CN-122009348-A - Anti-brake nodding system and method for Internet of vehicles for tractors

CN122009348ACN 122009348 ACN122009348 ACN 122009348ACN-122009348-A

Abstract

The invention discloses a vehicle networking anti-brake nodding system and method for a tractor, which belong to the technical field of vehicle control and comprise a road side sensing module, a vehicle-mounted sensing module, a communication module, an execution module and a control module, wherein the road side sensing module is used for collecting motion state data of the tractor in real time, the vehicle-mounted sensing module is used for collecting empty and full load state information and AEB trigger state information of the tractor, the communication module is used for realizing data interaction among road side equipment, a cloud platform and the vehicle-mounted equipment, the cloud platform is used for receiving the motion state data, the empty and full load state information and the AEB trigger state information and comprehensively judging according to a preset strategy to generate an anti-nodding control instruction, the execution module is arranged on the tractor and comprises an automatic driving controller, at least one group of driving motors and a telescopic device, the telescopic device is connected between the locomotive and the carriage, and the automatic driving controller is used for receiving the anti-nodding control instruction and controlling the driving motors to drive the telescopic device to act so as to adjust the relative position of the locomotive and the carriage and prevent brake nodding.

Inventors

DING CHENG
YANG YOUTIAN
Xu meixing

Assignees

北京福田戴姆勒汽车有限公司

Dates

Publication Date: 20260512
Application Date: 20260324

Claims (10)

1. The car networking anti-brake nodding system for the tractor is characterized by comprising: The road side sensing module is used for collecting the motion state data of the tractor in real time, wherein the motion state data comprise the speed before triggering the AEB, the type of the front obstacle and the distance between the front obstacle; The vehicle-mounted sensing module is used for collecting empty and full state information and AEB triggering state information of the vehicle; The communication module comprises a road side RSU and a vehicle-mounted OBU and is used for realizing data interaction among road side equipment, a cloud platform and vehicle-mounted equipment; the cloud platform is in communication connection with the road side sensing module and the vehicle-mounted sensing module, and is used for receiving the motion state data, the empty and full state information and the AEB trigger state information, comprehensively judging according to a preset strategy and generating an anti-nodding control instruction; The automatic driving controller is used for receiving the nodding prevention control instruction and controlling the driving motor to drive the telescopic device to act so as to adjust the relative position of the locomotive and the carriage and prevent the nodding of a brake.
2. The internet of vehicles anti-brake nodding system for a tractor of claim 1, wherein the roadside awareness module comprises: the road side camera is arranged on the road side rod piece and used for collecting 2D image data of vehicle movement; the road side laser radar is arranged on the road side rod piece and used for collecting 3D point cloud data of vehicle movement; and the edge calculation unit is respectively connected with the road side camera and the road side laser radar, and is used for fusing the 2D image data and the 3D point cloud data, constructing an automatic driving movement model and calculating the speed, the obstacle type and the distance information before AEB triggering.
3. The vehicle networking brake-prevention nodding system for a tractor according to claim 1, wherein the vehicle-mounted sensing module comprises an empty-full-load sensor arranged at the bottom of a rear compartment of the vehicle and used for collecting the vehicle weight state in real time, wherein the vehicle-mounted sensing module is judged to be in an empty state when the vehicle weight is smaller than a preset threshold value, and is judged to be in a full-load state when the vehicle weight is greater than or equal to the preset threshold value.
4. The internet of vehicles anti-brake nodding system for a tractor according to claim 1, wherein the telescoping device comprises a telescoping device one, a telescoping device two and a telescoping device three: one end of the first telescopic device is connected with the rear part of the upper end of the vehicle head, and the other end of the first telescopic device is connected with the front part of the upper end of the carriage; One end of the second telescopic device is connected with the rear part of the middle end of the vehicle head, the other end is connected with the front part of the middle end of the carriage; One end of the expansion device III is connected with the rear part of the bottom end of the headstock, the other end is connected with the front part of the bottom end of the carriage; The driving motors are connected with the telescopic devices one by one and used for driving the telescopic devices to stretch and retract under the control of the automatic driving controller.
5. The method for preventing the brake point of the vehicle networking for the tractor is characterized by comprising the following steps of: S1, monitoring a tractor in real time by road side sensing equipment, and acquiring speed V, front obstacle type and distance information before triggering AEB; s2, acquiring empty and full load state information and AEB trigger state information of the vehicle by a vehicle-mounted sensor; S3, uploading the information of the S1 and the S2 to a cloud platform through a communication module; S4, the cloud platform comprehensively judges according to the received information, determines the nodding risk level and generates a corresponding control instruction; s5, issuing a control instruction to the vehicle-mounted automatic driving controller; and S6, the automatic driving controller controls the driving motor to drive the corresponding telescopic device to shrink according to the instruction, so that the vehicle head moves backwards, and the brake nodding is restrained.
6. The internet of vehicles brake-prevention nodding method for a tractor of claim 5, wherein the nodding risk level comprises a mild nodding risk, a moderate nodding risk, and a high risk nodding risk.
7. The method for preventing brake points of a vehicle network for a tractor according to claim 6, wherein the telescopic device comprises a telescopic device one, a telescopic device two and a telescopic device three: one end of the first telescopic device is connected with the rear part of the upper end of the vehicle head, and the other end of the first telescopic device is connected with the front part of the upper end of the carriage; One end of the second telescopic device is connected with the rear part of the middle end of the vehicle head, the other end is connected with the front part of the middle end of the carriage; One end of the expansion device III is connected with the rear part of the bottom end of the headstock, the other end is connected with the front part of the bottom end of the carriage; The driving motors are connected with the telescopic devices one by one and used for driving the telescopic devices to stretch and retract under the control of the automatic driving controller.
8. The method of preventing brake nodding for a vehicle network for a tractor according to claim 7, wherein the comprehensive judgment logic comprises: If V is less than 20kph, judging that no nod risk exists, and not sending an instruction; if V is not more than 20kph and is less than 80kph, and the vehicle is in an empty load state, and the front obstacle is a vehicle, judging that the vehicle is at a slight nodding risk, sending a first instruction, and controlling a driving motor to drive a first telescopic device to shrink; if V is more than or equal to 80kph and is in an idle state, and the front obstacle is a vehicle, or V is more than or equal to 20kph and is less than 80kph and is in a full state, and the front obstacle is a vehicle, judging that the vehicle is at a moderate nodding risk, sending a second instruction, and controlling the first driving motor and the second driving motor to drive the first telescopic device and the second telescopic device to shrink; if V is more than or equal to 80kph and is in a full-load state, and the front obstacle is a vehicle, judging that the vehicle is at serious nodding risk, sending a third instruction, and controlling three driving motors to drive the first telescopic device, the second telescopic device and the third telescopic device to shrink; if V is more than or equal to 20kph and the front obstacle is a pedestrian, judging that the pedestrian is a high-risk head risk, sending a third instruction, and controlling the three driving motors to drive the first telescopic device, the second telescopic device and the third telescopic device to shrink.
9. The method for preventing brake nodding of the internet of vehicles for a tractor according to claim 5, wherein the communication module adopts an LTE-V communication mode, the road side RSU receives the cloud platform command and forwards the cloud platform command to the vehicle-mounted OBU, and the vehicle-mounted OBU uploads the vehicle state information to the road side RSU and forwards the vehicle state information to the cloud platform.
10. The method for preventing a vehicle from being braked according to claim 5, wherein the vehicle is judged to be in an empty state when the vehicle is less than 1 ton, and the vehicle is judged to be in a full state when the vehicle is greater than or equal to 1 ton.

Description

Anti-brake nodding system and method for Internet of vehicles for tractors Technical Field The invention belongs to the technical field of vehicle control, and particularly relates to a car networking brake-nodding-prevention system and method for a tractor. Background With the popularization of automatic driving technology, an Automatic Emergency Brake (AEB) function of a tractor is widely used. However, during the AEB triggering of an emergency brake, the tractor head is prone to "nodding" due to inertia (i.e., the head is diving downward). This phenomenon can lead to the following serious consequences: The driver is injured, namely the body of the driver is severely tilted forward in the braking process, and collision injury is easily caused. Secondary accident risk-serious nodding phenomenon may cause the vehicle to run away, even exacerbating the degree of collision with the preceding vehicle or pedestrian. Pedestrian safety threat that if the obstacle in front is a pedestrian, the risk of injury to the pedestrian may be directly increased by sinking the vehicle head. The existing technical schemes are mainly focused on the braking control of the vehicle, and lack comprehensive pre-judging and active posture adjusting mechanisms combining road side sensing, vehicle loading state and front obstacle types. Therefore, a system and method for pre-determining brake tip risk and actively intervening are needed. Disclosure of Invention The invention aims to provide a car networking anti-brake nodding system and method for a tractor, which are used for acquiring car speed, loading state and front obstacle information in real time through collaborative interaction of a car Lu Yun, judging nodding risk according to acquired data, controlling a telescopic device to actively adjust the relative positions of a headstock and a carriage, inhibiting a brake nodding phenomenon and guaranteeing safety of drivers, passengers and a front target. To achieve the above object, a first object of the present invention is to provide an internet of vehicles anti-brake nodding system for a tractor, comprising: The road side sensing module is used for collecting the motion state data of the tractor in real time, wherein the motion state data comprise the speed before triggering the AEB, the type of the front obstacle and the distance between the front obstacle; The vehicle-mounted sensing module is used for collecting empty and full state information and AEB triggering state information of the vehicle; The communication module comprises a road side RSU and a vehicle-mounted OBU and is used for realizing data interaction among road side equipment, a cloud platform and vehicle-mounted equipment; the cloud platform is in communication connection with the road side sensing module and the vehicle-mounted sensing module, and is used for receiving the motion state data, the empty and full state information and the AEB trigger state information, comprehensively judging according to a preset strategy and generating an anti-nodding control instruction; The automatic driving controller is used for receiving the nodding prevention control instruction and controlling the driving motor to drive the telescopic device to act so as to adjust the relative position of the locomotive and the carriage and prevent the nodding of a brake. Preferably, the road side sensing module includes: the road side camera is arranged on the road side rod piece and used for collecting 2D image data of vehicle movement; the road side laser radar is arranged on the road side rod piece and used for collecting 3D point cloud data of vehicle movement; and the edge calculation unit is respectively connected with the road side camera and the road side laser radar, and is used for fusing the 2D image data and the 3D point cloud data, constructing an automatic driving movement model and calculating the speed, the obstacle type and the distance information before AEB triggering. Preferably, the vehicle-mounted sensing module comprises an empty and full-load sensor which is arranged at the bottom of a rear compartment of the vehicle and used for collecting the vehicle weight state in real time, wherein the empty state is judged when the vehicle weight is smaller than a preset threshold value, and the full-load state is judged when the vehicle weight is greater than or equal to the preset threshold value. Preferably, the telescopic device comprises a telescopic device I, a telescopic device II and a telescopic device III: one end of the first telescopic device is connected with the rear part of the upper end of the vehicle head, and the other end of the first telescopic device is connected with the front part of the upper end of the carriage; One end of the second telescopic device is connected with the rear part of the middle end of the vehicle head, the other end is connected with the front part of the middle end of the carriage; One end of the expansion device III is connecte