CN106740764B - A kind of automatic driving vehicle braking control system and method - Google Patents
A kind of automatic driving vehicle braking control system and method Download PDFInfo
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- CN106740764B CN106740764B CN201611270742.1A CN201611270742A CN106740764B CN 106740764 B CN106740764 B CN 106740764B CN 201611270742 A CN201611270742 A CN 201611270742A CN 106740764 B CN106740764 B CN 106740764B
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Classifications
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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
-
- 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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
-
- 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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
-
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
Abstract
The present invention provides a kind of automatic driving vehicle braking control system and method, including electric cylinder, brake pipeline system, data collecting card, controller and decision-making level, and the wheel speed sensors for detecting speed and the oil pressure gauge for detecting brake pipeline system brake pressure, data collecting card is used to acquire the data of wheel speed sensors and oil pressure gauge, desired speed signal is sent to controller by decision-making level, controller is used to read the data of decision-making level's transmission and the data of data collecting card, pass through acquisition current vehicle speed and current brake pressure, it is compared with desired speed and desired braking pressure, and control the stretching and retraction of electric cylinder, and then accurately realize the controllable braking effect of brake force.
Description
Technical field
The present invention relates to vehicle braking control technical fields, and in particular to a kind of automatic driving vehicle braking control system and
Method.
Background technique
Automatic driving vehicle is to perceive road environment by vehicle-mounted sensor-based system, and automatic planning travelling line simultaneously controls vehicle
Reach the intelligent vehicle of predeterminated target.It is vehicle-periphery to be perceived using onboard sensor, and obtained according to perception
Road, vehicle location and obstacle information, the steering and speed of vehicle are controlled, to enable the vehicle to reliably and securely exist
It is travelled on road.Integrate numerous technologies such as automatic control, architecture, artificial intelligence, vision calculating, is computer section
It learns, the product of pattern-recognition and intelligent control technology high development, and measures a national research strength and industrial level
One important symbol has broad application prospects in national defence and national economy field.
The braking system of automatic driving vehicle be vehicle driving safety, quick deceleration, pinpoint and stop in emergency effectively hold
The performance superiority and inferiority of row system, braking response characteristic, brake force controllability and braking effect etc. directly affects automatic driving car
Braking ability.
In existing technical solution, Chinese patent discloses a kind of nothing earlier (Authorization Notice No. CN2442898Y)
People drives vehicle executive device, proposes the unmanned brake actuator under a kind of remote control operation, but its structure is complex,
Reliability and brake force controllability be not high.
Chinese invention patent (application number 201410387507.7) disclose it is a kind of for realizing double loop braking nobody
The braking system for driving vehicle, proposes the double loop braking mode of a kind of artificial brake circuit and electrodynamic braking circuit, still
Due to lacking the detection device of crucial brake pressure and brake force, braking, brake force controllability can not precisely be effectively performed
It cannot achieve.
Chinese invention patent (application number 201510521026.5) discloses a kind of braking system of unmanned heavy goods vehicles
And method, the method using air-pressure brake is proposed, and service brake and parking braking are realized by solenoid valve control, although gas
Compacting is dynamic that such as cleanliness without any pollution, it is convenient that medium obtains, but due to the compressibility of gas can and the technical side
The technological deficiency (not having braking-force detecting device) of case, is merely capable of realizing two kinds of modes of braking, can not detect the big of brake force
The small braking deceleration function to control vehicle.
Chinese invention patent (Authorization Notice No. is 101797917 B of CN) discloses a kind of braking of automatic driving vehicle
Device, its technical solution are the repackings carried out existing manned vehicle to brake pedal, are rotated using motor,
The steel wire of brake pedal is wound on come folding and unfolding by Worm Wheel System component, realizes the foot pedal of simulation people and the function of loose pedal
Can, although the braking of vehicle may be implemented in the technical solution, by motor drive coiling pedal braked, first its
Brake force is uncontrollable, can only realize the requirement of braking brake, cannot achieve accurate braking deceleration requirement.Equally, Chinese invention
Patent (Authorization Notice No. is 103625454 B of CN) discloses a kind of automatic driving vehicle brake apparatus, and technical solution passes through
Motor driven worm gear mechanism, while worm gear mechanism drives gear and rack teeth mechanism to carry out pushing checking cylinder system
It is dynamic.Although the braking of vehicle, the main work of worm gear mechanism and gear and rack teeth mechanism also may be implemented in the technical solution
With being mechanism for transmission force and torque, in terms of transmission accuracy, the precision of the two is poor, and the transmission of the technical solution
Scheme is complex, and transmission accumulated error is larger, thus while detection of the technical solution in force sensor as brake force, but
The brake force for being detection can not be as the feedback quantity and control amount of braking force control, therefore cannot achieve accurate braking deceleration control
System.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of automatic driving vehicle braking control system, including electric cylinder,
Brake pipeline system, data collecting card, controller and decision-making level, and wheel speed sensors for detecting speed and for detecting
The oil pressure gauge of brake pipeline system brake pressure is connected between the electric cylinder and brake pipeline system by adapter, data
Capture card is used to acquire the data of wheel speed sensors and oil pressure gauge, and controller is used to read the data of decision-making level's transmission and data are adopted
The data of truck, and control the stretching and retraction of electric cylinder.
The brake pipeline system includes checking cylinder, and the front wheel brake being connected to respectively with checking cylinder by oil pipe
Cylinder and rear service brake is divided to divide cylinder, the oil pressure gauge is used to detect the brake pressure of checking cylinder outlet.
The oil pressure gauge is mounted on oil pipe.
Force sensor is installed on the adapter, which connect with data collecting card signal.
The electric cylinder uses ball-screw servo electric jar, has self-locking function, after Brake stop power-off, Ke Yishi
Existing parking braking.
The present invention also provides a kind of brake control methods of automatic driving vehicle, pass through acquisition current vehicle speed and current brake
Pressure compares with desired speed and desired braking pressure, and then is accurately controlled braking effect.
Specifically comprise the following steps:
1) decision-making level requires to issue Brake displacement x, desired speed v according to the driving of road conditions and unmanned vehicledAnd desired braking
The signal of time t, controller read desired speed vdWith the current vehicle speed v of wheel speed sensors detectionc；
2) judge desired speed vdWith current vehicle speed vcSize, if vd≥vc, then any operation is not executed, if vd<vc, note
Record current vehicle speed vcFor vc0, and execute step 3)；
3) unmanned vehicle is braked, the specific method is as follows:
Establish desired braking pressure pdWith Brake displacement x, desired speed vd, desired braking time t mathematical model, formula
It is as follows:
Wherein m is vehicle mass, and n is wheel number, μ1Coefficient of friction between wheel and ground, μ2For drag friction
Coefficient of friction between piece and wheel, s are the area of section that braking divides cylinder, and d is that braking divides cylinder diameter, and x is Brake displacement, FfFor
Frictional force between ground and wheel, FzFrictional force between brake strip and wheel, FNThe support of wheel is faced for ground
Power, R are radius of wheel, and r is the mean radius that brake strip acts on wheel, and α (t) is the angular acceleration of wheel, and J is wheel
Rotary inertia, t1To brake initial time, t2For the end of braking time, and t2-t1=t；Current brake pressure pcIt is the time
Function uses p in formulac(t) it indicates, current vehicle speed vcIt is also the function of time, uses vc(t) it indicates, and vc(t1)=vc0, vc(t2)
=vd, pc(t2)=pd；
Controller is according to desired speed vdDesired braking pressure p is calculated with desired braking time td, then controller issues
The stretching order of electric cylinder is controlled, and controller reads the current brake pressure p of oil pressure gauge simultaneously in desired braking time tc,
And the desired braking pressure p with calculatingdIt carries out doing difference, in current brake pressure pcEqual to desired braking pressure pdWhen, i.e. difference
When being 0, controller stops issuing the control instruction to electric cylinder.
Controller is according to desired speed vdDesired braking pressure p is calculated with desired braking time td, then controller issues
The stretching order of electric cylinder is controlled, and controller reads the current brake pressure p of oil pressure gauge simultaneously in desired braking time tc,
And the desired braking pressure p with calculatingdIt carries out doing difference, in current brake pressure pcEqual to desired braking pressure pdWhen, i.e. difference
When being 0, controller stops issuing the control instruction to electric cylinder.
Further, when oil pressure gauge breaks down or fails, pass through the pressure p of the thrust F of electric cylinder, checking cylinder
With the relationship before piston effect area s three in checking cylinder, current brake pressure p is calculatedc, formula is as follows:
F=p1s1-p2s2
Wherein F is detected by force snesor, p1For the pressure of checking cylinder piston higher chamber, s1It is high for checking cylinder piston
Press the active area of chamber, p2For the pressure of checking cylinder piston lower pressure chamber, s2For the active area of checking cylinder piston lower pressure chamber；
Low pressure cavity pressure is atmospheric pressure, i.e. p2=0,
The brake request of different braking mode may be implemented in the brake control method: working as vdWhen=0, belong to parking
Braking, as 0 < vd<vc0When, belong to retarding braking, the determination relational expression of corresponding desired braking time t: when emergency braking:When stopping brake:When retarding braking:
From the above technical scheme, the invention has the following beneficial effects:
(1) structure of braking system is simple, and especially brake force transmission system is simple and direct: directlying adopt electric cylinder and pushes braking
The brake piston of total cylinder, eliminates a large amount of intermediate transmission component, so that structure is simple, transmission efficiency is also greatly improved.
(2) in the oil outlet installation settings oil pressure gauge of checking cylinder, it can be convenient and conveniently and effectively measure and detect braking
Brake pressure in oil circuit directly reflects brake pressure size and braking effect.
(3) realize a variety of brake requests of automatic driving vehicle: the brake pressure size that oil pressure gauge detects can pass through
Data collecting card acquisition is transferred to controller and directly reads, by the desired braking power of foundation and the mathematical model of desired speed,
Controller is required according to the expectation vehicle wheel rotational speed of decision-making level, controls the overhang of electric cylinder to control the size of brake pressure, together
When electric cylinder using ball-screw servo electric jar, Bit andits control is accurate, therefore: 1. when needing emergency braking, decision
It is 0 that layer, which issues desired speed, and braking timeInstruction, controller control electric cylinder quickly stretches out, and realizes urgent system
It is dynamic；2. it is 0 that decision-making level, which issues desired speed, and braking time when needing stopping brakeInstruction, controller control
Electric cylinder stretches out, and realizes stopping brake；3. when needing retarding braking, i.e. vd> 0, it is v that decision-making level, which issues desired speed,d, and make
The dynamic timeInstruction, controller controls electric cylinder and stretches out, and the brake force controllable precise of braking system is effectively real
Existing braking deceleration；4. parking braking: since electric cylinder has self-locking performance, under power-off or dead ship condition, the present invention can
To realize the effect of parking braking.
(4) present invention is not only mounted with oil pressure gauge, while installation settings effectively senses between electric cylinder and checking cylinder
Device, force snesor can detect the brake pressure size of brake circuit indirectly, therefore, when oil pressure gauge breaks down or fails
When, collected force sensor data can be transferred to controller by data collecting card, and the control to guarantee braking system is effective
Property, two sets of sensors are set, play the role of dual fail-safe, so that braking reliability of the invention is higher.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of automatic driving vehicle braking control system of the present invention.
Fig. 2 is braking process schematic illustration of the present invention.
Specific embodiment
A kind of preferred embodiment of the invention is described in detail with reference to the accompanying drawing.
As shown in Figure 1, automatic driving vehicle braking control system includes electric cylinder 1, brake pipeline system 2, data acquisition
Card 3, controller 4 and decision-making level 5, and wheel speed sensors 6 for detecting speed and for detecting brake pipeline system braking
The oil pressure gauge 7 of pressure, wherein brake pipeline system 2 include checking cylinder 21, and by oil pipe 22 respectively with checking cylinder 21
The front wheel brake of connection divides cylinder 23 and rear service brake to divide cylinder 24.
It is connected between the electric cylinder 1 and checking cylinder 21 by adapter 8, force sensor 9 is installed on adapter, it should
Force snesor is connect with 3 signal of data collecting card, and force snesor 9 is used to detect the power output of electric cylinder 1, according to checking cylinder 21
Piston area, the brake pressure for being converted to braking system can be calculated indirectly.
Data collecting card 3 can be also used for the data of acquisition wheel speed sensors 6 and oil pressure gauge 7, and controller 4 is used to read certainly
The data of data and data collecting card 3 that plan layer 5 transmits, and control the stretching and retraction of electric cylinder 1.
The oil pressure gauge 7 is used to detect the brake pressure of the outlet of checking cylinder 21, and installation site can be in checking cylinder
It, can also be at two on oil pipe 22 on 21 ontologies.
The electric cylinder 1 uses ball-screw servo electric jar, in high-precision transmission system, ball-screw-transmission precision
Accurate position control may be implemented in height, is widely used in current high-end numerical control machine and Accurate Position Control.Together
When, the revolving speed of servo motor, corner control precision are very high, therefore the appearance of servo motor electric jar for bearing ball silk bar, solve
A large amount of high-precision control requirement, has many advantages, such as small in size, precision is high, self-locking property is good.
The present invention also provides a kind of brake control methods of automatic driving vehicle, pass through acquisition current vehicle speed and current brake
Pressure compares with desired speed and desired braking pressure, and then is accurately controlled braking effect, includes the following steps:
Step 1: decision-making level requires to issue Brake displacement x, desired speed v according to the driving of road conditions and unmanned vehicledAnd expectation
The signal of braking time t, controller read desired speed vdWith the current vehicle speed v of wheel speed sensors detectionc。
Step 2: judging desired speed vdWith current vehicle speed vcSize, if vd≥vc, then any operation is not executed, if vd<
vc, record current vehicle speed vcFor vc0, and execute step 3.
Step 3: braking to unmanned vehicle, the specific method is as follows:
Establish desired braking pressure pdWith Brake displacement x, desired speed vd, desired braking time t mathematical model, formula
It is as follows:
Wherein m is vehicle mass, and n is wheel number, μ1Coefficient of friction between wheel and ground, μ2For drag friction
Coefficient of friction between piece and wheel, s are the area of section that braking divides cylinder, and d is that braking divides cylinder diameter, and x is Brake displacement, FfFor
Frictional force between ground and wheel, FzFrictional force between brake strip and wheel, FNThe support of wheel is faced for ground
Power, R are radius of wheel, and r is the mean radius that brake strip acts on wheel, and α (t) is the angular acceleration of wheel, and J is wheel
Rotary inertia, t1To brake initial time, t2For the end of braking time, and t2-t1=t；Current brake pressure pcIt is the time
Function uses p in formulac(t) it indicates, current vehicle speed vcIt is also the function of time, uses vc(t) it indicates, and vc(t1)=vc0, vc(t2)
=vd, pc(t2)=pd, referring to Fig. 2.
Controller is according to desired speed vdDesired braking pressure p is calculated with desired braking time td, then controller issues
The stretching order of electric cylinder is controlled, and controller reads the current brake pressure p of oil pressure gauge simultaneously in desired braking time tc,
And the desired braking pressure p with calculatingdIt carries out doing difference, in current brake pressure pcEqual to desired braking pressure pdWhen, i.e. difference
When being 0, controller stops issuing the control instruction to electric cylinder.
It is total by the thrust F of electric cylinder, the pressure p of checking cylinder and braking when oil pressure gauge breaks down or fails
Relationship in cylinder before piston effect area s three calculates current brake pressure pc, formula is as follows:
F=p1s1-p2s2
Wherein F is detected by force snesor, p1For the pressure of checking cylinder piston higher chamber, s1It is high for checking cylinder piston
Press the active area of chamber, p2For the pressure of checking cylinder piston lower pressure chamber, s2For the active area of checking cylinder piston lower pressure chamber；
Low pressure cavity pressure is atmospheric pressure, i.e. p2=0,
The determination relational expression of the desired braking time t: when emergency braking:When stopping brake:When retarding braking:
Embodiment described above is only that preferred embodiments of the present invention will be described, not to model of the invention
It encloses and is defined, without departing from the spirit of the design of the present invention, those of ordinary skill in the art are to technical side of the invention
The various changes and improvements that case is made, should fall within the scope of protection determined by the claims of the present invention.
Claims (3)
1. a kind of brake control method of automatic driving vehicle braking control system, the automatic driving vehicle braking control system
Wheel speed sensing including electric cylinder, brake pipeline system, data collecting card, controller and decision-making level, and for detecting speed
Device and oil pressure gauge for detecting brake pipeline system brake pressure, pass through switching between the electric cylinder and brake pipeline system
Head connection, data collecting card are used to acquire the data of wheel speed sensors and oil pressure gauge, and controller is used to read decision-making level's transmission
The data of data and data collecting card, and control the stretching and retraction of electric cylinder, which is characterized in that the brake control method packet
Include following steps:
1) decision-making level requires to issue Brake displacement x, desired speed v according to the driving of road conditions and unmanned vehicledWith desired braking time t
Signal, controller read desired speed vdWith the current vehicle speed v of wheel speed sensors detectionc；
2) judge desired speed vdWith current vehicle speed vcSize, if vd≥vc, then any operation is not executed, if vd< vc, record
Current vehicle speed vcFor vc0, and execute step 3)；
3) unmanned vehicle is braked, the specific method is as follows:
Establish desired braking pressure pdWith Brake displacement x, desired speed vd, desired braking time t mathematical model, formula is as follows:
Wherein m is vehicle mass, and n is wheel number, μ1Coefficient of friction between wheel and ground, μ2For brake strip with
Coefficient of friction between wheel, s are the area of section that braking divides cylinder, and d is that braking divides cylinder diameter, and x is Brake displacement, FfFor ground
Frictional force between wheel, FzFrictional force between brake strip and wheel, FNThe holding power of wheel is faced for ground, R is
Radius of wheel, r are the mean radius that brake strip acts on wheel, and α (t) is the angular acceleration of wheel, and J is the rotation of wheel
Inertia, t1To brake initial time, t2For the end of braking time, and t2-t1=t；Current brake pressure pcIt is the function of time, it is public
P is used in formulac(t) it indicates, current vehicle speed vcIt is also the function of time, uses vc(t) it indicates, and vc(t1)=vc0, vc(t2)=vd, pc
(t2)=pd；
Controller is according to desired speed vdDesired braking pressure p is calculated with desired braking time td, then controller issues control
The stretching order of electric cylinder, and controller reads the current brake pressure p of oil pressure gauge simultaneously in desired braking time tc, and with
The desired braking pressure p of calculatingdIt carries out doing difference, in current brake pressure pcEqual to desired braking pressure pdWhen, i.e., difference is 0
When, controller stops issuing the control instruction to electric cylinder.
2. brake control method according to claim 1, which is characterized in that when oil pressure gauge breaks down or fails,
By the relationship before piston effect area s three in the thrust F of electric cylinder, the pressure p of checking cylinder and checking cylinder, calculate
Current brake pressure p outc, formula is as follows:
F=p1s1-p2s2
Wherein F is detected by force snesor, p1For the pressure of checking cylinder piston higher chamber, s1For checking cylinder piston higher chamber
Active area, p2For the pressure of checking cylinder piston lower pressure chamber, s2For the active area of checking cylinder piston lower pressure chamber；Low pressure
Cavity pressure is atmospheric pressure, i.e. p2=0,
3. brake control method according to claim 1, which is characterized in that determining for the desired braking time t is closed
It is formula: when emergency braking:When stopping brake:When retarding braking:
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| US11136018B2 (en) | 2018-11-06 | 2021-10-05 | Caterpillar Inc. | Speed planning device for a vehicle |
| CN109693651A (en) * | 2018-12-18 | 2019-04-30 | 中国科学院深圳先进技术研究院 | It can be used for unpiloted braking executive device, vehicle and control method |
| JP7092085B2 (en) * | 2019-04-03 | 2022-06-28 | トヨタ自動車株式会社 | Vehicle braking device |
| CN110539739B (en) * | 2019-09-27 | 2021-09-14 | 成都坦途智行科技有限公司 | Unmanned vehicle line control braking system and braking method |
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| CN114715102B (en) * | 2021-01-05 | 2023-04-25 | 广州汽车集团股份有限公司 | Vehicle redundant braking method and vehicle |
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| CN106740764A (en) | 2017-05-31 |
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