CN114506303A - Automatic driving and braking control system and method for pure electric logistic vehicle - Google Patents
Automatic driving and braking control system and method for pure electric logistic vehicle Download PDFInfo
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- CN114506303A CN114506303A CN202210141142.4A CN202210141142A CN114506303A CN 114506303 A CN114506303 A CN 114506303A CN 202210141142 A CN202210141142 A CN 202210141142A CN 114506303 A CN114506303 A CN 114506303A
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- 238000005259 measurement Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention relates to an automatic driving brake control system and method for a pure electric logistic vehicle, wherein the control system comprises an automatic driving domain controller, an intelligent brake module, an electronic parking module, an electric vehicle control module and an electric vehicle motor control module; the automatic driving domain controller comprises brake control strategies under the conditions of system failure in an automatic driving state and manual intervention, can be suitable for brake control of the electric automobile under different brake scenes, and is more stable and reliable compared with the conventional automatic driving brake control system.
Description
Technical Field
The invention relates to the technical field of automatic driving technology brake control, in particular to an automatic driving brake control system and method for a pure electric vehicle.
Background
With the continuous development of the automobile industry in China, the automatic driving technology of the pure electric automobile is gradually concerned by all large enterprises, and is a main development direction of the pure electric automobile in the future, in the automatic driving process, a set of effective and stable brake control system is the primary premise for ensuring the safe driving of the automobile, however, the existing automatic driving brake control system of the pure electric automobile cannot well match the brake requirement of the automobile in the driving process, and the manual operation of a driver is still required under a plurality of brake scenes.
Therefore, the invention provides an automatic driving and braking control system and method for a pure electric logistics vehicle.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide an automatic driving brake control system and method for a pure electric vehicle.
In order to achieve the above object, in one aspect, the present invention provides an automatic driving and braking control system for a pure electric vehicle, including an automatic driving area controller, an intelligent braking module, an electronic parking module, an electric vehicle control module and an electric vehicle motor control module;
the electric vehicle motor control module is used for controlling the torque of the electric vehicle and sending an actual measured value of the torque to the electric vehicle whole vehicle controller and the automatic driving area controller;
the whole electric vehicle control module is used for receiving an instruction of the automatic driving area controller, controlling the gear and the torque of the electric vehicle according to the received instruction and feeding back the controlled states of the gear and the torque to the automatic driving area controller;
the electronic parking module is used for receiving actual torque measured by a motor controller of the electric automobile and releasing and parking instructions sent by the automatic driving domain controller and feeding a parking signal back to the automatic driving domain controller;
the intelligent brake module is used for receiving and responding to a braking request of the automatic driving domain controller and feeding a braking result back to the automatic driving domain controller;
and the automatic driving domain controller is used for sending a request or an instruction to the modules, finishing information interaction with the modules and further controlling the whole automatic driving process.
In the technical scheme, the automatic driving domain controller is also in communication connection with the HMI human-machine interaction interface, and when the intelligent brake module or the electronic parking module breaks down when the electric automobile brakes, the automatic driving domain controller sends an alarm signal to the HMI human-machine interaction interface to remind a driver.
The electronic parking module is also used for receiving a parking request from the intelligent brake module and responding and feeding back according to the current parking state of the electric automobile.
On the other hand, the embodiment of the invention also provides an automatic driving and braking control method for the pure electric vehicle, which comprises the following steps:
s1, an automatic driving area controller receives message information from an intelligent brake module, further judges the brake scene of the electric automobile at the current moment, and respectively sends control instructions to the intelligent brake module, an electronic parking module, an electric automobile whole vehicle control module and an electric automobile motor control module;
s2, each module executes the received instruction and feeds information back to the automatic driving area controller;
s3, the automatic driving domain controller confirms the braking condition of the electric automobile according to the feedback information and sends a corresponding signal to an HMI (human machine interface) human-computer interaction interface;
and S4, finishing braking.
In the above technical solution, the number of the braking scenarios in step S1 is 9, and the braking scenarios are respectively:
1) when starting, the electronic parking module is released;
2) when braking, the intelligent brake module is normal and has no manual intervention;
3) when braking, the intelligent brake module is normal and manual intervention is carried out;
4) when braking, the intelligent brake module breaks down and has no manual intervention;
5) when braking, the intelligent brake module breaks down and manual intervention is performed;
6) during braking, the intelligent braking module fails and the electronic parking module fails;
7) when parking, the automatic driving area controller requests the electronic parking module to park;
8) when the automobile is parked, the electronic parking module is normal, and the intelligent braking system requests the electronic parking module to park;
9) when parking, the electronic parking module breaks down.
Further, the information fed back in step S3 includes: the system comprises a gear controlled state activating signal, a torque actual measurement value, a master cylinder brake stroke value, a brake pedal stroke value, an intelligent brake module fault signal, an electronic parking module fault signal, a dynamic parking request, a static parking request and a master cylinder stroke return signal.
Further, the corresponding signal in step S3 includes: an automatic driving brake control state activating signal, an automatic driving brake control state quitting signal and a fault warning signal.
Compared with the prior art, the invention has the beneficial effects that:
according to the automatic driving brake control system of the pure electric logistic vehicle, the automatic driving domain controller comprises brake control strategies under the conditions that the system is in fault and manual intervention is carried out in the automatic driving state, the automatic driving domain controller can be suitable for brake control of electric vehicles in different brake scenes, and compared with the existing automatic driving brake control system, the automatic driving brake control system is more stable and reliable.
According to the automatic driving and braking control method for the pure electric vehicle, the automatic driving braking scene of the pure electric vehicle is divided into 9 types, corresponding control logics are designed, the braking requirements of the electric vehicle in the process from starting to stopping can be met, the vehicle can be well braked when an automatic driving braking control system breaks down, the fault condition is fed back to a driver in time, and the follow-up maintenance of the vehicle is facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an automatic driving and braking control system of a pure electric vehicle according to the present invention;
FIG. 2 is a flow chart of an automatic driving and braking control method for a pure electric vehicle according to the present invention;
FIG. 3 is a schematic control flow chart of EPB release at the time of vehicle start in embodiment 2 of the present invention;
fig. 4 is a schematic control flow diagram of braking in a normal IBC scenario without human intervention in embodiment 2 of the present invention;
fig. 5 is a schematic control flow diagram of braking in a scenario where the IBC is normal and manual intervention is performed in embodiment 2 of the present invention;
FIG. 6 is a schematic control flow diagram of braking in a scenario with IBC failure and no manual intervention in embodiment 2 of the present invention;
fig. 7 is a schematic control flow diagram of braking in a scenario of IBC failure and manual intervention in embodiment 2 of the present invention;
fig. 8 is a schematic control flow diagram of braking in the case of both IBC and EPB failure in embodiment 2 of the present invention;
fig. 9 is a control flow diagram illustrating the ADU requesting EPB to park in embodiment 2 of the present invention;
FIG. 10 is a schematic control flow chart showing that EPB is normal and IBC requests EPB to park in embodiment 2 of the present invention;
fig. 11 is a schematic control flow diagram for parking in an EPB failure scenario in embodiment 2 of the present invention.
In the figure: ADU-autopilot domain controller; IBC-Intelligent brake Module; EPB-electronic parking module; VCU-whole vehicle control module of electric vehicle; MCU-electric vehicle motor control module; HMI — human machine interface.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.
Example 1:
as shown in fig. 1, an automatic driving and braking control system for a pure electric logistics vehicle comprises an automatic driving area controller, an intelligent braking module, an electronic parking module, an electric vehicle control module and an electric vehicle motor control module;
the electric vehicle motor control module is used for controlling the torque of the electric vehicle and sending an actual measured value of the torque to the electric vehicle whole vehicle controller and the automatic driving area controller;
the whole electric vehicle control module is used for receiving an instruction of the automatic driving area controller, controlling the gear and the torque of the electric vehicle according to the received instruction and feeding back the controlled states of the gear and the torque to the automatic driving area controller;
the electronic parking module is used for receiving actual torque measured by a motor controller of the electric automobile and releasing and parking instructions sent by the automatic driving domain controller and feeding a parking signal back to the automatic driving domain controller;
the intelligent brake module is used for receiving and responding to a braking request of the automatic driving domain controller and feeding a braking result back to the automatic driving domain controller;
and the automatic driving domain controller is used for sending a request or an instruction to the modules, finishing information interaction with the modules and further controlling the whole automatic driving process.
In the technical scheme, the automatic driving domain controller is also in communication connection with the HMI human-machine interaction interface, and when the intelligent brake module or the electronic parking module breaks down when the electric automobile brakes, the automatic driving domain controller sends an alarm signal to the HMI human-machine interaction interface to remind a driver.
The electronic parking module is also used for receiving a parking request from the intelligent brake module and responding and feeding back according to the current parking state of the electric automobile.
Example 2
As shown in fig. 2, an automatic driving and braking control method for a pure electric vehicle includes the following steps:
s1, an automatic driving area controller receives message information from an intelligent brake module, further judges the brake scene of the electric automobile at the current moment, and respectively sends control instructions to the intelligent brake module, an electronic parking module, an electric automobile whole vehicle control module and an electric automobile motor control module;
s2, each module executes the received instruction and feeds information back to the automatic driving area controller;
s3, the automatic driving domain controller confirms the braking condition of the electric automobile according to the feedback information and sends a corresponding signal to an HMI (human machine interface) human-computer interaction interface;
and S4, finishing braking.
In the above technical solution, the number of the braking scenarios in step S1 is 9, and the braking scenarios are respectively:
1) when starting, the electronic parking module is released;
2) when braking, the intelligent brake module is normal and has no manual intervention;
3) when braking, the intelligent brake module is normal and manual intervention is carried out;
4) when braking, the intelligent brake module breaks down and has no manual intervention;
5) when braking, the intelligent brake module breaks down and manual intervention is performed;
6) during braking, the intelligent braking module fails and the electronic parking module fails;
7) when parking, the automatic driving area controller requests the electronic parking module to park;
8) when the automobile is parked, the electronic parking module is normal, and the intelligent braking system requests the electronic parking module to park;
9) when parking, the electronic parking module breaks down.
Further, the information fed back in step S3 includes: the system comprises a gear controlled state activating signal, a torque actual measurement value, a master cylinder brake stroke value, a brake pedal stroke value, an intelligent brake module fault signal, an electronic parking module fault signal, a dynamic parking request, a static parking request and a master cylinder stroke return signal.
Further, the corresponding signal in step S3 includes: an automatic driving brake control state activating signal, an automatic driving brake control state quitting signal and a fault warning signal.
Referring to fig. 3-11, the following describes details of an automatic driving and braking control method for a pure electric vehicle according to the present invention in detail with reference to the accompanying drawings.
Firstly, a scene one: when starting, EPB is released (as shown in figure 3)
1.1 the ADU sends the gear enable activation signal to the VCU, and after receiving the instruction from the ADU, the VCU executes the instruction and feeds back the gear controlled state activation signal to the ADU;
1.2 the ADU requests the VCU to enter a D gear, the VCU executes an instruction and feeds back an actual gear to the ADU;
1.3 ADU request torque control enable, VCU respond to the command and feed back torque controlled state enable signal to ADU;
1.4 ADU requests vehicle target torque, VCU receives the request and then forwards the torque value to MCU, MCU executes the torque request and sends the actual torque measured value of MCU to ADU and EPB controller;
1.5 ADU receives actual torque measurement from MCU, ADU requests EPB release, EPB completes EPB release by combining received MCU torque value.
Scene two: when braking, IBC is normal and without human intervention (as shown in FIG. 4)
2.1 the IBC automatically judges that the brake system has no manual intervention and informs the information to the ADU through a message (at the moment, the IBC is in a brake standby state);
2.2 the ADU sends an enabling instruction to the IBC, and the IBC responds to the instruction and enters an automatic control activation state;
2.3 after the ADU sends a master cylinder stroke braking request to the IBC, the IBC responds to the master cylinder stroke braking requested by the ADU and feeds back a response braking stroke value to the ADU.
Thirdly, scene three: when braking, IBC is normal and there is manual intervention (as shown in FIG. 5)
3.1 when manual intervention exists, the IBC can automatically judge and feed back the information to the ADU (at the moment, the control state of the IBC is temporarily incapable of entering the automatic control state);
3.2 the ADU sends an enabling instruction to the IBC, and the IBC responds to the instruction to automatically control the state to be inactivated;
3.3 when braking is needed, the driver steps on the brake pedal to brake, and the IBC feeds back the actual stroke signal of the pedal to the ADU.
Scene four: when braking, IBC fails without human intervention (as shown in FIG. 6)
4.1 when braking, if the IBC fails and the EPB is normal, the IBC can not enter the automatic mode permanently;
4.2 IBC notify ADU and EPB of its own system failure (not able to respond to the autopilot request & not able to respond to driver and autopilot requests);
4.3 the ADU sends a master cylinder stroke request, the IBC cannot execute the command because of faults, but the IBC sends a dynamic parking request to the EPB and the ADU controller to request the EPB to assist braking, the EPB performs parking after responding, and feeds a parking signal back to the IBC and the ADU;
4.4 in the automatic driving mode, if the IBC fails, the ADU cannot exit the automatic driving, the ADU needs to send a deceleration request to the IBC, and then the IBC requests the EPB to assist in braking; in the event that the vehicle does not enter the autonomous driving mode, the IBC or EPB or EPS fails, and the ADU cannot enter autonomous driving.
Scene five: when braking, IBC fails and there is manual intervention (as shown in FIG. 7)
5.1 when braking, if IBC is in failure and EPB is normal, then IBC can not enter automatic mode Permanently (IBC _ ControlStatus:0x3Permanently failed).
5.2 IBC notify ADU and EPB of its own system failure (not able to respond to the request for automatic driving & not able to respond to the request for driver and automatic driving);
5.3 the ADU sends a master cylinder stroke request, the IBC cannot execute the command because of faults, but the IBC sends a dynamic parking request to the EPB and the ADU controller to request the EPB to assist braking, but at the moment, the driver already pulls up the EPB manually to brake, the EPB cannot respond to the dynamic parking request of the IBC, and after the EPB is pulled up, a parking signal is fed back to the IBC and the ADU to complete braking.
Sixth scenario: during braking, both IBC and EPB are failed (as shown in figure 8)
6.1 when the brake is needed, if both IBC and EPB are in fault, the IBC can not enter the automatic mode permanently;
6.2 IBC notify ADU and EPB controller of its own system failure (unable to respond to autopilot request & unable to respond to driver and autopilot request);
6.3 at this time, the ADU firstly sends a brake request signal to the IBC, the IBC does not respond and sends a dynamic parking request signal to the EPB and the ADU, the EPB does not execute the request and feeds back a request non-execution signal, and when the ADU receives that the IBC and the EPB do not respond to the brake command, the ADU reminds the driver to take over through the HMI system.
Seventh scene: while parking, the ADU requests the EPB to park (as shown in FIG. 9)
7.1 when the IBC responds to the ADU braking request to brake the vehicle, the master cylinder continues to keep the braking stroke, the ADU sends a static parking request to the EPB, the EPB completes parking after responding to the parking request and feeds back a parking completion signal to the ADU and the IBC, the IBC returns the master cylinder stroke after knowing that the EPB is parked, and sends a master cylinder stroke position return signal to the ADU to complete parking.
Eight scenes: when parking, EPB is normal, IBC requests EPB to park (as shown in FIG. 10)
8.1 after the IBC responds to the ADU braking request to brake the vehicle and keep the master cylinder braking stroke for 3 minutes, the IBC sends a parking request to the EPB;
8.2 the EPB responds to the parking request and finishes parking, and then feeds back a parking completion signal to the ADU and the IBC, and the IBC immediately releases the stroke brake of the master cylinder after receiving the signal.
Ninthly, scene nine: when parking, EPB fault (as shown in figure 11)
9.1 after the IBC responds to the ADU braking request to brake the vehicle and keep the braking stroke of the master cylinder for 3 minutes, if the EPB system fault is detected before the IBC sends the parking request to the EPB, the IBC can keep the braking stroke of the master cylinder consistently and keep the braking of the whole vehicle;
if the EPB fails after the IBC sends the parking request to the EPB, the EPB does not respond to the parking request and feeds back signals to the ADU and the IBC, and after the IBC receives the signals, the stroke braking of the master cylinder is continuously maintained so as to maintain the braking of the whole vehicle.
In conclusion, the automatic driving brake control system of the pure electric logistics vehicle can be suitable for brake control of electric vehicles under different brake scenes, and is more stable and reliable compared with the existing automatic driving brake control system; the automatic driving brake control method divides the automatic driving brake scene of the pure electric vehicle into 9 types, and corresponding control logics are designed, so that the brake requirement of the electric vehicle in the whole process from starting to stopping can be met, the brake of the vehicle can be well completed when the automatic driving brake control system breaks down, and the fault condition is fed back to a driver, so that the driver can take over the vehicle in time.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the structure of the present invention in any way. Any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the technical scope of the present invention.
Claims (7)
1. An automatic driving brake control system of a pure electric logistic vehicle is characterized by comprising an automatic driving domain controller, an intelligent brake module, an electronic parking module, an electric vehicle control module and an electric vehicle motor control module;
the electric vehicle motor control module is used for controlling the torque of the electric vehicle and sending an actual measured value of the torque to the electric vehicle whole vehicle controller and the automatic driving area controller;
the whole electric vehicle control module is used for receiving an instruction of the automatic driving area controller, controlling the gear and the torque of the electric vehicle according to the received instruction and feeding back the controlled states of the gear and the torque to the automatic driving area controller;
the electronic parking module is used for receiving actual torque measured by a motor controller of the electric automobile and releasing and parking instructions sent by the automatic driving domain controller and feeding a parking signal back to the automatic driving domain controller;
the intelligent brake module is used for receiving and responding to a braking request of the automatic driving domain controller and feeding a braking result back to the automatic driving domain controller;
and the automatic driving domain controller is used for sending a request or an instruction to the modules, finishing information interaction with the modules and further controlling the whole automatic driving process.
2. The automatic driving brake control system for the pure electric logistic vehicle as claimed in claim 1, wherein the automatic driving domain controller is further in communication connection with the HMI, and when the intelligent brake module or the electronic parking module fails during braking of the electric vehicle, the automatic driving domain controller sends an alarm signal to the HMI to remind a driver.
3. The automatic driving and braking control system for the pure electric vehicle according to claim 1, wherein the electronic parking module is further configured to receive a parking request from the intelligent braking module, and perform response and feedback according to a current parking state of the electric vehicle.
4. The automatic driving and braking control method for the pure electric logistic vehicle is characterized by comprising the following steps of:
s1, an automatic driving area controller receives message information from an intelligent brake module, further judges the brake scene of the electric automobile at the current moment, and respectively sends control instructions to the intelligent brake module, an electronic parking module, an electric automobile whole vehicle control module and an electric automobile motor control module;
s2, each module executes the received instruction and feeds information back to the automatic driving area controller;
s3, the automatic driving domain controller confirms the braking condition of the electric automobile according to the feedback information and sends a corresponding signal to an HMI (human machine interface) human-computer interaction interface;
and S4, finishing braking.
5. The automatic driving and braking control method for the pure electric vehicle according to claim 4, wherein the number of the braking scenes in step S1 is 9, and the braking scenes are respectively as follows:
1) when starting, the electronic parking module is released;
2) when braking, the intelligent brake module is normal and has no manual intervention;
3) when braking, the intelligent brake module is normal and manual intervention is carried out;
4) when braking, the intelligent brake module breaks down and has no manual intervention;
5) when braking, the intelligent brake module breaks down and manual intervention is performed;
6) during braking, the intelligent braking module fails and the electronic parking module fails;
7) when parking, the automatic driving area controller requests the electronic parking module to park;
8) when the automobile is parked, the electronic parking module is normal, and the intelligent braking system requests the electronic parking module to park;
9) when parking, the electronic parking module breaks down.
6. The electric vehicle automatic driving brake control method according to claim 4, wherein the information fed back in step S3 comprises: the system comprises a gear controlled state activating signal, a torque actual measurement value, a master cylinder brake stroke value, a brake pedal stroke value, an intelligent brake module fault signal, an electronic parking module fault signal, a dynamic parking request, a static parking request and a master cylinder stroke return signal.
7. The electric motor streamer vehicle automatic driving brake control method according to claim 4, wherein the corresponding signal in step S3 comprises: an automatic driving brake control state activating signal, an automatic driving brake control state quitting signal and a fault warning signal.
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| CN202210141142.4A CN114506303A (en) | 2022-02-16 | 2022-02-16 | Automatic driving and braking control system and method for pure electric logistic vehicle |
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| CN202210141142.4A CN114506303A (en) | 2022-02-16 | 2022-02-16 | Automatic driving and braking control system and method for pure electric logistic vehicle |
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| CN212373352U (en) * | 2020-05-29 | 2021-01-19 | 比亚迪股份有限公司 | Control system of automatic driving vehicle and automatic driving vehicle |
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- 2022-02-16 CN CN202210141142.4A patent/CN114506303A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20190126893A1 (en) * | 2017-11-02 | 2019-05-02 | Mando Corporation | Autonomous emergency braking system and method of controlling same |
| CN109334653A (en) * | 2018-11-12 | 2019-02-15 | 天津清智科技有限公司 | A kind of pilotless automobile chassis braking system backup method |
| KR102173984B1 (en) * | 2019-06-27 | 2020-11-05 | 현대모비스 주식회사 | Apparatus for controlling brake of autonomous driving vehicle |
| CN110979333A (en) * | 2019-11-25 | 2020-04-10 | 江铃汽车股份有限公司 | Automatic driving and manual driving switching control system and method for electric vehicle |
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