CN112061093B - Locomotive braking system for realizing automatic driving and realization method thereof - Google Patents
Locomotive braking system for realizing automatic driving and realization method thereof Download PDFInfo
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- CN112061093B CN112061093B CN202010996386.1A CN202010996386A CN112061093B CN 112061093 B CN112061093 B CN 112061093B CN 202010996386 A CN202010996386 A CN 202010996386A CN 112061093 B CN112061093 B CN 112061093B
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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
- 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
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Abstract
The invention discloses a locomotive braking system for realizing automatic driving and a realization method thereof, wherein the locomotive braking system comprises: the brake display module is used for outputting the state information of the brake system; the brake controller is used for outputting brake position information of the brake force; the automatic driving module is used for carrying out data information interaction with the automatic driving control center of the locomotive, detecting data information output by the braking control module and outputting an automatic driving operation mark and a first target pressure value; the brake control module is used for analyzing brake position information of the brake force, acquiring a second target pressure value, outputting an actual target pressure value according to the automatic driving operation mark and the first target pressure value, controlling the brake cylinder to work, and sending collected state information of the brake system to the brake display module. The invention does not produce additional influence on the normal operation of the original brake system, can be compatible with the original brake system without hardware upgrading, has high decoupling performance and high adaptability, and improves the feasibility, reliability and stability of the automatic driving of the brake system.
Description
Technical Field
The invention relates to the technical field of locomotive braking, in particular to a locomotive braking system for realizing automatic driving and a realization method thereof.
Background
The electric locomotive brake system is an important component of the whole locomotive and has extremely important significance for ensuring the safe operation of the electric locomotive.
At present, in the prior art, a brake system of an electric locomotive generally comprises a brake controller, a brake control unit, a brake display screen and other components, wherein the brake controller is used as an input component of a brake level, a crew member manually operates the brake controller to make the level change of the brake controller according to the running condition of the locomotive, the brake control unit further analyzes the brake level and controls a brake cylinder to apply a brake force corresponding to the level, and simultaneously, the result is output and displayed on the brake display screen to be fed back to the crew member to form closed-loop control. The electric locomotive braking system requires a crew to observe the running condition of the locomotive in real time, so that the labor cost is high, and the final control effect of locomotive braking is greatly influenced by the subjective factors of the crew. In order to effectively reduce the labor degree of locomotive crew members, reduce the labor cost, apply braking force more scientifically and reasonably and realize the effects of energy conservation and emission reduction, the automatic driving function is added on the original electric braking system in a software mode.
However, the newly added automatic driving function usually changes the software of the original electric brake system greatly, the control coupling is serious, and the upgrading of the software is incompatible with the addition of the related hardware of the original electric brake system, so that the implementation risk is high, and the feasibility, the reliability and the stability of the automatic driving of the electric locomotive brake system are greatly reduced.
Disclosure of Invention
In order to solve the technical problems of serious control coupling and low reliability of a locomotive brake system with an automatic driving function in the prior art, the invention provides the locomotive brake system for realizing automatic driving.
The invention provides a locomotive braking system for realizing automatic driving, which comprises a communication module, and an automatic driving module, a braking controller, a braking control module and a braking display module which are connected through the communication module;
the brake display module is used for outputting the state information of the brake system;
the brake controller is used for outputting brake position information of the brake force according to the state information;
the automatic driving module is connected with an automatic driving control center of the locomotive through the communication module and is used for carrying out data information interaction with the automatic driving control center of the locomotive, detecting data information output by the brake control module and outputting an automatic driving operation mark and a first target pressure value of a brake cylinder;
the brake control module is used for analyzing the brake position information of the brake force, acquiring a second target pressure value of the brake cylinder, outputting an actual target pressure value of the brake cylinder according to the automatic driving operation mark and the first target pressure value, controlling the brake cylinder to work, and sending collected state information of the brake system to the brake display module.
Furthermore, the automatic driving module is composed of a state machine and is used for carrying out data information interaction with the automatic driving control center of the locomotive and detecting data information output by the brake control module, controlling different states of the brake system to switch according to the data information, and outputting the automatic driving operation mark and the first target pressure value of the brake cylinder according to a switching result.
Further, the automatic driving operation flag includes: an automatic driving input operation mark and an automatic driving exit operation mark.
Further, the brake control module is further configured to:
when the automatic driving module outputs an automatic driving input operation mark, taking the larger value of the first target pressure value and the second target pressure value as the actual target pressure value;
and when the automatic driving module outputs an automatic driving quitting operation mark, taking the second target pressure value as the actual target pressure value.
The invention also provides a method for realizing automatic driving of the locomotive braking system, which comprises the following steps:
s1: the brake display module outputs the state information of the brake system;
s2: according to the state information, the brake controller outputs brake force brake position information;
s3: the automatic driving module performs data information interaction with an automatic driving control center of the locomotive, detects data information output by the brake control module, and outputs an automatic driving operation mark and a first target pressure value of a brake cylinder;
s4: the brake control module analyzes the brake position information of the brake force, acquires a second target pressure value of the brake cylinder, outputs an actual target pressure value of the brake cylinder according to the automatic driving operation mark and the first target pressure value, controls the brake cylinder to work, and sends acquired state information of the brake system to the brake display module.
Further, the step S3 specifically includes:
s31: the state machine of the automatic driving module performs data information interaction with the automatic driving control center of the locomotive and detects data information output by the braking control module;
s32: controlling different states of the brake system to switch according to the data information of the step S31;
s33: and outputting an automatic driving operation mark and a first target pressure value of the brake cylinder according to the switching result of the step S32.
Further, the different states of the brake system in the step S32 specifically include:
a standby state, an execution state, an active exit state, and an abnormal exit state.
Further, the automatic driving operation flag in the step S33 includes: an automatic driving input operation mark and an automatic driving exit operation mark.
Further, the step S32 specifically includes:
s321: when the brake system is in the standby state, if the automatic driving control instruction information of the automatic driving control center of the locomotive is detected, switching to the execution state, and outputting an automatic driving input operation mark and a first target pressure value of a brake cylinder;
s322: when the brake system is in the execution state, if the active quit control instruction information of the automatic driving control center of the locomotive is detected, switching to the active quit state; if the communication fault information or the hardware fault information output by the brake control module is detected, switching to the abnormal exit state;
s323: when the brake system is in the active quitting state, if the situation that the automatic brake handle and the independent brake handle of the brake controller output by the brake control module return to the operation position information after leaving the operation position is detected, switching to the standby state, and outputting an automatic driving quitting operation mark and a first target pressure value of a brake cylinder;
s324: when the brake system is in the abnormal exit state, if the brake system detects that the automatic brake handle of the brake controller output by the brake control module returns to the operation position after the position is restrained and the independent brake handle returns to the operation position information after the independent brake handle leaves the operation position, the brake system is switched to the standby state, and an automatic driving exit operation mark and a first target pressure value of a brake cylinder are output.
Further, the step S4 specifically includes:
s41: the brake control module analyzes the brake position information of the braking force and acquires a second target pressure value of the brake cylinder;
s42: judging the first target pressure value and the second target pressure value according to the automatic driving operation mark;
s43: when the automatic driving operation flag is the automatic driving input operation flag, taking the larger value of the first target pressure value and the second target pressure value as the actual target pressure value; when the automatic driving operation mark is an automatic driving quitting operation mark, taking the second target pressure value as the actual target pressure value;
s44: and according to the actual target pressure value, the brake control module controls the brake cylinder to work and sends the acquired brake system state information to the brake display module.
The invention has the technical effects or advantages that:
(1) the invention provides a locomotive braking system for realizing automatic driving, which comprises a communication module, and an automatic driving module, a braking controller, a braking control module and a braking display module which are connected through the communication module. The invention encapsulates and processes the newly added automatic driving function by a modularization method, does not generate additional influence on the normal operation of the original brake system, has high decoupling performance, can be compatible with the original brake system without hardware upgrading, has high adaptability, and improves the feasibility, reliability and stability of automatic driving of the brake system. In addition, the invention also provides a method for realizing automatic driving of the locomotive brake system, and the effect is as above.
(2) The invention provides a locomotive braking system for realizing automatic driving, wherein an automatic driving module is composed of a state machine, the control of all functional logics of the automatic driving is realized through the state machine, the state mode switching is simple and clear, and the locomotive braking system has high reliability and stability. In addition, the invention also provides a method for realizing automatic driving of the locomotive brake system, and the effect is as above.
(3) The invention provides a locomotive braking system for realizing automatic driving, which improves the automation level of the locomotive braking system, reduces the labor degree of locomotive crew members, reduces the labor cost and applies braking force more scientifically and reasonably. In addition, the invention also provides a method for realizing automatic driving of the locomotive brake system, and the effect is as above.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.
FIG. 1 is a schematic structural diagram of a locomotive brake system for implementing autopilot according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for implementing autopilot of a locomotive braking system in accordance with an embodiment of the present invention;
fig. 3 is a schematic diagram of a logic processing state transition of an autopilot module according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and the detailed description. Although embodiments of the invention are disclosed in the accompanying drawings, it should be understood that the invention as embodied in any form is not intended to be limited to the embodiments set forth herein.
In order to solve the technical problems of serious control coupling and low reliability of a locomotive brake system with an automatic driving function in the prior art, the invention provides the locomotive brake system for realizing automatic driving.
The technical solution of the present invention will be described in detail below with reference to the specific embodiments and the accompanying drawings.
The embodiment relates to a locomotive braking system for realizing automatic driving, which comprises a communication module, and an automatic driving module, a braking controller, a braking control module and a braking display module which are connected through the communication module;
the brake display module is used for outputting the state information of the brake system;
the brake controller is used for outputting brake position information of the brake force according to the state information;
the automatic driving module is also connected with an automatic driving control center of the locomotive through the communication module, and is used for carrying out data information interaction with the automatic driving control center of the locomotive, detecting data information output by the brake control module and outputting an automatic driving operation mark and a first target pressure value of a brake cylinder;
the brake control module is used for analyzing the brake position information of the brake force, acquiring a second target pressure value of the brake cylinder, outputting an actual target pressure value of the brake cylinder according to the automatic driving operation mark and the first target pressure value, controlling the brake cylinder to work, and sending acquired state information of the brake system to the brake display module.
According to the locomotive braking system for realizing automatic driving, the newly added automatic driving function is packaged and processed through a modularization method, no additional influence is generated on the normal operation of the original braking system, the locomotive braking system has high decoupling performance, is compatible with the original braking system without hardware upgrading, has high adaptability, and improves the feasibility, reliability and stability of automatic driving of the braking system.
Specifically, referring to fig. 1, an embodiment of the present invention provides a locomotive brake system for implementing automatic driving, where the locomotive brake system includes: the automatic driving device comprises a communication module, and an automatic driving module, a brake controller, a brake control module and a brake display module which are connected through the communication module.
The communication module is used for communication among all modules or units of the locomotive brake system and with an automatic driving control center of the locomotive. In the embodiment of the present invention, the communication module includes, but is not limited to, a CAN bus, an MVB bus, an RS485 bus, a hard wire, and the like.
The brake display module is used for outputting the state information of the brake system. In the embodiment of the invention, the brake display module is a man-machine interaction part of the brake system and can be an LCD display screen. The state information of the brake system can be state information of each module and unit in the brake system, operation state information of the locomotive, state information of a brake cylinder and the like, and feedback is provided for the brake controller to output brake position information of the brake, so that closed-loop control is formed.
The brake controller is used for outputting brake force brake position information. In the embodiment of the invention, the brake controller is an input component of the brake level, the locomotive driver operates the level change of the brake controller according to the state information of the brake display module, and the brake level information of the brake is output according to the position of the brake level handle of the brake controller. Wherein the brake controller includes a plurality of stages, and the braking force is gradually increased as the stages are increased. In an embodiment of the present invention, the brake controller includes 7 stages.
And the automatic driving module is used for outputting an automatic driving operation mark and a target pressure value of the brake cylinder. In the embodiment of the invention, the automatic driving module is also connected with an automatic driving control center of the locomotive through a communication module, and the automatic driving module can perform data information interaction with the automatic driving control center of the locomotive and detect data information output by the braking control module. Data information interacting with the locomotive autopilot control center includes, but is not limited to, autopilot control command information and active exit control command information. The data information output by the detection brake control module comprises but is not limited to communication fault information and hardware fault information, and the automatic brake handle and the independent brake handle of the brake controller return to the operation position information after leaving the operation position and return to the operation position after returning to the operation position after leaving the operation position and return to the operation position information after leaving the operation position. And the automatic driving module outputs an automatic driving operation mark and a first target pressure value of the brake cylinder according to the data information. The automatic driving operation mark comprises an automatic driving input operation mark and an automatic driving exit operation mark.
In the embodiment of the invention, the automatic driving module is specifically composed of a state machine, the state machine performs data information interaction with the automatic driving control center of the locomotive and detects data information output by the brake control module, different states of the brake system are controlled to be switched according to the data information, and the automatic driving operation mark and the first target pressure value of the brake cylinder are output according to the switching result. The different states of the braking system include: a standby state, an execution state, an active exit state, and an abnormal exit state. When the brake system is in a standby state, if the automatic driving control instruction information of an automatic driving control center of the locomotive is detected, switching to an execution state, and outputting an automatic driving input operation mark and a first target pressure value of a brake cylinder; when the brake system is in an execution state, if the active exit control instruction information of the automatic driving control center of the locomotive is detected, switching to an active exit state; if the communication fault information or the hardware fault information output by the brake control module is detected, switching to an abnormal exit state; when the brake system is in an active quitting state, if the automatic brake handle and the independent brake handle of the brake controller output by the brake control module are detected to return to the operation position information after leaving the operation position, switching to a standby state, and outputting an automatic driving quitting operation mark and a first target pressure value of a brake cylinder; when the brake system is in an abnormal exit state, if the brake system detects that the automatic brake handle of the brake controller output by the brake control module returns to the operation position after being positioned at the inhibition position and the independent brake handle returns to the operation position information after being separated from the operation position, the brake system is switched to a standby state, and an automatic driving exit operation mark and a first target pressure value of the brake cylinder are output.
The locomotive braking system for realizing automatic driving provided by the embodiment of the invention realizes the control of all functional logics of automatic driving through the state machine, and the state mode switching is simple and clear, and has high reliability and stability.
And the brake control module is used for controlling the brake cylinder to work. In the embodiment of the invention, the brake control module analyzes the brake position information of the braking force, acquires a second target pressure value of the brake cylinder, outputs an actual target pressure value of the brake cylinder according to the automatic driving operation mark and the first target pressure value, controls the brake cylinder to work, and sends the acquired state information of the braking system to the brake display module. The brake control module collects state information of each module and unit in the brake system, running state information of the locomotive, state information of a brake cylinder and the like, and sends the information to the brake display module.
Specifically, when the brake cylinder is controlled by the brake control module to work, and when the automatic driving module outputs an automatic driving input operation mark, the larger value of a first target pressure value and a second target pressure value is used as the actual target pressure value of the brake cylinder;
and when the automatic driving module outputs an automatic driving quitting operation mark, taking a second target pressure value as the actual target pressure value of the brake cylinder.
According to the locomotive braking system for realizing automatic driving, provided by the embodiment of the invention, the newly added automatic driving function is packaged and processed through a modularized method, only the automatic driving operation mark and the first target pressure value are output to the outside, no additional influence is generated on the normal operation of the original braking system, the locomotive braking system has high decoupling performance, is compatible with the original braking system without hardware upgrading, has high adaptability, and improves the feasibility, reliability and stability of automatic driving of the braking system. The automation level of the locomotive brake system is improved, the labor degree of locomotive crew members is reduced, the labor cost is reduced, and the braking force is applied more scientifically and reasonably.
The embodiment of the invention also provides a method for realizing automatic driving of the locomotive braking system, and with reference to fig. 2, the method comprises the following steps:
s1: the brake display module outputs the state information of the brake system;
in the embodiment of the present invention, in step S1, the status information of the brake system may be status information of each module and unit in the brake system, operation status information of the locomotive, status information of the brake cylinders, and the like, and provides feedback for the brake controller to output brake position information, so as to form a closed-loop control.
S2: according to the state information, the brake controller outputs brake force brake position information;
in the embodiment of the invention, the locomotive driver operates the grade change of the brake controller according to the state information of the brake display module, and the brake position information of the brake is output according to the position of the brake position handle of the brake controller.
S3: the automatic driving module performs data information interaction with an automatic driving control center of the locomotive, detects data information output by the brake control module, outputs an automatic driving operation mark and acquires a first target pressure value of a brake cylinder;
in the embodiment of the present invention, the step S3 specifically includes:
s31: the state machine of the automatic driving module performs data information interaction with the automatic driving control center of the locomotive and detects data information output by the braking control module;
s32: controlling different states of the brake system to switch according to the data information of the step S31;
s33: and outputting an automatic driving operation mark and a first target pressure value of the brake cylinder according to the switching result of the step S32.
Wherein, the different states of the braking system in the step S32 include:
a standby state, an execution state, an active exit state, and an abnormal exit state.
Wherein, the automatic driving operation flag in the step S33 includes: an automatic driving input operation mark and an automatic driving exit operation mark.
The brake system is in a standby state, namely the brake system of the locomotive is electrified, the automatic driving module judges the state of the brake system in real time and communicates with an automatic driving control center of the locomotive, and the automatic driving operation mark is an automatic driving quitting operation mark (namely mark position 0). The brake system is in an execution state, which means that the locomotive brake system operates in an automatic driving state, and the automatic driving operation mark is an automatic driving input operation mark (namely mark position 1). The brake system is in the active quit state, which means that the locomotive brake system is quitted from the automatic driving due to external factors, but the locomotive brake system is not completely quitted from the automatic driving. The brake system is in an abnormal exit state, which means that the locomotive brake system automatically exits automatic driving due to self factors, but does not completely exit the automatic driving.
Specifically, in the embodiment of the present invention, referring to fig. 3, the step S32 specifically includes:
s321: when the brake system is in the standby state, if the automatic driving control instruction information of the automatic driving control center of the locomotive is detected, switching to the execution state, and outputting an automatic driving input operation mark and a first target pressure value of a brake cylinder;
s322: when the brake system is in the execution state, if the active quit control instruction information of the automatic driving control center of the locomotive is detected, switching to the active quit state; if the communication fault information or the hardware fault information output by the brake control module is detected, switching to the abnormal exit state;
s323: when the brake system is in the active quitting state, if the situation that the automatic brake handle and the independent brake handle of the brake controller output by the brake control module return to the operation position information after leaving the operation position is detected, switching to the standby state, and outputting an automatic driving quitting operation mark and a first target pressure value of a brake cylinder;
s324: when the brake system is in the abnormal exit state, if the brake system detects that the automatic brake handle of the brake controller output by the brake control module returns to the operation position after the position is restrained and the independent brake handle returns to the operation position information after the independent brake handle leaves the operation position, the brake system is switched to the standby state, and an automatic driving exit operation mark and a first target pressure value of a brake cylinder are output.
S4: the brake control module analyzes the brake position information of the brake force, acquires a second target pressure value of the brake cylinder, outputs an actual target pressure value of the brake cylinder according to the operation mark and the first target pressure value, controls the brake cylinder to work, and sends the state information of the brake system to the brake display module.
In this embodiment of the present invention, the step S4 specifically includes:
s41: the brake control module analyzes the brake position information of the braking force and acquires a second target pressure value of the brake cylinder;
s42: judging the first target pressure value and the second target pressure value according to the automatic driving operation mark;
s43: when the automatic driving operation mark is an automatic driving input operation mark, taking the larger value of the first target pressure value and the second target pressure value as the actual target pressure value; when the automatic driving operation mark is an operation quitting mark, taking the second target pressure value as the actual target pressure value;
s44: and according to the actual target pressure value, the brake control module controls the brake cylinder to work and sends the acquired brake system state information to the brake display module.
According to the method for realizing automatic driving of the locomotive brake system, provided by the embodiment of the invention, the newly added automatic driving function is packaged and processed through a modularized method, only the automatic driving operation mark and the first target pressure value are output to the outside, no additional influence is generated on the normal operation of the original brake system, the method has high decoupling performance, is compatible with the original brake system without hardware upgrading, has high adaptability, realizes the control of all functional logics of automatic driving through a state machine, is simple and clear in state mode switching, improves the feasibility, reliability and stability of automatic driving of the brake system, improves the automation level of the locomotive brake system, reduces the labor degree of locomotive crew members, reduces the labor cost, and applies braking force more scientifically and reasonably.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. A locomotive brake system for realizing automatic driving is characterized by comprising a communication module, and an automatic driving module, a brake controller, a brake control module and a brake display module which are connected through the communication module;
the brake display module is used for outputting the state information of the brake system;
the brake controller is used for outputting brake position information of the brake force according to the state information;
the automatic driving module is connected with an automatic driving control center of the locomotive through the communication module and is used for carrying out data information interaction with the automatic driving control center of the locomotive, detecting data information output by the brake control module and outputting an automatic driving operation mark and a first target pressure value of a brake cylinder;
the brake control module is used for analyzing the brake position information of the brake force, acquiring a second target pressure value of the brake cylinder, outputting an actual target pressure value of the brake cylinder according to the automatic driving operation mark and the first target pressure value, controlling the brake cylinder to work, and sending collected state information of the brake system to the brake display module;
the automatic driving module is composed of a state machine and is used for carrying out data information interaction with the automatic driving control center of the locomotive and detecting data information output by the brake control module, controlling different states of the brake system to switch according to the data information, and outputting the automatic driving operation mark and the first target pressure value of the brake cylinder according to a switching result. .
2. The autopilot-enabled locomotive brake system of claim 1 wherein the autopilot-enabled operation flag comprises: an automatic driving input operation mark and an automatic driving exit operation mark.
3. The autopilot-enabled locomotive brake system of claim 2 wherein the brake control module is further configured to:
when the automatic driving module outputs the automatic driving input operation mark, taking the larger value of the first target pressure value and the second target pressure value as the actual target pressure value;
and when the automatic driving module outputs the automatic driving quitting operation mark, taking the second target pressure value as the actual target pressure value.
4. A method for realizing automatic driving of a locomotive brake system is characterized by comprising the following steps:
s1: the brake display module outputs the state information of the brake system;
s2: according to the state information, the brake controller outputs brake force brake position information;
s3: the automatic driving module performs data information interaction with an automatic driving control center of the locomotive, detects data information output by the brake control module, and outputs an automatic driving operation mark and a first target pressure value of a brake cylinder;
s4: the brake control module analyzes the brake position information of the brake cylinder, acquires a second target pressure value of the brake cylinder, outputs an actual target pressure value of the brake cylinder according to the automatic driving operation mark and the first target pressure value, controls the brake cylinder to work, and sends acquired state information of the brake system to the brake display module;
wherein, in the step S3, the method specifically includes:
s31: the state machine of the automatic driving module performs data information interaction with the automatic driving control center of the locomotive and detects data information output by the braking control module;
s32: controlling different states of the brake system to switch according to the data information of the step S31;
s33: and outputting an automatic driving operation mark and a first target pressure value of the brake cylinder according to the switching result of the step S32.
5. The method for implementing autopilot of a locomotive brake system according to claim 4 wherein the different states of the brake system in step S32 include:
a standby state, an execution state, an active exit state, and an abnormal exit state.
6. The method for implementing autopilot of a locomotive brake system according to claim 5 wherein said autopilot run flag of step S33 includes: an automatic driving input operation mark and an automatic driving exit operation mark.
7. The method for implementing autopilot of a locomotive brake system according to claim 6, wherein said step S32 specifically includes:
s321: when the brake system is in the standby state, if the automatic driving control instruction information of the automatic driving control center of the locomotive is detected, switching to the execution state, and outputting an automatic driving input operation mark and a first target pressure value of a brake cylinder;
s322: when the brake system is in the execution state, if the active quit control instruction information of the automatic driving control center of the locomotive is detected, switching to the active quit state; if the communication fault information or the hardware fault information output by the brake control module is detected, switching to the abnormal exit state;
s323: when the brake system is in the active quitting state, if the situation that the automatic brake handle and the independent brake handle of the brake controller output by the brake control module return to the operation position information after leaving the operation position is detected, switching to the standby state, and outputting an automatic driving quitting operation mark and a first target pressure value of a brake cylinder;
s324: when the brake system is in the abnormal exit state, if the brake system detects that the automatic brake handle of the brake controller output by the brake control module returns to the operation position after the position is restrained and the independent brake handle returns to the operation position information after the independent brake handle leaves the operation position, the brake system is switched to the standby state, and an automatic driving exit operation mark and a first target pressure value of a brake cylinder are output.
8. The method for implementing autopilot of a locomotive brake system according to claim 6, wherein said step S4 specifically includes:
s41: the brake control module analyzes the brake position information of the braking force and acquires a second target pressure value of the brake cylinder;
s42: judging the first target pressure value and the second target pressure value according to the automatic driving operation mark;
s43: when the automatic driving operation flag is the automatic driving input operation flag, taking the larger value of the first target pressure value and the second target pressure value as the actual target pressure value; when the automatic driving operation mark is an automatic driving quitting operation mark, taking the second target pressure value as the actual target pressure value;
s44: and according to the actual target pressure value, the brake control module controls the brake cylinder to work and sends the acquired brake system state information to the brake display module.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010996386.1A CN112061093B (en) | 2020-09-21 | 2020-09-21 | Locomotive braking system for realizing automatic driving and realization method thereof |
| PCT/CN2021/117141 WO2022057697A1 (en) | 2020-09-21 | 2021-09-08 | Vehicle braking system and method capable of achieving autonomous driving |
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| CN112061093B (en) * | 2020-09-21 | 2021-07-20 | 中车青岛四方车辆研究所有限公司 | Locomotive braking system for realizing automatic driving and realization method thereof |
| CN113401142B (en) * | 2021-07-13 | 2022-09-27 | 奇瑞新能源汽车股份有限公司 | Braking method and device for automatic driving vehicle, vehicle and storage medium |
| CN115476894A (en) * | 2022-10-26 | 2022-12-16 | 北京交大思诺科技股份有限公司 | Switching method for automatic driving and manual driving of freight train |
| CN115782931B (en) * | 2022-11-14 | 2024-05-24 | 中车制动系统有限公司 | Multi-axis locomotive brake information display control method and system |
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