CN118977689A - Vehicle braking control system and control method based on moving target control - Google Patents
Vehicle braking control system and control method based on moving target control Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/24—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being gaseous
- B60T13/46—Vacuum systems
- B60T13/52—Vacuum systems indirect, i.e. vacuum booster units
- B60T13/563—Vacuum systems indirect, i.e. vacuum booster units with multiple booster units, e.g. tandem booster units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/746—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive and mechanical transmission of the braking action
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention discloses a vehicle brake control system and a control method based on moving object control, wherein the system comprises the following components: the double-booster system is provided with a detection module and is used for generating a plurality of uniform braking forces; the wheels are respectively connected with the double-booster system; the detection module is used for detecting the running state of the vehicle and controlling the double-booster system to generate braking force according to the detection result. According to the invention, the driving motor and the transmission rod are arranged as a combination to form a double-power-assisted system with the vacuum power-assisted device, so that the power-assisted effect during manual braking is further improved, and the power-assisted system is backed up; the pressure equalizing device is formed by connecting the pressure equalizing cylinder bodies in series with the double-cylinder assembly in the prior art, so that when the vehicle encounters an emergency, the pressure equalizing and pressing of each vehicle can be realized, and the data in the running process of the vehicle is detected and analyzed through the detection module, so that the uniform cylinder bodies are adaptively controlled to finish braking, and the safety of the running braking process is improved.
Description
Technical Field
The invention relates to the technical field of vehicle braking, in particular to a vehicle braking control system and a control method based on moving target control.
Background
Current vehicle braking systems are in the form of transmissions, and the braking systems can be divided into mechanical, hydraulic and pneumatic braking systems. The mechanical braking system is only used for the parking braking device of the automobile, the service braking system mainly uses a hydraulic or pneumatic braking system, and the hydraulic braking system is divided into a vacuum hydraulic system and a pneumatic hydraulic system and is applied to the service braking system of the medium and small-sized automobile. The pneumatic braking system is mainly applied to a service braking system of a medium-heavy vehicle. The existing brake control system is mainly arranged in a (pneumatic) hydraulic double-pipeline mode, and the existing double-pipeline mode has the following advantages: two independent brake pipelines are arranged in the brake system, one pipeline fails in the use process, and the other pipeline can still function, so that certain brake is ensured, and the reliability and safety of the brake are ensured; the brake lines are divided into different axles: the front axle and the rear axle are independent, the front wheel diagonal and the rear wheel diagonal are independent, the wheel cylinders are independent, and the brake arrangement forms of the three brake arrangements are not independent.
In the prior art, a single-booster double-cylinder, one cylinder controls double front wheels, one cylinder controls double rear wheels (front and rear axles are mutually independent), and an independent brake control system arrangement scheme is adopted; the scheme has the following defects: the single power assisting system fails, and the braking effect of the vehicle can be greatly influenced; when the double front wheels or the double rear wheels of the vehicle bear larger load, the vehicle cannot achieve the effect of safe braking when the double front wheels or the double rear wheels of the vehicle bear larger load are in failure.
The diagram in the prior art is a single-booster double-cylinder, one cylinder controls the diagonal front and rear wheels, and the other cylinder also controls the diagonal front and rear wheels (the front and rear wheels are independent from each other in opposite angles) brake control system arrangement scheme; the scheme has the following defects: the single power assisting system fails, and the braking effect of the vehicle can be greatly influenced; when a one-way braking system fails, only a single front wheel and a single rear wheel of the vehicle are braked, the vehicle has a larger sideslip phenomenon, and the vehicle can only achieve a normal 50% braking effect although the vehicle has a decelerating braking effect, so that the vehicle still has potential braking safety hazards.
In the prior art, a single-booster double-cylinder one cylinder controls front and rear four wheels, and the other cylinder also controls a front and rear four wheel (wheel cylinders are independent of each other) brake control system arrangement scheme; the scheme has the following defects: the single power assisting system fails, and the braking effect of the vehicle can be greatly influenced; when a wheel damages a braking system due to high-temperature combustion failure caused by braking, both front wheels and both rear wheels of a vehicle in a double-path cannot obtain braking.
For the existing brake control pipeline arrangement (taking hydraulic double pipeline arrangement scheme as an example, the air pressure is the same) of several vehicles, the following can be judged: the existing vehicle brake control system mainly comprises a single-booster double-cylinder relatively safe at present, wherein one cylinder controls the front wheels and the rear wheels of a diagonal line, and the other cylinder also controls the arrangement scheme of the brake control system of the front wheels and the rear wheels of the diagonal line;
The related Chinese invention patents and the shortages are as follows:
a. in the prior art, the early authorization bulletin number CN2442898Y discloses an unmanned vehicle executing device, and provides an unmanned braking executing structure under remote control operation, but the structure is complex, the reliability and the braking force controllability are not high, and the unmanned braking executing structure is not suitable for vehicle braking control.
B. The chinese patent application No. 201410387507.7 discloses a brake system for an unmanned vehicle for realizing dual-circuit braking, and proposes a dual-circuit braking mode of a manual braking circuit and a circuit braking circuit, but the braking cannot be performed accurately and effectively due to lack of a key braking pressure and braking force detection device, braking force controllability cannot be realized, and manufacturing cost is relatively expensive.
C. The Chinese patent application No. 201510521026.5 discloses a brake system and a method for an unmanned heavy vehicle, and proposes a method adopting pneumatic braking, but the braking speed reduction function of the vehicle cannot be controlled by detecting the magnitude of braking force due to the compressibility of gas and the technical defects (without a braking force detection device) of the technical scheme.
D. The Chinese patent (issued publication No. CN 103625454B) discloses a braking device for an unmanned vehicle, which is characterized in that a motor drives a worm gear mechanism to drive a gear rack to push a master cylinder to brake, the precision of the mechanism is poor, a transmission mechanism is complex, the transmission error is large, and the braking force cannot be used as the feedback quantity and the control quantity of braking force control, so that accurate braking and deceleration control cannot be realized.
E. the invention of China (issued publication number CN 101797917B) discloses a braking device of an unmanned vehicle, which has the technical scheme that the existing unmanned vehicle is refitted into a braking plate, a motor is adopted to rotate, a steel wire wound around a braking pedal is wound and released through a worm gear transmission part, and the functions of simulating the stepping of a person on the pedal and releasing the pedal are realized.
F. The Chinese patent (issued publication No. CN 114734971B) discloses a vehicle brake control system, a control method and a vehicle, and the technology proposes a method adopting air pressure braking, a large number of sensing elements with lower sensitivity and accuracy such as a temperature sensor, a pressure sensor, an electromagnetic valve and the like are used, the braking cannot be accurately, quickly and effectively performed, the accurate, quick and effective braking cannot be realized due to the restriction of factors such as the compressibility of gas and the like, and the durability and the reliability are insufficient.
G. The existing brake control system of the unmanned automobile mostly adopts the wheel hub motor drive-by-wire technology to drive and brake, a large amount of kinetic energy is required to be converted into heat energy when the wheels are braked, a large amount of heat energy is required to be generated by a brake, a large amount of heat energy is also generated when the wheel hub motor works, the wheel hub motor is not suitable for working at high temperature for a long time, the technology is insufficient in that high-temperature heat dissipation is temporarily unavailable for effective control, the stability and reliability of the vehicle brake are insufficient, meanwhile, the unmanned automobile cannot fully realize the unmanned degree due to the factors of the current road condition environment, the unmanned automobile cannot reach the unmanned and man concurrent driving degree through a simple technology, or the technology cost is high, and the unmanned automobile cannot be popularized temporarily.
Disclosure of Invention
In order to overcome the above-mentioned disadvantages, an object of the present invention is to provide a vehicle brake control system based on moving object control.
The control system includes:
the double-booster system is used for generating a plurality of uniform braking forces and is provided with a detection module;
The wheels are respectively connected with the double-booster system;
the detection module is used for detecting the running state of the vehicle and controlling the double-booster system to generate braking force according to the detection result;
the dual assistance system comprises a vacuum assistance device and a second assistance device, wherein the vacuum assistance device and the second assistance device can cooperate or independently assist a user in braking a vehicle.
Further, the dual assistance system includes:
A driving motor;
the transmission rod is in driving connection with the driving motor;
The driving motor and the transmission rod form the second power assisting device;
The driver wheel is provided with a slotted hole, and the transmission rod is arranged in the slotted hole in a sliding way;
One end of the brake control switch is fixedly arranged on the driver wheel, and the foot rest lever is fixed on one end face of the brake control switch;
the pedal rod is fixedly arranged on the lower end face of the brake control switch;
one end of the thrust acting rod is fixed on the brake control switch;
one end of the vacuum booster is connected with the other end of the thrust action rod;
and one end of the pressure equalizing device is connected with the other end of the vacuum booster device.
Further, the dual assistance system further includes:
A bracket provided with a hinge fulcrum through which the driver wheel is rotatably provided;
The driving motor is fixedly arranged on the bracket.
Further, the pressure equalizing device comprises:
The double-cylinder assembly comprises a first cylinder body and a second cylinder body which are connected in series;
The pressure equalizing cylinder body is communicated with the double-cylinder assembly.
Further, the method comprises the steps of,
The pressure equalizing cylinder body is in through connection with the double-cylinder assembly through a plurality of pipelines, and a high-pressure induction electromagnetic valve is arranged in the pipeline.
Further, the detection module includes:
the machine vision module is used for processing and detecting sensing data in and out of the vehicle;
And the data processing module is used for analyzing the sensing data and is in communication connection with the driving motor.
Further, the method comprises the steps of,
The machine vision module is also connected with an in-vehicle sensor for detecting in-vehicle data and an out-of-vehicle sensor for detecting out-of-vehicle data;
The data processing module is connected with a sound module and an LED module for alarming and reminding.
Further, the method comprises the steps of,
The in-vehicle sensor adopts a photoelectric sensor or a camera, and the out-vehicle sensor adopts a photoelectric sensor or a camera.
Further, the driving motor is further provided with a PID controller, and the driving motor is automatically powered off through the PID controller.
Further, the method comprises the steps of:
s1, detecting the parking state of a vehicle by a machine vision module of a detection module of a control system;
And/or the number of the groups of groups,
The machine vision module of the detection module of the control system detects the distance between the front vehicles in the running process;
And/or the number of the groups of groups,
The machine vision module of the detection module of the control system detects the driving state of a driver in the driving process;
S2, the machine vision module in the step S1 guides the data obtained by detection into a data analysis module of the detection module;
step S3: the data analysis module of the detection module in the step S2 judges that the vehicle needs to be parked; or the data analysis module of the detection module in the step S2 judges that the driver is in a fatigue driving state; or the data analysis module of the detection module in the step S2 judges that the distance between the detection module and the front vehicle is too short;
step S4, a data analysis module of the detection module transmits pulse data to the driving motor, starts to drive the driving motor or increases the power of the driving motor so as to enable the driver wheel to correspondingly rotate, and drives the thrust action rod to compress the vacuum booster device, thereby completing the deceleration braking of the vehicle, and the invention has the beneficial effects that:
Compared with the prior art, the double-power-assisted system is formed by arranging the driving motor and the transmission rod as a combination and the traditional vacuum power-assisted device, so that the power-assisted effect during manual braking is further improved, and the power-assisted system is backed up; furthermore, the invention establishes the pressure equalizing device by arranging the pressure equalizing cylinder bodies in series connection with the double-cylinder assembly in the prior art, so that the pressure equalizing and pressing of each vehicle can be realized when the vehicle encounters an emergency, and furthermore, the invention controls the uniform cylinder bodies adaptively by arranging the detection device through detecting and analyzing the data in the running process of the vehicle, thereby completing the formulation and improving the safety of the running braking process.
Drawings
FIG. 1 is a schematic illustration of a brake system of the present invention;
FIG. 2 is a schematic structural view of the braking system of the present invention;
Fig. 3 is a schematic structural diagram of the detection module of the present invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention.
Referring to fig. 1-3, in one example, a vehicle brake control system based on moving object control, the system comprising:
The double-booster system is provided with a detection module and is used for generating a plurality of uniform braking forces;
The wheels are respectively connected with the double-booster system;
The detection module is used for detecting the running state of the vehicle and controlling the double-booster system to generate braking force according to the detection result.
Further, in an example, the dual assistance system includes:
A driving motor;
the transmission rod is in driving connection with the driving motor;
The driving motor and the transmission rod form the second power assisting device;
The driver wheel is provided with a slotted hole, and the transmission rod is arranged in the slotted hole in a sliding way;
One end of the brake control switch is fixedly arranged on the driver wheel, and the foot rest lever is fixed on one end face of the brake control switch;
the pedal rod is fixedly arranged on the lower end face of the brake control switch;
one end of the thrust acting rod is fixed on the brake control switch;
one end of the vacuum booster is connected with the other end of the thrust action rod;
and one end of the pressure equalizing device is connected with the other end of the vacuum booster device.
Specifically, the operation process of the double-booster system is as follows: the driving motor 1 takes a pedal lever 5 as a hinge fulcrum 4 as a center of a circle, transmits the braking force to a thrust acting rod 3 of a double-booster system through a transmission rod 6 by taking a distance between the hinge fulcrum 4 and the transmission rod 6 as a radius in a clockwise direction through a fan-shaped driver wheel 2 taking the hinge fulcrum 4 as the center of the circle, transmits the driving braking force to a brake pressure equalizing device 10 through a vacuum booster device 7, drives the pedal lever 5 to perform pedal braking movement, and works through a brake control switch 9 on the pedal lever 5 to finish the pedal braking process of the driving motor 1; in the braking process of the driving motor 1, a user can perform pedal braking operation on the pedal rod 5 at any time, the pedal braking force can move clockwise by taking the hinge support shaft 4 as the center of a circle through the pedal rod 5, the transmission rod 6 takes the hinge support shaft 4 as the center of a circle, the distance between the hinge support shaft 4 and the transmission rod 6 is taken as the radius, the slotted hole 8 on the fan-shaped driver wheel 2 on the driving motor 1 is taken as the motion track, the braking force of the pedal rod 5 is transmitted to the thrust action rod 3 through the transmission rod 6, the pedal braking force is transmitted to the pressure equalizing device 10 through the work of the vacuum booster device 7, meanwhile, the pedal rod 5 performs pedal braking movement, and the pedal braking process is completed through the work of the brake control switch 9 on the pedal rod 5. Thereby realizing the effect of the braking vacuum booster 7 and the driving motor 1 to complete the multiple booster braking. In addition, a backup is also formed for the booster system, which is expressed as: any one of the vacuum booster 7 and the driving motor 1 fails, and the vehicle is provided with a booster braking device which is matched with manual braking so as to solve the problem that the braking force of the vehicle is influenced due to the failure of a booster system in the traditional single booster system.
More specifically, in an example, the driving motor 1 is fixed on the vehicle by providing a bracket 28 for supporting the driving motor 1, the driver wheel 2, one end of the thrust acting lever 3, and the foot lever 5 in order, and a 5mm gap hinge is interposed between the respective members, so that resistance when the respective members independently move is reduced, the bracket 28 should have sufficient strength and supporting force to ensure no deformation during braking, and sufficient stability.
Further, the pressure equalizing device comprises:
The double-cylinder assembly comprises a first cylinder body and a second cylinder body which are connected in series;
The pressure equalizing cylinder body is communicated with the double-cylinder assembly.
Furthermore, the pressure equalizing cylinder body is in through connection with the double-cylinder assembly through a plurality of pipelines, and a high-pressure induction electromagnetic valve is arranged in the pipeline.
Specifically, the double-cylinder assembly 10 is a currently existing double-cavity series brake cylinder assembly, and comprises an oil cylinder and an air cylinder, wherein the oil cylinder is mainly used as the oil cylinder, and is a currently existing mature and reliable technology, and the description is not repeated here. The two cylinders of the double-cylinder assembly 10 are respectively and correspondingly connected with the high-pressure pipes 13 and 14.
In addition, the pressure equalizing cylinder body 15 is composed of two inlets, which are connected with a high-pressure induction electromagnetic valve 11 and a high-pressure induction electromagnetic valve 12, and is used for communicating the pressure equalizing cylinder body 15, four independent braking compression cylinder bodies connected with the outlet of the pressure equalizing cylinder body 15 and corresponding independent high-pressure induction electromagnetic valves 16, 17, 18 and 19;
The working principle of the pressure equalizing cylinder body 15 is as follows: when braking, one cylinder in the double-cylinder assembly 10 enters the pressure equalizing cylinder body 15 through a pipeline 13 through a high-pressure induction electromagnetic valve 11, the other cylinder in the double-cylinder assembly 10 correspondingly passes through a pipeline 14 and also enters the pressure equalizing cylinder body 15 through a high-pressure induction electromagnetic valve 12, so that the pressure difference emitted by the two cylinders of the double-cylinder assembly 10 is realized, the pressure equalizing cylinder body 15 is used for equalizing pressure, when one cylinder in the double-cylinder assembly 10 is used for a long time, aging or manufacturing quality and the like, the braking pressure is lower than that of the other cylinder, compared with the prior art, the phenomenon that four-wheel braking is uneven is caused when the braking effect of two wheels is lower is generated, and when the braking effect of a vehicle is influenced, the one cylinder with lower braking pressure in the double-cylinder assembly 10 can generate a temporary high pressure (otherwise, the service life of the one cylinder with lower braking pressure is prolonged) within the range of the pressure difference between the pressure value generated by the other cylinder with higher braking pressure and the pressure value of the cylinder with lower braking pressure is generated by Gao Chuchan, so that the service life of the double-cylinder assembly 10 is greatly prolonged, and the service life of the double-cylinder assembly 10 is greatly prolonged.
The high-pressure induction electromagnetic valves 11 and 12 can unidirectionally feed brake (gas) liquid from the pipe 13 or 14 into the secondary pressure equalizing control pressure equalizing cylinder 15 under the action of brake pressure; when the brake is released, the high-pressure induction electromagnetic valves 11 and 12 are required to be opened, brake (gas) liquid flows back to the high-pressure pipes 13 and 14 from the pressure equalizing cylinder body 15, so that the purpose of releasing the brake control is achieved, at the moment, under the action of spring return in the double-cylinder assembly 10, the state of the (gas) liquid in the high-pressure pipe 13 or 14 is instantly negative pressure, the pressure equalizing cylinder body 15 is unidirectionally closed due to the electromagnetic valves, the pressure equalizing cylinder body 15 is still in a high-pressure state, namely, the pressure difference between the pressure equalizing cylinder body 15 and the high-pressure pipe 13 and the pressure difference between the pressure equalizing cylinder body 15 and the high-pressure pipe 14 can be formed, the pressure sensors arranged on the pipelines of the pressure equalizing cylinder bodies 15, 13 and 14 transmit signals to the controller, for example, the controller receives signals of the pressure sensors on the pipes 13, and when the pressure in the pipelines is lower than 1mpa (parameters can be set on the controller), the controller sends instructions to control the corresponding electromagnetic valve 11 to be opened, and the (gas) liquid in the pressure equalizing cylinder body 15 flows back due to the pressure difference, so that the action process of releasing the brake control is realized; if a failure such as breakage occurs in the pipeline 13 or a cylinder of the double-cylinder assembly 10 corresponding to the connection of the high-pressure pipeline 13, the pressure in the pipeline 13 cannot reach below a certain set negative pressure value in the action process of releasing the brake control, at this time, after the controller receives a pressure sensing control signal on the pipeline 13, the controller pauses to send out an instruction for opening the high-pressure sensing electromagnetic valve 11, but the pressure equalizing cylinder 15 can still work normally; if the controller receives the signal of the pressure sensor on the pipe 14, when the pressure in the pipeline is below 1mpa (the controller can set parameters), the controller sends out instructions to control the corresponding electromagnetic valve 12 to be opened, and the (gas) liquid in the pressure equalizing cylinder 15 flows back due to the pressure difference, so that the action process of releasing the brake control is realized; if the pipeline 14 or another cylinder of the double-cylinder assembly 10 corresponding to the connection of the high-pressure pipeline 14 breaks, the pressure in the pipeline 14 cannot reach below a certain set negative pressure value in the action process of releasing the brake control, at this time, after the controller receives a pressure sensing control signal on the pipeline 14, the controller pauses to send an instruction of opening the high-pressure sensing electromagnetic valve 11, but the pressure equalizing cylinder 15 can still work normally.
Furthermore, in the running braking process, under the condition that the parking hand brake operation is not performed, the brake double-cylinder assembly 10 or the pipelines 13 and 14 are damaged due to the external collision accident, the pipelines 13 and 14 lose negative pressure at the same time, the controller pauses to send out instructions for opening the electromagnetic valves 11 and 12, the high-pressure induction electromagnetic valves 11 and 12 for vehicle braking are not opened, at the moment, the pressure equalizing cylinder 15 system still has higher braking pressure, the vehicle can continuously brake the vehicle through the braking pressure stored in the pressure equalizing cylinder 15 until the vehicle is continuously braked to a stop, the vehicle is stopped in situ and continuously kept in a static state, and the loss of accidents is reduced.
Furthermore, four independent brake compression cylinders (taking four-wheel vehicles as an example, a plurality of vehicles are needed) and corresponding independent high-pressure induction electromagnetic valves 16, 17, 18 and 19 are connected at the outlet of the pressure equalizing cylinder 15 by the pressure equalizing device; after passing through the pressure equalization in the pressure equalization cylinder 15, the high-pressure brake (gas) liquid is transmitted to four independent brake compression cylinders and the pressures in the corresponding independent high-pressure induction electromagnetic valves 16, 17, 18 and 19 are consistent; the four independent braking compression cylinders and corresponding independent high-pressure induction electromagnetic valves 16, 17, 18 and 19 transmit braking forces to the braking cylinders 24, 25, 26 and 27 of the brakes of the right front wheel 1, the left front wheel 2, the right rear wheel 3 and the left rear wheel 4 respectively through high-pressure pipes 21, 22 and 23 respectively by high-pressure braking (air) liquid pressure of the pressure equalizing cylinder 15, the braking cylinders all achieve independent braking effects, and the braking forces received by the brake cylinders are consistent; the technology can solve the problem that the existing vehicles have the disadvantage of vehicle deviation phenomenon caused by inconsistent brake pressure transmitted by two cylinders in the brake double-cylinder assembly.
It is noted that, because the pressure equalizing cylinder 15 and the separate independent brake cylinders are matched with the independent pipelines and brake control technology, the braking effect of over 75% of normal braking can be still obtained under the condition that one-wheel pipeline or brake is damaged (only one-wheel of four wheels cannot normally brake), and when the double-cylinder assembly 10 such as a one-cylinder braking system fails, the braking control system can realize that the braking of the vehicle is not affected. The problems that in the prior art, when a double-cylinder assembly such as a one-cylinder braking system fails, or a wheel is damaged by high-temperature combustion failure caused by braking, a brake system or a pipeline breaks down, the phenomenon that the current vehicle can only reach 50% or less of the normal braking effect at maximum (the lowest of the vehicle has more than two wheels to lose the braking effect) is solved, the sideslip is serious when the vehicle brakes, and the decelerating braking is insufficient.
Further, the detection module includes:
the machine vision module is used for processing and detecting sensing data in and out of the vehicle;
And the data processing module is used for analyzing the sensing data and is in communication connection with the driving motor.
Further, the method comprises the steps of,
The machine vision module is also connected with an in-vehicle sensor for detecting in-vehicle data and an out-of-vehicle sensor for detecting out-of-vehicle data;
The data processing module is connected with a sound module and an LED module for alarming and reminding.
Further, the method comprises the steps of,
The in-vehicle sensor adopts a photoelectric sensor or a camera, and the out-vehicle sensor adopts a photoelectric sensor or a camera.
Further, a spring for returning is further arranged in the double-cylinder assembly.
Further, the driving motor is further provided with a PID controller, and the driving motor is automatically powered off through the PID controller.
Further, the data processing module transmits a PWM pulse signal with the period of 20 milliseconds to the driving motor, and the driving motor correspondingly drives the driver wheel to rotate.
Specifically, the action command of the driving motor 1 with the self-locking function is that information is sent to a machine vision module such as OpenMV for recognition through a photoelectric sensor (or a high-resolution camera) arranged at the front end of a driver in a vehicle cab and a photoelectric sensor (or a high-resolution camera) arranged at the front end of the vehicle, the signal information is sent to a data processing module such as an STM32 controller for data processing through a serial port, the STM32 controller sends out corresponding signal commands, and the driving motor 1 rotates according to received command signals to realize braking and releasing braking actions.
Furthermore, the self-locking power-off function of the driving motor 1 is realized by adjusting PID parameters of the driving motor 1, so that the problem of insufficient consumption of electric energy on a vehicle by the motor during long-time braking can be avoided; the STM32 controller controls the rotation position of the driving motor by sending PWM pulse signals with the period of 20 milliseconds to the driving motor 1, realizes the rotation angle and the movement track of the driver wheel 2 by setting PWM pulse width values, realizes the horizontal displacement of the transmission rod 6 by driving the angle of the rotating driver wheel 2 by the driving motor 1, and the horizontal displacement distance of the transmission rod 6 is the braking free stroke of the driving motor 1 driving braking device, wherein the set PWM pulse width values are set in the range of 0 to 2 milliseconds, and the braking free stroke of the driving motor 1 is increased along with the increase of the set pulse width values; the driving motor 1 can realize that each time a pulse signal is received according to different precision of the used rotary encoder, the driving motor drives the rotary driver wheel 2 to rotate only between 0.01 degrees and 0.027 degrees, the control of accurate position, speed and torque can be realized, and the problems of step-out, precision, speed and torque deficiency of the traditional stepping motor are solved.
The parking action instruction of the driving motor 1 is realized through a photoelectric sensor (or a high-resolution camera) arranged at the front end of a driver in a vehicle cab, information of whether the condition of the driver is at a driving position (or whether the driver is tired to drive) is sent to a machine vision module, such as OpenMV, to be identified, whether the vehicle needs to park (or is decelerated due to tired service braking), the information is sent to an STM32 controller through a serial port to be subjected to data processing, if a signal received by the STM32 controller is a signal that the driver is not at the driving position, the STM32 controller sends an acousto-optic reminding instruction and a parking braking instruction, the self-locking braking driving motor 1 works to carry out parking braking, the vehicle automatically carries out self-locking parking braking while reminding the driver through an acousto-optic module, and the sound module 29 reminds the vehicle of the information of the parking braking in the parking state and the LED module 30 to realize flashing reminding the information of the parking braking in the parking state, so that accidents caused by leaving the vehicle under the condition that the driver forgets to operate the parking braking are avoided, and the accidents are reduced.
In one example, the vehicle automatic brake identification calculation operation principle of the present invention is as follows: the smaller the ratio of the running speed of the vehicle to the safe braking distance, the larger the current supplied to the running driving braking motor by the running braking signal instruction sent by the STM32 controller, the larger the braking power and the rotating speed which are transmitted to the vehicle braking transmission rod 3 through the vehicle braking servo sector driving wheel 2 to control the vehicle brake to brake, and the faster the running braking speed of the vehicle; otherwise, the smaller the braking power transmitted to the vehicle brake transmission system to control the vehicle brake to brake is, until the vehicle driving brake motor does not intervene in working, and the vehicle normally drives and runs.
The present invention also provides a control method, in an example, the method comprising the steps of:
s1, detecting the parking state of a vehicle by a machine vision module of a detection module of a control system;
And/or the number of the groups of groups,
The machine vision module of the detection module of the control system detects the distance between the front vehicles in the running process;
And/or the number of the groups of groups,
The machine vision module of the detection module of the control system detects the driving state of a driver in the driving process;
S2, the machine vision module in the step S1 guides the data obtained by detection into a data analysis module of the detection module;
step S3: the data analysis module of the detection module in the step S2 judges that the vehicle needs to be parked; or the data analysis module of the detection module in the step S2 judges that the driver is in a fatigue driving state; or the data analysis module of the detection module in the step S2 judges that the distance between the detection module and the front vehicle is too short;
And S4, a data analysis module of the detection module transmits pulse data to the driving motor, and starts to drive the driving motor or increases the power of the driving motor so as to enable the driver wheel to correspondingly rotate, and the thrust action rod is driven to compress the vacuum booster device, so that the deceleration braking of the vehicle is completed.
The present invention has been described in detail with reference to the embodiments of the drawings, and those skilled in the art can make various modifications to the invention based on the above description. Accordingly, certain details of the embodiments are not to be interpreted as limiting the invention, which is defined by the appended claims.
Claims (10)
1. A vehicle brake control system based on moving object control, characterized in that the control system comprises:
the double-booster system is used for generating a plurality of uniform braking forces and is provided with a detection module;
The wheels are respectively connected with the double-booster system;
the detection module is used for detecting the running state of the vehicle and controlling the double-booster system to generate braking force according to the detection result;
the dual assistance system comprises a vacuum assistance device and a second assistance device, wherein the vacuum assistance device and the second assistance device can cooperate or independently assist a user in braking a vehicle.
2. The moving object control-based vehicle brake control system according to claim 1, wherein the dual assistance system includes:
A driving motor;
the transmission rod is in driving connection with the driving motor;
The driving motor and the transmission rod form the second power assisting device;
The driver wheel is provided with a slotted hole, and the transmission rod is arranged in the slotted hole in a sliding way;
One end of the brake control switch is fixedly arranged on the driver wheel, and the foot rest lever is fixed on one end face of the brake control switch;
the pedal rod is fixedly arranged on the lower end face of the brake control switch;
one end of the thrust acting rod is fixed on the brake control switch;
one end of the vacuum booster is connected with the other end of the thrust action rod;
and one end of the pressure equalizing device is connected with the other end of the vacuum booster device.
3. The moving object control-based vehicle brake control system according to claim 2, characterized in that the dual assistance system further comprises:
A bracket provided with a hinge fulcrum through which the driver wheel is rotatably provided;
The driving motor is fixedly arranged on the bracket.
4. A moving object control-based vehicle brake control system according to claim 3, wherein the pressure equalizing means includes:
The double-cylinder assembly comprises a first cylinder body and a second cylinder body which are connected in series;
The pressure equalizing cylinder body is communicated with the double-cylinder assembly.
5. The vehicle brake control system based on moving object control according to claim 4, wherein,
The pressure equalizing cylinder body is in through connection with the double-cylinder assembly through a plurality of pipelines, and a high-pressure induction electromagnetic valve is arranged in the pipeline.
6. The moving object control-based vehicle brake control system according to claim 1, wherein the detection module includes:
the machine vision module is used for processing and detecting sensing data in and out of the vehicle;
And the data processing module is used for analyzing the sensing data and is in communication connection with the driving motor.
7. The vehicle brake control system based on moving object control according to claim 6, characterized in that,
The machine vision module is also connected with an in-vehicle sensor for detecting in-vehicle data and an out-of-vehicle sensor for detecting out-of-vehicle data;
The data processing module is connected with a sound module and an LED module for alarming and reminding.
8. The vehicle brake control system based on moving object control according to claim 7, characterized in that,
The in-vehicle sensor adopts a photoelectric sensor or a camera, and the out-vehicle sensor adopts a photoelectric sensor or a camera.
9. A vehicle brake control system based on moving object control according to claim 3, wherein the drive motor is further provided with a PID controller, and the drive motor is automatically powered off by the PID controller.
10. A control method of a moving object control-based vehicle brake control system according to any one of claims 1 to 9, characterized by comprising the steps of:
s1, detecting the parking state of a vehicle by a machine vision module of a detection module of a control system;
And/or the number of the groups of groups,
The machine vision module of the detection module of the control system detects the distance between the front vehicles in the running process;
And/or the number of the groups of groups,
The machine vision module of the detection module of the control system detects the driving state of a driver in the driving process;
S2, the machine vision module in the step S1 guides the data obtained by detection into a data analysis module of the detection module;
step S3: the data analysis module of the detection module in the step S2 judges that the vehicle needs to be parked; or the data analysis module of the detection module in the step S2 judges that the driver is in a fatigue driving state; or the data analysis module of the detection module in the step S2 judges that the distance between the detection module and the front vehicle is too short;
And S4, a data analysis module of the detection module transmits pulse data to the driving motor, and starts to drive the driving motor or increases the power of the driving motor so as to enable the driver wheel to correspondingly rotate, and the thrust action rod is driven to compress the vacuum booster device, so that the deceleration braking of the vehicle is completed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410766367.8A CN118977689A (en) | 2024-06-14 | 2024-06-14 | Vehicle braking control system and control method based on moving target control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410766367.8A CN118977689A (en) | 2024-06-14 | 2024-06-14 | Vehicle braking control system and control method based on moving target control |
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| CN118977689A true CN118977689A (en) | 2024-11-19 |
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