position of the brake device is parallel to the movement tangent line of the position;

an included angle γ - β =4.7 ° between link 22 and the tangent of crank 21 of 40.2mm α =57.9 ° β =32.1 ° γ =36.8 ° for movement at 57 ms;

the extension amount of the tension spring 61 is 205mm-135mm (free amount) =70mm, the spring elastic coefficient K =10.63N/mm, the spring force F1=70 × 10.63=744.1N, and the included angle between the spring force F1 and the tangent line of the rocker arm is 40 degrees, + alpha/2 =68.95 degrees;

motor rocker output force F = FT/cos γ cos (β - γ) -F1 cos (40 ° + α/2) =500/cos32.1 ° + cos4.7 ° -744.1 × cos68.95 ° =500/0.847 0.999159-744.1 × 0.359=589.8-267.13=322.67n

Motor output torque T = F × R/40/0.575/0.9=1.7146nm.

It should be noted that, in practical application, the controller receives state information sent by a driving system such as automatic driving, unmanned driving or intelligent driving, and if the state information is always normal, a braking instruction issued by the driving system can be received, and the controller controls the rotation speed of a motor in the brake device through the braking instruction, and controls the power supply current, so as to control the torque output of the motor, so that the crank 21 and the connecting rod 22 rotate, and the push rod 23 is pushed out to tread the brake pedal 7, and the braking of various decelerations of the vehicle can be realized. When the abnormal state information is received, the controller starts the brake device, the motor of the power system is electrified, the crank 21 and the connecting rod 22 are controlled to rotate, the push rod 23 is pushed out to step on the brake pedal 7, and the vehicle is braked.

It should be noted that, according to the technical scheme provided by the invention, the driving mechanism 1 and the link mechanism 2 are hinged, and the driving mechanism 1 and the link mechanism 2 are used for driving the link mechanism to tread the brake pedal 7 when receiving a control instruction sent by a controller, wherein a shell 3 is arranged outside the driving mechanism 1 and the link mechanism 2, one end of the shell 3 is rotatably connected with a vertical plate 41 of an L-shaped adjusting plate 4, and a horizontal plate 42 of the L-shaped adjusting plate 4 is connected and fixed with a vehicle body. In addition, according to the technical scheme provided by the invention, the actuating end of the brake device is arranged in a suspended manner, is in no contact with the brake pedal 7, is suitable for an iBooster brake vehicle type and does not obstruct a driver from driving.

Example two

In one embodiment, referring to fig. 9, fig. 9 is a flowchart illustrating a method for replacing a safer's brakes of an unmanned vehicle, according to an exemplary embodiment, as shown in fig. 9, the method comprising:

step S01, acquiring state information of a driving system, wherein the state information comprises normal and abnormal states;

s02, judging whether a brake device is started or not according to the state information;

if the state information is abnormal, starting the brake device;

If the state information is normal, the brake command issued by the driving system may be received, or the brake function during the unmanned driving may be used, so that the brakes of the vehicle at various decelerations may be realized.

In the case of unmanned test, automatic driving, assisted driving, and the like, it is necessary to arrange a safety operator at a driving position, and in the case of a driving system breakdown, stuck, crash, and the like, it is necessary for the safety operator to press a brake pedal to brake the vehicle. If in the test process, the safety personnel think, doze or otherwise have no focus, the safety accident is easy to happen, thus threatening the safety of the safety personnel and playing a vital role in getting off the safety personnel in the real sense of unmanned driving.

It can be understood that, in the technical solution provided in this embodiment, first, state information of the driving system is obtained, where the state information includes normal and abnormal, and the braking device is determined to be started according to the abnormal state information, if the state information is normal, a braking instruction issued by the driving system may be received, and the braking device may also be used as a braking function in the unmanned driving process, so as to implement braking of various decelerations of the vehicle.

EXAMPLE III

In one embodiment, referring to fig. 10, fig. 10 is a flow chart illustrating a brake system 700 for an unmanned vehicle to replace a safer according to an exemplary embodiment, as shown in fig. 7, the system comprising:

the acquiring module 701 is used for acquiring state information of a driving system, wherein the state information comprises normality and abnormality;

a judging module 702, configured to judge whether to start a braking device according to the state information;

if the judging module judges that the state information is abnormal, the brake device is started;

and if the judging module judges that the state information is normal, receiving and executing a control instruction of a driving system.

It should be noted that application scenarios to which the technical solution provided by this embodiment is applicable include, but are not limited to: automatic driving, assisted driving, etc. of the vehicle. The technical scheme provided by the embodiment can be loaded in a central control system of the current vehicle for use and can also be loaded in electronic equipment for use when in actual use; the electronic devices include, but are not limited to: vehicle-mounted computer and external computer equipment.

It should be noted that the system provided by the present invention does not interfere with the driving systems of automatic driving, unmanned driving and intelligent driving, and the system of the present invention starts to be activated only when the driving systems are abnormal. The execution time of the full brake is less than 300ms, the brake force of the pedal is more than 500N, and the maximum deceleration is more than 6m/s under the condition that the power assistance of the driving system fails ² 。

It can be understood that in the technical solution provided in this embodiment, first, the obtaining module 701 is configured to obtain state information of the driving system, where the state information includes normal and abnormal, the determining module 702 is configured to determine whether to start the braking device according to the state information, if the determining module determines that the state information is abnormal, the braking device is started, if the determining module determines that the state information is normal, the braking device is not started, and if the state information is normal, the braking instruction issued by the driving system may be received, and the braking instruction may also be used as a braking function in unmanned driving, so that braking of various decelerations of the vehicle may be implemented. According to the technical scheme, a safety worker does not need to participate in the unmanned process, and the safety worker gets off the vehicle in the unmanned process in the real sense, so that the important function is played.

Example four

A computer-readable storage medium having stored thereon a rewritable computer program according to an exemplary embodiment is shown;

when the computer program is run on a computer device, it causes the computer device to perform a method of braking for an unmanned vehicle in place of a safer as described above.

The computer-readable storage medium disclosed by the embodiment includes but is not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A brake apparatus for an unmanned vehicle to replace a safer, comprising:

wherein, actuating mechanism with link mechanism's outside is provided with the casing, just the one end of casing is connected with the vertical board of L type regulating plate with rotatable mode, the horizontal plate and the vehicle body of L type regulating plate are connected and are fixed.

2. The apparatus of claim 1, further comprising:

and the power-assisted mechanism is used for assisting the driving mechanism to tread the brake pedal.

3. The device of claim 2, wherein the drive mechanism comprises: the motor and the speed reducer, and the output shaft of speed reducer and link mechanism fixed connection.

4. The apparatus of claim 3, wherein the linkage mechanism comprises: the first end of the crank is fixedly connected with an output shaft of the speed reducer, and the second end of the crank is hinged with the first end of the connecting rod;

5. The device as claimed in claim 4, wherein the power assisting mechanism is a tension spring, wherein one end of the tension spring is connected to the joint of the crank and the connecting rod, and the other end of the tension spring is hinged to the housing.

6. The device of claim 5, wherein the housing is provided with a release button.

7. The device as claimed in any one of claims 1 to 6, wherein the actuating end of the braking device is suspended.

8. A braking method for an unmanned vehicle to replace a safer, comprising:

judging whether to start a brake device according to the state information;

if the state information is abnormal, starting the brake device;

9. A brake system for an unmanned vehicle to replace a safer, comprising:

the judging module is used for judging whether to start the brake device according to the state information;

if the state information is abnormal, starting the brake device;

10. A computer-readable storage medium having stored thereon an erasable computer program;

the computer program, when run on a computer device, causes the computer device to perform the method of claim 8.