CN119611288A - Unmanned logistics vehicle emergency braking system, method and vehicle - Google Patents
Unmanned logistics vehicle emergency braking system, method and vehicle Download PDFInfo
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Abstract
本发明公开了一种无人物流车紧急制动系统、方法及车辆，属于车辆制动领域。所述系统包括主电源模块、冗余电源模块、电源切换模块、EPB紧急制动模块、整车控制器，其中，所述主电源模块、冗余电源模块分别与所述电源切换模块电连接；所述电源切换模块与所述EPB紧急制动模块电连接；所述主电源模块、冗余电源模块、电源切换模块、整车控制器还分别与所述EPB紧急制动模块通信连接。本发明可以确保在电源故障的情况下，无人物流车紧急制动系统仍能正常启动，从而保障无人车的行车安全。
The present invention discloses an emergency braking system, method and vehicle for an unmanned logistics vehicle, belonging to the field of vehicle braking. The system includes a main power module, a redundant power module, a power switching module, an EPB emergency braking module, and a vehicle controller, wherein the main power module and the redundant power module are electrically connected to the power switching module, respectively; the power switching module is electrically connected to the EPB emergency braking module; the main power module, the redundant power module, the power switching module, and the vehicle controller are also respectively communicatively connected to the EPB emergency braking module. The present invention can ensure that in the event of a power failure, the emergency braking system of the unmanned logistics vehicle can still start normally, thereby ensuring the driving safety of the unmanned vehicle.
Description
Technical Field
The invention belongs to the field of vehicle braking, and particularly relates to an unmanned logistics vehicle emergency braking system, an unmanned logistics vehicle emergency braking method and a vehicle.
Background
With the rapid development of unmanned technology, the safety problem of unmanned technology is increasingly attracting attention.
The emergency braking device of the unmanned logistics vehicle is an important part for guaranteeing driving safety, wherein the EPB is used as a main actuating mechanism of emergency braking, and the stability and reliability of the emergency braking device directly influence the safety performance of the unmanned logistics vehicle. However, in practical applications, the EPB may not be started due to a power failure of the unmanned vehicle, thereby affecting an emergency braking effect of the unmanned vehicle.
The reference (CN 118282021 a) provides a redundant power supply circuit, controller and vehicle. The redundant power supply circuit is used for supplying power to a domain controller of a vehicle and comprises a first power supply, a second power supply and a power supply redundant distribution circuit, wherein the output ends of the first power supply and the second power supply are respectively connected with the power supply redundant distribution circuit, and the power supply redundant distribution circuit is used for current sharing output and power supply switching of the first power supply and the second power supply. By adopting the redundant power supply circuit in the domain controller of the vehicle, the high reliability requirement on the controller under certain severe working scenes is met, and the safe running of the vehicle is ensured.
From the above comparison document, it can be seen that the power redundancy mechanism is an effective means for solving the power failure, but there is no relevant configuration and control strategy in the field of emergency braking of the unmanned logistics vehicle. Therefore, it is necessary to design a power redundancy mechanism to ensure that the emergency braking system of the unmanned logistics vehicle can still be normally started under the condition of power failure, thereby ensuring the driving safety of the unmanned vehicle.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an unmanned logistics vehicle emergency braking system, an unmanned logistics vehicle emergency braking method and a vehicle, so as to achieve the following purposes of ensuring that the unmanned logistics vehicle emergency braking system can still be normally started under the condition of power failure, and further ensuring the driving safety of the unmanned logistics vehicle.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
The unmanned logistics vehicle emergency braking system comprises a main power supply module, a redundant power supply module, a power supply switching module, an EPB emergency braking module and a vehicle controller, wherein the main power supply module and the redundant power supply module are respectively and electrically connected with the power supply switching module, the power supply switching module is electrically connected with the EPB emergency braking module, and the main power supply module, the redundant power supply module, the power supply switching module and the vehicle controller are also respectively and communicatively connected with the EPB emergency braking module.
Preferably, the power supply switching module comprises a switching control unit, a power supply bus, a first relay and a second relay, wherein the output end of the main power supply module is electrically connected with the power supply bus through a normally closed contact of the first relay, the output end of the redundant power supply module is electrically connected with the power supply bus through a normally open contact of the second relay, the switching control unit is respectively connected with coil control ends of the first relay and the second relay, the switching control unit is also in communication connection with the EPB emergency braking module, and the power supply bus is electrically connected with the EPB emergency braking module.
Preferably, the switching control unit starts power supply switching after receiving a power supply switching signal of the EPB emergency braking module, and firstly controls the normally open contact of the second relay to be closed and then opens the normally closed contact of the first relay.
Preferably, the main power module comprises a main power battery pack, a first battery management system and a voltage converter, wherein the first battery management system is connected with the main power battery pack and used for monitoring the state of the main power battery pack and sending the state to the EPB emergency braking module, and the output end of the main power battery pack is used as the output end of the main power module and is electrically connected with the power switching module through the voltage converter.
Preferably, the voltage converter adopts a bidirectional DC/DC converter, and the bidirectional DC/DC converter is used for reducing the output high voltage of the main power battery pack to the working low voltage of the EPB emergency braking module in forward operation and is used for isolating the output voltage of the main power module and the output voltage of the redundant power module in reverse operation so as to avoid circulation.
Preferably, the redundant power supply module comprises a redundant battery pack and a second battery management system, wherein the second battery management system is connected with the redundant battery pack and is used for monitoring the state of the redundant battery pack and sending the state to the EPB emergency braking module, and the output end of the redundant battery pack is used as the output end of the redundant power supply module and is electrically connected with the power supply switching module.
Preferably, the EPB emergency braking module comprises an electronic control unit, an electric actuator and a sensor unit, wherein the electronic control unit is respectively connected with the electric actuator, the sensor unit and the whole vehicle controller, and the electronic control unit, the electric actuator and the sensor unit are powered by the power supply selected by the power supply switching module.
Preferably, the sensor unit includes a vehicle speed sensor, an acceleration sensor, and a brake pedal position sensor.
The application also provides an emergency braking method of the unmanned logistics vehicle, which is applied to the emergency braking system of the unmanned logistics vehicle and comprises the following steps:
step S1, starting up and powering up a vehicle, wherein a main power supply module works normally, and a redundant power supply module is in a state to be activated;
step S2, when emergency braking is needed, the whole vehicle controller sends an emergency braking signal to an electronic control unit of the EPB emergency braking module, and the electronic control unit drives an electric actuator to apply braking force to wheels according to the emergency braking signal and in combination with data of the sensor unit;
Step S3, in the emergency braking process, when a first battery management system of a main power supply module monitors that the main power supply module is abnormal, the first battery management system generates and sends a fault signal to an electronic control unit of the EPB emergency braking module;
Step S4, after receiving the fault signal, the electronic control unit sends a power supply switching signal to a switching control unit of a power supply switching module;
S5, after receiving the power supply switching signal, the switching control unit sends out a control signal to sequentially control the normally open contact of the second relay connected with the redundant power supply module to be closed, and the normally closed contact of the second relay connected with the main power supply module is opened;
And S6, after the switching is completed, the redundant power supply module is activated, and at the moment, the second battery management system of the redundant power supply module sends a switching completion signal to the electronic control unit of the EPB emergency braking module, and the electronic control unit continues to drive the electric actuator to apply braking force to the wheels so as to complete braking.
Meanwhile, the application further provides a vehicle, and the vehicle comprises the unmanned logistics vehicle emergency braking system.
The invention has the technical effects that:
the safety is improved, namely, when the main power supply system fails or the power is interrupted, the power supply can be quickly switched to the redundant power supply, the normal work of the emergency braking system is ensured, and the safety accident caused by braking failure is effectively avoided.
The reliability is enhanced, namely, the overall reliability of the power supply system and the braking system of the unmanned logistics vehicle is obviously improved by adding a redundant power supply module and optimizing a control strategy of the emergency braking system.
The emergency response capability is improved, namely, when the power failure occurs, the power switching can be rapidly realized, and precious time is striven for the safe parking of the vehicle or the intervention of maintenance personnel.
The maintenance cost is reduced, namely the overall maintenance cost of the unmanned logistics vehicle is reduced by reducing the times of vehicle shutdown and maintenance caused by power failure.
Drawings
FIG. 1 is a block diagram of an emergency braking system of an unmanned logistics vehicle in an embodiment of the invention;
fig. 2 is a flowchart of an emergency braking method of an unmanned logistics vehicle according to an embodiment of the invention.
In the figure 1, 1 is a main power supply module, 2 is a redundant power supply module, 3 is a power supply switching module, 4 is an EPB emergency braking module, and 5 is a vehicle controller.
Detailed Description
The following detailed description of the embodiments of the invention, given by way of example only, is presented in the accompanying drawings to aid those skilled in the art in a more complete, accurate and thorough understanding of the inventive concepts and aspects of the invention, and to facilitate their practice. In order to make the technical scheme of the present invention more clear, the present invention is illustrated by the following examples.
It should be noted that the terms "first," "second," and the like in the present application are merely for convenience in describing the technical solution to distinguish different components, and are not limited thereto, and in addition, the term "connection" in the present application includes not only an electrical connection for power transmission and electronic devices but also a communication connection for data transmission and signal transmission without any specific reference (e.g., reference to "electrical connection," "communication connection," etc.).
In this embodiment, in order to ensure the transmission speed and stability of the data signal, the signal transmission uses a CAN bus, and when implementing, the signal transmission mode CAN be flexibly selected according to the actual situation.
When the unmanned logistics vehicle has a power failure, the EPB (electronic parking brake system) can possibly cause the problems of incapability of starting, insufficient braking force and the like due to insufficient power supply, so that the emergency braking effect of the unmanned vehicle is affected.
In order to solve the above-mentioned problem, this embodiment proposes an emergency braking system for an unmanned logistics vehicle, and the following description will be made with reference to a system configuration diagram shown in fig. 1. The emergency braking system of the unmanned logistics vehicle comprises a main power supply module 1, a redundant power supply module 2, a power supply switching module 3, an EPB emergency braking module 4 and a vehicle controller 5, wherein the main power supply module 1 and the redundant power supply module 2 are respectively and electrically connected with the power supply switching module 3, the power supply switching module 3 is electrically connected with the EPB emergency braking module 4, and the main power supply module 1, the redundant power supply module 2, the power supply switching module 3 and the vehicle controller 5 are also respectively and communicatively connected with the EPB emergency braking module 4.
Specifically, the main power module 1 is used for stably supplying power to various electrical devices of the unmanned logistics vehicle in a normal working state, and mainly supplies power to the EPB emergency braking module 4 in the embodiment. The main power module 1 comprises a main power battery pack, a first Battery Management System (BMS) and a voltage converter, wherein the first Battery Management System (BMS) is connected with the main power battery pack, and is used for monitoring the state of the main power battery pack and sending the state to the EPB emergency brake module 4. In this embodiment, all battery management systems are integrated with battery status monitoring devices such as a voltage sensor, a current sensor, a temperature sensor, etc., so that the battery status monitoring devices can realize the real-time monitoring in all aspects, and are not described in detail later. The output end of the main power battery pack is used as the output end of the main power module 1 and is electrically connected with the power switching module 3 through the voltage converter.
The redundant power supply module 1 of the present embodiment is configured to be an EPB emergency brake module 4 as redundancy in the event of an abnormal situation such as a failure or insufficient power of the main power supply module 1. The redundant power supply module 1 comprises a redundant battery pack and a second battery management system, wherein the second battery management system is connected with the redundant battery pack and is used for monitoring the state of the redundant battery pack and sending the state of the redundant battery pack to the EPB emergency braking module 4, and the output end of the redundant battery pack serving as the output end of the redundant power supply module 2 is electrically connected with the power supply switching module 3. In the specific implementation, the redundant battery pack can select a low-voltage storage battery between 12V and 48V, the EPB emergency braking module 4 can be powered without reducing the voltage again during power supply, the cost is reduced, and meanwhile, compared with the unmanned vehicle power battery pack, the redundant battery pack is smaller in size and lighter in weight, and is convenient to install on the unmanned vehicle.
The power switching module 3 of the present embodiment is configured to switch to a redundant power module to supply power when the main power module fails. The power supply switching module 3 comprises a switching control unit, a power supply bus, a first relay and a second relay, wherein the output end of the main power supply module is electrically connected with the power supply bus through a normally closed contact of the first relay, the output end of the redundant power supply module is electrically connected with the power supply bus through a normally open contact of the second relay, the switching control unit is respectively connected with coil control ends of the first relay and the second relay, the switching control unit is also in communication connection with the EPB emergency braking module, and the power supply bus is electrically connected with the EPB emergency braking module. In order to improve the switching speed of the power supply and ensure the power supply time, the switching control unit can select highly integrated control chips such as a microcontroller MCU, a central processing unit CPU and the like, thereby improving the control efficiency.
The working principle of the power supply switching module 3 is that the switching control unit starts power supply switching after receiving the power supply switching signal of the EPB emergency braking module 4, and firstly controls the normally open contact of the second relay to be closed and then opens the normally closed contact of the first relay, so that continuous uninterrupted power supply to the EPB emergency braking module 4 is realized, and normal braking of the unmanned vehicle is ensured, and further, the driving safety of the unmanned vehicle is ensured.
In actual use, when the power supply switching module 3 switches normally when the main power supply module 1 fails, it is obvious that, to ensure the continuity of switching, there is a case where the main power supply module 1 and the redundant power supply module 2 supply power to the EPB emergency brake module 4 simultaneously to form a loop when the power supply is switched, and in this case, due to the failure or insufficient electric quantity of the main power supply module 1, the output voltages of the main power supply module 1 and the redundant power supply module 2 are different, thereby causing a circulation. In order to avoid damage to the power supply module caused by circulation, in this embodiment, the voltage converter of the main power supply module 1 employs a bidirectional DC/DC converter for reducing the output high voltage of the main power battery pack to the EPB emergency braking module operation low voltage in forward operation and for isolating the output voltage of the main power supply module from the output voltage of the redundant power supply module in reverse operation to avoid circulation.
The EPB emergency braking module 4 of this embodiment is configured to ensure that, when the main power fails, a fault signal of the main power module 1 is received, and an instruction is sent to the power switching module 3, so that the redundant power module 2 can immediately supply power to the braking system, and ensure normal operation of the braking system. Specifically, the EPB emergency braking module 4 comprises an Electronic Control Unit (ECU), an electric actuator and a sensor unit, wherein the electronic control unit is respectively connected with the electric actuator, the sensor unit and the whole vehicle controller, and the electronic control unit, the electric actuator and the sensor unit are powered by the power supply selected by the power supply switching module. The sensor unit is used for detecting the state and environment information of the vehicle and comprises a vehicle speed sensor, an acceleration sensor, a brake pedal position sensor, a radar, a high-precision camera, an infrared sensor and the like.
The electronic control unit is responsible for receiving signals from the sensor unit and emergency braking signals sent by the vehicle controller. During emergency braking, the electronic control unit can calculate the braking force requirement according to the received sensor information, such as the current vehicle speed, acceleration and brake pedal position, and output corresponding control signals to the electric actuator.
The electric actuator controls the working state of the brake according to the control signal of the electronic control unit. Electric actuators typically employ a combination of a motor and a screw mechanism that is driven by rotation of the motor to move a piston of the brake outwardly or inwardly to effect braking or release.
Meanwhile, the embodiment also provides an unmanned logistics vehicle emergency braking method, which is applied to the unmanned logistics vehicle emergency braking system, as shown in fig. 2, and comprises the following steps:
and S1, starting the vehicle to power up, enabling the main power supply module to work normally, and enabling the redundant power supply module to be in a state to be activated.
And step S2, when emergency braking is needed, the whole vehicle controller sends an emergency braking signal to an electronic control unit of the EPB emergency braking module, and the electronic control unit drives an electric actuator to apply braking force to wheels according to the emergency braking signal and the data of the combined sensor unit.
And step S3, in the emergency braking process, when the first battery management system of the main power supply module monitors that the main power supply module is abnormal, the first battery management system generates and sends a fault signal to the electronic control unit of the EPB emergency braking module. And meanwhile, when the residual electric quantity (SOC) of the main power battery pack is lower than a preset electric quantity threshold (can be set according to the electric quantity consumed by completing one emergency braking, and under normal conditions, the SOC of the main power battery pack needs to ensure that at least one emergency braking can be completed) is also regarded as the abnormality of the main power module.
And S4, after receiving the fault signal, the electronic control unit sends a power supply switching signal to a switching control unit of the power supply switching module. The electronic control unit can also judge whether the residual electric quantity of the main power supply module can meet the emergency braking requirement according to the data of the sensor unit, the electronic control unit can calculate the braking force requirement of the current vehicle according to the data of the current speed, the acceleration, the position of a brake pedal and the like of the vehicle, and the electronic control unit can acquire the relation between the braking consumption electric quantity and the braking force according to the historical braking data of the current vehicle. When the residual electric quantity of the main power supply module does not meet the emergency braking requirement, the electronic control unit immediately sends a power supply switching signal to the switching control unit of the power supply switching module, and when the residual electric quantity of the main power supply module can meet the emergency braking requirement, optionally, the electronic control unit can send the power supply switching signal to the switching control unit of the power supply switching module after the braking is finished, or send the signal to the whole vehicle controller, and the whole vehicle controller feeds back to a user for selection.
And S5, after receiving the power supply switching signal, the switching control unit sends out a control signal to sequentially control the normally open contact of the second relay connected with the redundant power supply module to be closed, and the normally closed contact of the second relay connected with the main power supply module is opened.
And S6, after the switching is completed, the redundant power supply module is activated, and at the moment, the second power supply management system of the redundant power supply module sends a switching completion signal to the electronic control unit of the EPB emergency braking module, and the electronic control unit continues to drive the electric actuator to apply braking force to the wheels so as to complete braking.
Meanwhile, the application further provides a vehicle, and the vehicle comprises the unmanned logistics vehicle emergency braking system.
The beneficial effects of the embodiment can be summarized as follows:
the safety is improved, namely, when the main power supply system fails or the power is interrupted, the power supply can be quickly switched to the redundant power supply, the normal work of the emergency braking system is ensured, and the safety accident caused by braking failure is effectively avoided.
The reliability is enhanced, namely, the overall reliability of the power supply system and the braking system of the unmanned logistics vehicle is obviously improved by adding a redundant power supply module and optimizing a control strategy of the emergency braking system.
The emergency response capability is improved, namely, when the power failure occurs, the power switching can be rapidly realized, and precious time is striven for the safe parking of the vehicle or the intervention of maintenance personnel.
The maintenance cost is reduced, namely the overall maintenance cost of the unmanned logistics vehicle is reduced by reducing the times of vehicle shutdown and maintenance caused by power failure.
The invention is described above by way of example with reference to the accompanying drawings. It will be clear that the invention is not limited to the embodiments described above. It is within the scope of the present invention to apply the above-described concepts and technical solutions of the present invention directly to other applications, as long as they are various insubstantial modifications made by using the method concepts and technical solutions of the present invention, or not.
Claims (10)
1. The unmanned logistics vehicle emergency braking system is characterized by comprising a main power supply module, a redundant power supply module, a power supply switching module, an EPB emergency braking module and a vehicle controller, wherein the main power supply module and the redundant power supply module are respectively and electrically connected with the power supply switching module, the power supply switching module is electrically connected with the EPB emergency braking module, and the main power supply module, the redundant power supply module, the power supply switching module and the vehicle controller are also respectively and communicatively connected with the EPB emergency braking module.
2. The unmanned logistics vehicle emergency braking system of claim 1, wherein the power supply switching module comprises a switching control unit, a power supply bus, a first relay and a second relay, wherein the output end of the main power supply module is electrically connected with the power supply bus through a normally closed contact of the first relay, the output end of the redundant power supply module is electrically connected with the power supply bus through a normally open contact of the second relay, the switching control unit is respectively connected with coil control ends of the first relay and the second relay, the switching control unit is also in communication connection with the EPB emergency braking module, and the power supply bus is electrically connected with the EPB emergency braking module.
3. The unmanned logistics vehicle emergency braking system of claim 2, wherein the switching control unit starts power switching after receiving the power switching signal of the EPB emergency braking module, and firstly controls the normally open contact of the second relay to be closed and then opens the normally closed contact of the first relay.
4. The unmanned logistics vehicle emergency braking system of claim 2 or 3, wherein the main power module comprises a main power battery pack, a first battery management system and a voltage converter, wherein the first battery management system is connected with the main power battery pack and used for monitoring the state of the main power battery pack and sending the state to the EPB emergency braking module, and the output end of the main power battery pack is used as the output end of the main power module and is electrically connected with the power switching module through the voltage converter.
5. The emergency braking system of the unmanned logistics vehicle of claim 4, wherein the voltage converter is a bidirectional DC/DC converter, the bidirectional DC/DC converter is used for reducing the output high voltage of the main power battery pack to the working low voltage of the EPB emergency braking module when working in the forward direction, and is used for isolating the output voltage of the main power module and the output voltage of the redundant power module to avoid circulation when working in the reverse direction.
6. The emergency braking system of the unmanned logistics vehicle according to claim 2 or 3, wherein the redundant power supply module comprises a redundant battery pack and a second battery management system, the second battery management system is connected with the redundant battery pack and used for monitoring the state of the redundant battery pack and sending the state of the redundant battery pack to the EPB emergency braking module, and the output end of the redundant battery pack is used as the output end of the redundant power supply module and is electrically connected with the power supply switching module.
7. The unmanned logistics vehicle emergency braking system of claim 2, wherein the EPB emergency braking module comprises an electronic control unit, an electric actuator and a sensor unit, wherein the electronic control unit is respectively connected with the electric actuator, the sensor unit and the whole vehicle controller, and the electronic control unit, the electric actuator and the sensor unit are powered by the power supply selected by the power supply switching module.
8. The unmanned logistics vehicle emergency braking system of claim 7, wherein said sensor unit comprises a vehicle speed sensor, an acceleration sensor, a brake pedal position sensor.
9. An unmanned logistics vehicle emergency braking method, characterized in that the method is applied to the unmanned logistics vehicle emergency braking system according to any one of claims 1 to 8, comprising:
step S1, starting up and powering up a vehicle, wherein a main power supply module works normally, and a redundant power supply module is in a state to be activated;
step S2, when emergency braking is needed, the whole vehicle controller sends an emergency braking signal to an electronic control unit of the EPB emergency braking module, and the electronic control unit drives an electric actuator to apply braking force to wheels according to the emergency braking signal and in combination with data of the sensor unit;
Step S3, in the emergency braking process, when a first battery management system of a main power supply module monitors that the main power supply module is abnormal, the first battery management system generates and sends a fault signal to an electronic control unit of the EPB emergency braking module;
Step S4, after receiving the fault signal, the electronic control unit sends a power supply switching signal to a switching control unit of a power supply switching module;
S5, after receiving the power supply switching signal, the switching control unit sends out a control signal to sequentially control the normally open contact of the second relay connected with the redundant power supply module to be closed, and the normally closed contact of the second relay connected with the main power supply module is opened;
And S6, after the switching is completed, the redundant power supply module is activated, and at the moment, the second battery management system of the redundant power supply module sends a switching completion signal to the electronic control unit of the EPB emergency braking module, and the electronic control unit continues to drive the electric actuator to apply braking force to the wheels so as to complete braking.
10. A vehicle, characterized in that the vehicle comprises an unmanned logistics vehicle emergency braking system according to any one of claims 1 to 8.
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| CN202411693277.7A CN119611288A (en) | 2024-11-25 | 2024-11-25 | Unmanned logistics vehicle emergency braking system, method and vehicle |
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| CN202411693277.7A CN119611288A (en) | 2024-11-25 | 2024-11-25 | Unmanned logistics vehicle emergency braking system, method and vehicle |
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