The invention relates to the technical field of unmanned driving, and discloses a redundant drive-by-wire brake method and system for an unmanned mine truck under a well working condition, and the system comprises the following modules: an emergency stop switch which carries out emergency braking in an emergency; and the auxiliary controller is used for receiving the control instruction of the automatic driving controller, converting the control instruction into a CAN (Controller Area Network) message and controlling a line-controlled chassis to execute corresponding actions. According to the redundant brake-by-wire method and system for the unmanned mine truck under the well working condition, the main brake system and redundant brake system switching logic is added, and whether the brake system fails or not can be accurately monitored in real time; a hardware structure is slightly changed, only a proportional electromagnetic valve is additionally arranged in front of a brake pedal valve, a brake oil way is not expanded, and the time delay of a brake system is not increased; and the adopted redundancy braking method is small in change, convenient to change and low in cost.
本发明涉及无人驾驶技术领域,且公开了一种井工况无人驾驶矿卡冗余线控制动方法及系统,包括以下模块:急停开关:在紧急情况下,进行应急制动;辅助控制器:用来接收自动驾驶控制器的控制指令,将控制指令转换成CAN报文,控制线控地盘执行相应动作。该井工况无人驾驶矿卡冗余线控制动方法及系统,添加了主制动系统与冗余制动系统切换逻辑,可以实时精确监测制动系统是否失效;在硬件结构上改动较小,仅在制动踏板阀前加一个比例电磁阀,并无扩展制动油路,不会增加制动系统延时;采用的冗余制动方法改动较小,且改动方便成本低。
Redundant drive-by-wire brake method and system for well working condition unmanned mine truck
一种井工况无人驾驶矿卡冗余线控制动方法和系统
2024-11-12
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
Path tracking system and method for well working condition hydraulic hinged type unmanned mine truck
European Patent Office | 2024
|Brake control system of unmanned mine truck and brake control method thereof
European Patent Office | 2020
|