CN106740769B - 一种路面附着自适应的自主紧急制动控制算法 - Google Patents
一种路面附着自适应的自主紧急制动控制算法 Download PDFInfo
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- CN106740769B CN106740769B CN201611214889.9A CN201611214889A CN106740769B CN 106740769 B CN106740769 B CN 106740769B CN 201611214889 A CN201611214889 A CN 201611214889A CN 106740769 B CN106740769 B CN 106740769B
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- coefficient
- early warning
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- brake
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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
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
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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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- 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
Description
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201611214889.9A CN106740769B (zh) | 2016-12-26 | 2016-12-26 | 一种路面附着自适应的自主紧急制动控制算法 |
Applications Claiming Priority (1)
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CN201611214889.9A CN106740769B (zh) | 2016-12-26 | 2016-12-26 | 一种路面附着自适应的自主紧急制动控制算法 |
Publications (2)
Publication Number | Publication Date |
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CN106740769A CN106740769A (zh) | 2017-05-31 |
CN106740769B true CN106740769B (zh) | 2019-03-26 |
Family
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Family Applications (1)
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CN201611214889.9A Active CN106740769B (zh) | 2016-12-26 | 2016-12-26 | 一种路面附着自适应的自主紧急制动控制算法 |
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CN (1) | CN106740769B (zh) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107264523B (zh) * | 2017-06-14 | 2019-06-04 | 北京新能源汽车股份有限公司 | 车辆控制方法及系统 |
CN107933218A (zh) * | 2017-12-06 | 2018-04-20 | 东风商用车有限公司 | 一种汽车胎压异常自动减速系统及其控制方法 |
CN108528446B (zh) * | 2018-04-20 | 2020-04-07 | 肇庆学院 | 一种基于主动悬架控制的自动紧急制动辅助系统 |
CN109895767B (zh) * | 2019-03-19 | 2020-11-10 | 奇瑞汽车股份有限公司 | 汽车的控制方法、装置及存储介质 |
US11091132B2 (en) | 2019-04-12 | 2021-08-17 | Bendix Commercial Vehicle Systems, Llc | Delay autonomous braking activation due to potential forward turning vehicle |
CN110155008B (zh) * | 2019-06-20 | 2021-02-09 | 爱驰汽车有限公司 | 基于电动助力的制动控制方法、系统、设备及存储介质 |
CN110667649A (zh) * | 2019-09-04 | 2020-01-10 | 陕西九域通创轨道系统技术有限责任公司 | 一种列车aeb系统控制决策方法 |
CN110775032B (zh) * | 2019-10-25 | 2021-09-14 | 精诚工科汽车系统有限公司 | 电子制动助力器的控制方法、装置以及车辆 |
CN111605525A (zh) * | 2020-05-09 | 2020-09-01 | 东风汽车集团有限公司 | 一种基于实时路面识别的紧急自动刹车稳态控制方法 |
CN112172762A (zh) * | 2020-10-20 | 2021-01-05 | 吉林大学 | 一种自动紧急制动决策方法及系统 |
CN113044008B (zh) * | 2021-04-02 | 2022-02-11 | 南京交通职业技术学院 | 一种车辆行驶状态自适应的紧急制动控制系统 |
CN113335258A (zh) * | 2021-07-15 | 2021-09-03 | 安徽江淮汽车集团股份有限公司 | 制动踏板感提升方法 |
CN114326725B (zh) * | 2021-12-23 | 2023-10-24 | 武汉理工大学 | 面向人机交互的船舶智能避碰方法及系统 |
CN114291094A (zh) * | 2021-12-28 | 2022-04-08 | 清华大学苏州汽车研究院(相城) | 一种基于自动驾驶的路面状况感知响应系统及方法 |
CN114148322B (zh) * | 2022-01-04 | 2023-11-17 | 吉林大学 | 一种路面附着自适应的商用车气压自动紧急制动控制方法 |
CN114475564B (zh) * | 2022-03-01 | 2023-09-26 | 清华大学苏州汽车研究院(相城) | 一种车辆紧急应对控制方法、系统、车辆及存储介质 |
CN115027428B (zh) * | 2022-06-27 | 2023-07-07 | 中国第一汽车股份有限公司 | 一种车辆的遇障制动方法、装置、设备及存储介质 |
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JP4485457B2 (ja) * | 2005-11-24 | 2010-06-23 | 本田技研工業株式会社 | 車両のアンチロック制御装置 |
CN103072575A (zh) * | 2013-01-18 | 2013-05-01 | 浙江吉利汽车研究院有限公司杭州分公司 | 一种车辆主动防碰撞方法 |
CN104260725A (zh) * | 2014-09-23 | 2015-01-07 | 北京理工大学 | 一种含有驾驶员模型的智能驾驶系统 |
CN104670191A (zh) * | 2015-02-09 | 2015-06-03 | 浙江吉利汽车研究院有限公司 | 自动紧急制动方法与装置 |
CN105172791A (zh) * | 2015-10-30 | 2015-12-23 | 东风汽车公司 | 一种智能自适应巡航控制方法 |
Family Cites Families (1)
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JP4920054B2 (ja) * | 2009-03-30 | 2012-04-18 | 株式会社日立製作所 | 車両運動制御装置 |
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2016
- 2016-12-26 CN CN201611214889.9A patent/CN106740769B/zh active Active
Patent Citations (5)
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JP4485457B2 (ja) * | 2005-11-24 | 2010-06-23 | 本田技研工業株式会社 | 車両のアンチロック制御装置 |
CN103072575A (zh) * | 2013-01-18 | 2013-05-01 | 浙江吉利汽车研究院有限公司杭州分公司 | 一种车辆主动防碰撞方法 |
CN104260725A (zh) * | 2014-09-23 | 2015-01-07 | 北京理工大学 | 一种含有驾驶员模型的智能驾驶系统 |
CN104670191A (zh) * | 2015-02-09 | 2015-06-03 | 浙江吉利汽车研究院有限公司 | 自动紧急制动方法与装置 |
CN105172791A (zh) * | 2015-10-30 | 2015-12-23 | 东风汽车公司 | 一种智能自适应巡航控制方法 |
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Effective date of registration: 20221212 Address after: 215134 Floor 11, Building 5, No. 2266, Taiyang Road, High speed Railway New Town, Xiangcheng District, Suzhou, Jiangsu Province Patentee after: SUZHOU AUTOMOTIVE RESEARCH INSTITUTE TSINGHUA University (XIANGCHENG) Patentee after: Huayan Youce (Suzhou) Electronic Technology Co.,Ltd. Address before: 215134 Zhongqi Zero building, aigehao Road, Xiangcheng District, Suzhou City, Jiangsu Province Patentee before: SUZHOU AUTOMOTIVE RESEARCH INSTITUTE TSINGHUA University (XIANGCHENG) |