The invention discloses an AEB control method considering a road adhesion coefficient and a vehicle motion state, and the method comprises the steps: carrying out the real-time estimation of the road adhesion coefficient based on a Dugoff tire model through a genetic least square method and extended Kalman filtering; a collision time model considering different vehicle motion states and a partial and complete braking collision time threshold model considering road adhesion coefficients are established, collision risk assessment is performed by combining the collision time model and the collision time threshold model, and a braking acceleration signal is issued to an improved single-neuron PID (Proportion Integration Differentiation) controller. And the hydraulic pressure is converted into braking hydraulic pressure to be supplied to an executing mechanism, so that safe emergency braking is realized. According to the method, the braking acceleration signal issuing time can be adaptively adjusted according to different road conditions and vehicle motion states, meanwhile, the improved single-neuron PID controller is faster in response to a nonlinear control system, the control precision is higher, and the accuracy and safety of automatic braking of the vehicle are improved.
本发明公开了一种考虑路面附着系数和车辆运动状态的AEB控制方法,该方法包括:基于Dugoff轮胎模型,利用遗传最小二乘法和扩展卡尔曼滤波对路面附着系数进行实时估计,建立考虑不同车辆运动状态的碰撞时间模型以及考虑路面附着系数的部分和完全制动碰撞时间阈值模型,结合所述的碰撞时间模型和碰撞时间阈值模型进行碰撞风险评估,下发制动加速度信号到改进单神经元PID控制器,将其转换为制动液压给到执行机构,从而实现安全的紧急制动。本发明能够针对不同路面状况及车辆运动状态对制动加速度信号下发的时机进行自适应调整,同时改进单神经元PID控制器对非线性控制系统响应更快,控制精度更高,提高了车辆自动制动的准确性及安全性。
AEB control method considering road adhesion coefficient and vehicle motion state
考虑路面附着系数和车辆运动状态的AEB控制方法
2024-04-30
Patent
Elektronische Ressource
Chinesisch
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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