CN106864436A - A kind of automatic driving vehicle brakes and braking method - Google Patents
A kind of automatic driving vehicle brakes and braking method Download PDFInfo
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- CN106864436A CN106864436A CN201710150701.7A CN201710150701A CN106864436A CN 106864436 A CN106864436 A CN 106864436A CN 201710150701 A CN201710150701 A CN 201710150701A CN 106864436 A CN106864436 A CN 106864436A
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- 238000000034 method Methods 0.000 title claims abstract description 28
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- 229910000831 Steel Inorganic materials 0.000 claims description 10
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- 230000007613 environmental effect Effects 0.000 claims description 4
- 230000008447 perception Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 5
- 206010039203 Road traffic accident Diseases 0.000 description 3
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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
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of automatic driving vehicle brakes and braking method, including speed acquisition module, motion planning module, host computer, slave computer and executing agency, between the speed acquisition module and host computer, between motion planning module and host computer, between host computer and slave computer, communicated to connect between slave computer and executing agency, host computer carries out a series of computings by the desired speed and actual vehicle speed for obtaining, the final effect for realizing control vehicle braking, the system can be applied to the brakes of any vehicle, realize the rapid refit of unmanned vehicle brakes.
Description
Technical field
The invention belongs to pilotless automobile field, and in particular to a kind of automatic driving vehicle brakes and braking side
Method.
Background technology
With developing rapidly for Chinese national economy society, vehicle population increases year by year, and at the same time, China's road is handed over
The statistics of interpreter's event shows that the road traffic accident caused by the dangerous driving behavior of vehicle driver accounts for traffic accident
90% or so of total amount.Wherein, driver's dangerous driving behavior includes drink-driving, drives without a license, illegal overtakes other vehicles and the row that exceeds the speed limit
Sail.Due to the traffic accident that driver's human factor is caused, it is difficult to completely only by the specification to driving behavior and education
Avoid, basic solution be realize it is unmanned.Automatic driving vehicle not only increases driving safety, can also carry
The efficiency of height trip, driver is freed from uninteresting cumbersome driver behavior.
Automatic driving vehicle is mainly comprising key technologies such as environment sensing, location navigation, path planning and motion controls.Its
It is middle to realize that accurate automatic driving vehicle, stabilization, reliable motion control are the premises for ensureing vehicle safety.And to nobody
The control for driving motor vehicle braking system can avoid vehicle from being collided with other barriers in the process of moving, it is ensured that in-car multiplies
Member and the property safety of equipment.In the prior art, most of is to send brake command by ECU controllers to be realized with motor
ECU models between the deceleration of vehicle, but different manufacturers different automobile types are not quite similar, and ECU and CAN between each producer total
Line is not opened to the outside world, different vehicles, and communication protocol is different, causes same control system just to control a certain class car
Type, versatility is low, is unfavorable for the development of unmanned vehicle technology.
The content of the invention
In order to solve the above problems, the invention provides a kind of automatic driving vehicle brakes and braking method, this hair
It is bright reasonable in design, the brakes of any vehicle is can be applied to, realize the rapid refit of unmanned vehicle brakes.
To reach above-mentioned purpose, a kind of automatic driving vehicle brakes of the present invention includes speed acquisition module, fortune
Dynamic planning module, host computer, slave computer and executing agency, between the speed acquisition module and host computer, motion planning module
Communicated to connect between host computer, between host computer and slave computer, between slave computer and executing agency, wherein,
The speed acquisition module is used to obtain wheel speed, and goes out currently practical speed v according to wheel speed calculationi(k), and ought
Preceding actual vehicle speed viK () information transmission is to host computer；
The motion planning module is used to calculate desired speed ve(k), and by desired speed veK the value of () is transferred to
Position machine；
The host computer is used to receive the desired speed v of motion planning module transmissione(k), and calculate velocity deviation e
(k), velocity deviation e (k)=ve(k)-viK (), if e (k) is less than threshold value, sends corresponding brake signal to slave computer, otherwise
It is failure to actuate；
The slave computer is used to receive the signal of host computer transmission, and sends control signal to executing agency, and control is performed
Mechanism action；
The executing agency is used to receive the control signal of slave computer transmission, and according to the control signal to vehicle system
It is dynamic.
The speed acquisition module be four rotary encoders, the host computer be vehicle-mounted industrial computer or notebook computer,
The slave computer is single-chip microcomputer.
The executing agency includes flange-type heavy type steering wheel, steel wire rope and brake pedal, the flange-type heavy type steering wheel position
In brake pedal dead astern, it is fixed by bolts on car body by connector, steel wire rope one end is connected with brake pedal, the other end
Around the ring flange periphery for being located at flange-type heavy type steering wheel.
The rotary encoder is directly anchored on boss bolt by ring flange screw.
A kind of automatic driving vehicle braking method, comprises the following steps：
Step 1, obtains current desired car by automatic driving vehicle environmental perception module and motion planning module first
Fast ve(k), and the vehicle actual vehicle speed v transmitted according to rotary encoderiK (), calculates velocity deviation e (k)=ve(k)-vi
K (), if e (k) is less than threshold value, carries out step 2, be otherwise failure to actuate；
Step 2, by velocity deviation e (k)=ve(k)-viVelocity deviation variable quantity ec (k) in (k) and a controlling cycle
=e (k)-e (k-1) carries out fuzzy quantization and obtains input variable fe (k) and fec (k)；
Step 3, formulates corresponding fuzzy control rule table, using step 2 according to pilot steering and braking experimental knowledge storehouse
Input variable fe (k) and fec (k) that quantization is obtained obtain output variable fu (k)；
Step 4, input variable fe (k) for quantifying to obtain using step 2 obtains output variable fu (k) with fec (k), specifically
For, selection input variable fe (k), the fuzzy subset of fec (k) and output variable fu (k) be NB, NM, NS, ZO, PS, PM,
PB }, i.e., it is negative big, and it is negative small in bearing, zero, just small, center is honest }, fu (k) is obtained according to fuzzy control rule table；
Step 5, determines membership function of the Gauss π membership function as each fuzzy variable, specific function：
In above formula：X is the element value of each membership function, i.e. independent variable,
Finally give the membership function numerical value of each fuzzy variable；
Step 6, according to the membership function and fuzzy control rule table of each fuzzy variable, is pushed away using Mamdani patterns paste
Reason method carries out fuzzy reasoning, and the fuzzy set that reasoning is obtained carries out anti fuzzy method using gravity model appoach, so as to obtain essence
True control variables fufK (), the formula of gravity model appoach isWherein u is input variable, and v is output variable,
And u ∈ U, v ∈ V；
Step 7, to fufK () carries out gear division, and according to gear division result, obtain actual controlled output amount u (k)；
Step 8, executing agency is transferred to by actual controlled output amount u (k) by slave computer, and executing agency realizes that nobody drives
Sail the braking of vehicle.
Fuzzy input variable fe (k), the fuzzy subset of fec (k) and output variable fu (k) be NB, NM, NS,
ZO, PS, PM, PB }, i.e., it is negative big, and it is negative small in bearing, zero, just small, center is honest }.
Actual controlled output amount u (k) described in step 4 is divided into 5 gears, and specific division rule is：
(1) if 0 ＞ fuf(k)≥T1, then u (k)=0；
(2) if T1＞ fuf(k)≥T2, then u (k)=u1；
(3) if T2＞ fuf(k)≥T3, then u (k)=u2；
(4) if T3＞ fuf(k)≥T4, then u (k)=u3；
(5) if T4＞ fuf(k), then u (k)=u4,
Wherein, 0 ＞ T1＞ T2＞ T3＞ T4, 0 represents not braking, u1Represent slight braking, u2Represent average braking, u3Represent
Slightly force dynamic, u4Represent brake hard.
Compared with prior art, the present invention at least has following beneficial technique effect, and the present invention includes that speed obtains mould
Block, motion planning module, host computer, slave computer and executing agency, between speed acquisition module and host computer, motion planning module
Communicated to connect between host computer, between host computer and slave computer, between slave computer and executing agency, the system can be applied to
The brakes of any vehicle, is capable of achieving the rapid refit of unmanned vehicle brakes, and the collective effect using modules is final
Control executing agency, is implemented to brake by executing agency to vehicle, and brake pedal is directly controlled by slave computer, so that braking is realized,
Thus will not because of communications protocol difference and being directed to different vehicles will research and develop different systems, as long as vehicle has braking to step on
Plate can just install the system, and versatility is high.
Further, speed acquisition module be four rotary encoders, host computer be vehicle-mounted industrial computer or notebook computer,
Slave computer is single-chip microcomputer because vehicle in itself the reason for, the speed of four wheels are possible to different, particularly interior when turning
Outer wheel speed is different, so obtaining speed at vehicle centroid according to four speed of wheel certain algorithms, is calculated
Speed is more accurate, and for vehicle speed sensor, the speed being calculated by rotary encoder is more accurate, fully protects
The accuracy of control algolithm is demonstrate,proved, it is ensured that the security of automatic driving vehicle.
Further, executing agency includes flange-type heavy type steering wheel, steel wire rope and brake pedal, flange-type heavy type steering wheel position
In brake pedal dead astern, it is fixed by bolts on car body by connector, steel wire rope one end is connected with brake pedal, the other end
Around be located at flange-type heavy type steering wheel ring flange periphery, compared to motor for, using flange-type heavy type steering wheel as drive mechanism,
Acted by slave computer direct control method flange-type heavy type steering wheel, acted by servos control brake pedal, just as people touches on the brake, from
And braking is realized, while reducing gear can be saved, therefore compact conformation, it is easily installed, steering wheel carries ring flange, good integrity,
And steering wheel torsion is big, good stability is easy to control.
Further, rotary encoder is directly anchored on boss bolt by ring flange screw, is easily installed and is obtained
The wheel speed for taking is more accurate.
Fuzzy control is used in a kind of automatic driving vehicle braking method, fuzzy algorithmic approach is easy and effective, can reached skilled
Manually operated effect.
Further, the fuzzy subset of fuzzy input variable fe (k), fec (k) and output variable fu (k) be NB, NM,
NS, ZO, PS, PM, PB }, i.e., it is negative big, and it is negative small in bearing, zero, just small, center is honest }, select this fuzzy subset's control algolithm
Simplicity, and control requirement can be reached.
Further, actual controlled output amount u (k) is divided into 5 gears, respectively：Not braking, slight braking, in
Deng braking, dynamic and brake hard is slightly forced, compared to traditional PID control, trembling for brake pedal in vehicle braking procedure can be eliminated
Dynamic phenomenon, improves the ride performance and riding comfort of vehicle.
Brief description of the drawings
Fig. 1 is the structured flowchart of automatic driving vehicle brakes；
Fig. 2 is executing agency's schematic diagram of automatic driving vehicle brakes；
Fig. 3 is the algorithm principle figure of automatic driving vehicle brakes control method；
In accompanying drawing：1st, flange-type heavy type steering wheel, 2, ring flange, 3, steel wire rope, 4, brake pedal.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description.
A kind of reference picture 1, automatic driving vehicle brakes includes that host computer, slave computer, executing agency and speed are obtained
Module, leads between the speed acquisition module and host computer, between host computer and slave computer, between slave computer and executing agency
Letter connection, connects specifically by data wire, and wherein host computer is vehicle-mounted industrial computer or notebook computer, and slave computer is to fly to think card
Your KinetisK60 single-chip microcomputers, speed acquisition module is four rotary encoders because vehicle in itself the reason for, four speed of wheel
Degree is possible to different, and particularly inside and outside wheel speed is different when turning, and obtains and calculates car according to the speed of four wheels
Speed at barycenter, this is only real speed, and host computer obtains road letter according to automatic driving vehicle environmental perception module
The obstacle information of breath and vehicle periphery, and calculate desired speed ve(k).Using rotary encoder acquisition wheel speed, and according to
This calculates currently practical speed vi(k), if velocity deviation e (k)=desired speed ve(k)-actual vehicle speed vi(k), if e (k) is small
In certain threshold value, -0.8m/s being taken as herein, then sending corresponding brake signal to slave computer, slave computer is received from upper
The brake signal of machine, and control signal is sent to executing agency, control steering wheel rotates the braking that corresponding angle realizes vehicle, if
E (k) >=-0.8m/s, then do not send brake signal and do not braked to slave computer, i.e. vehicle.
Reference picture 2, executing agency includes flange-type heavy type steering wheel 1, ring flange 2, steel wire rope 3 and brake pedal 4, flange-type
Heavy steering wheel 1 is located at the dead astern of brake pedal 4 (rear refers to the brake pedal side relative with driver's seat as reference axis), and
By Interal fixation on vehicle, it is fixed by bolts on car body by connector, the one end of steel wire rope 3 is connected with brake pedal 4,
The other end is directly anchored on boss bolt around the periphery of ring flange 2 for being located at steering wheel, rotary encoder by ring flange screw,
When slave computer receives the brake signal from host computer, and control signal is sent to heavy steering wheel, now steering wheel rotates corresponding
Angle, pulls steel wire rope so that brake pedal is moved down, so as to realize the braking of vehicle, directly with steering wheel as the power braked,
Decelerator is directly integrated in steering wheel, and structure is more compact, and steering wheel carries ring flange, and good integrity, small volume, structure is tighter
Gather, be easily installed.
A kind of reference picture 3, automatic driving vehicle braking method, comprises the following steps：
Step 1：Current desired car is obtained by automatic driving vehicle environmental perception module and motion planning module first
Fast ve(k), and the speed information is transferred to host computer, rotary encoder obtains wheel speed, and calculates currently practical car according to this
Fast vi(k), finally by the wheel speed information transmission to host computer, by host computer calculating speed deviation e (k), velocity deviation e (k)=ve
(k)-viK (), if e (k) is less than threshold value, sends corresponding brake signal to slave computer, be otherwise failure to actuate,
Step 2：Host computer calculates velocity deviation rate of change ec (k) in a controlling cycle, ec (k)=e (k)-e
(k-1) it is a controlling cycle that 10ms, is chosen in present embodiment, it is contemplated that velocity deviation may be compared with braking for vehicle
Greatly, it is [- 6,6] therefore the domain of the e (k) of control system and ec (k) to be selected, and carries out uniform fuzzy quantization to it, obtains defeated
Enter variable fe (k) and fec (k), the rule of fuzzy quantization is shown in Table 1, in table 1, and excursion refers to velocity deviation and change of error amount
Fuzzy quantization scope.
The fuzzy quantization rule list of table 1
Step 3：It is the premise for carrying out fuzzy reasoning to set up fuzzy control rule table, to realize the accuracy of control for brake,
According to pilot steering and braking experimental knowledge storehouse, carry out offline fuzzy reasoning and obtain fuzzy control rule table, refer to table 2, wherein
NB, NM and NS of output variable fu (k) represent braking, and ZO represents not braking, and PS, PM and PB do not have practical significance, are only used as system
Dynamic control and the foundation of acceleration control switching judging.
Table 2：Fuzzy control rule table
Step 4：Input variable fe (k) for quantifying to obtain using step 2 obtains output variable fu (k) with fec (k), specifically
For, selection input variable fe (k), the fuzzy subset of fec (k) and output variable fu (k) be NB, NM, NS, ZO, PS, PM,
PB }, i.e., { negative big, in bearing, bear small, zero, just small, center is honest }, tabling look-up 2 obtains fu (k).
Step 5：It is determined that after input, the fuzzy subset of output variable and domain, determine the membership function of each fuzzy variable,
Conventional membership function have Gauss π membership function, broad sense bell membership function, S π membership functions, trapezoidal membership function and
Triangular membership etc., this embodiment chooses membership function of the Gauss π membership function as each fuzzy variable, specific letter
Number and numerical value are as follows：
According to above-mentioned various, the membership function numerical value for finally giving each fuzzy variable is as shown in table 3.
Table 3：The membership function of each fuzzy variable
| -6 | -5 | -4 | -3 | -2 | -1 | 0 | 1 | 2 | 3 | 4 | 5 | 6 | |
| PB | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.1 | 0.4 | 0.8 | 1 |
| PM | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.7 | 1 | 0.7 | 0.2 |
| PS | 0 | 0 | 0 | 0 | 0 | 0.1 | 0.4 | 0.8 | 1 | 0.8 | 0.4 | 0.1 | 0 |
| ZO | 0 | 0 | 0 | 0.1 | 0.4 | 0.8 | 1 | 0.8 | 0.4 | 0.1 | 0 | 0 | 0 |
| NS | 0 | 0.1 | 0.4 | 0.8 | 1 | 0.8 | 0.4 | 0.1 | 0 | 0 | 0 | 0 | 0 |
| NM | 0.2 | 0.7 | 1 | 0.7 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NB | 1 | 0.8 | 0.4 | 0.1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
Step 6：According to the membership function and fuzzy control rule table of each fuzzy variable, pushed away using Mamdani patterns paste
Reason method carries out fuzzy reasoning, and the fuzzy set that reasoning is obtained carries out anti fuzzy method, obtains the fuzzy control table such as institute of table 4
Show, the effect of table 4 is that the fuzzy variable that will be obtained carries out anti fuzzy method, so that precisely controlled variable fufK (), commonly uses
Anti fuzzy method method have maximum membership degree method, gravity model appoach and weighted mean method, this embodiment chooses gravity model appoach and carries out reverse
It is gelatinized, the formula of gravity model appoach isWherein u is input variable, and v is output variable.
Table 4：Fuzzy control table
Step 7：By fufK () carries out gear division, form stepped output, can eliminate the shake in braking procedure, carries
The ride performance and riding comfort of vehicle high, take following gear division rule：
(1) if 0 ＞ fuf(k)≥T1, then u (k)=0；
(2) if T1＞ fuf(k)≥T2, then u (k)=u1；
(3) if T2＞ fuf(k)≥T3, then u (k)=u2；
(4) if T3＞ fuf(k)≥T4, then u (k)=u3；
(5) if T4＞ fuf(k), then u (k)=u4, wherein, 0 ＞ T1＞ T2＞ T3＞ T4, 0 represents not braking, u1Represent slight
Braking, u2Represent average braking, u3Represent and slightly force dynamic, u4Represent brake hard；In this implementation：T1=-1, T2=-2, T3=-
3, T4=-5.
Step 8：According to gear division result, actual controlled output amount u (k) is obtained, braking is acted on by executing agency
Pedal, realizes the braking of automatic driving vehicle.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (7)
1. a kind of automatic driving vehicle brakes, it is characterised in that including speed acquisition module, motion planning module, upper
Machine, slave computer and executing agency, between the speed acquisition module and host computer, between motion planning module and host computer, on
Communicated to connect between position machine and slave computer, between slave computer and executing agency, wherein,
The speed acquisition module is used to obtain wheel speed, and goes out currently practical speed v according to wheel speed calculationi(k), and will be currently real
Border speed viK () information transmission is to host computer；
The motion planning module is used to calculate desired speed ve(k), and by desired speed veK the value of () is transferred to host computer；
The host computer is used to receive the desired speed v of motion planning module transmissione(k), and velocity deviation e (k) is calculated, speed
Degree deviation e (k)=ve(k)-viK (), if e (k) is less than threshold value, sends corresponding brake signal to slave computer, otherwise motionless
Make；
The slave computer is used to receive the signal of host computer transmission, and sends control signal to executing agency, controls executing agency
Action；
The executing agency is used to receive the control signal of slave computer transmission, and vehicle is braked according to the control signal.
2. a kind of automatic driving vehicle brakes according to claim 1, it is characterised in that the speed acquisition module
It is four rotary encoders, the host computer is vehicle-mounted industrial computer or notebook computer, and the slave computer is single-chip microcomputer.
3. a kind of automatic driving vehicle brakes according to claim 1, it is characterised in that the executing agency includes
Flange-type heavy type steering wheel (1), steel wire rope (3) and brake pedal (4), flange-type heavy type steering wheel (1) is positioned at brake pedal (4)
Dead astern, is fixed by bolts on car body by connector, and steel wire rope (3) one end is connected with brake pedal, and the other end is around being located at
Ring flange (2) periphery of flange-type heavy type steering wheel (1).
4. a kind of automatic driving vehicle brakes according to claim 1, it is characterised in that the rotary encoder leads to
Ring flange screw is crossed to be directly anchored on boss bolt.
5. a kind of automatic driving vehicle braking method, it is characterised in that comprise the following steps：
Step 1, obtains current desired speed v by automatic driving vehicle environmental perception module and motion planning module firste
(k), and the vehicle actual vehicle speed v transmitted according to rotary encoderiK (), calculates velocity deviation e (k)=ve(k)-vi(k), if
E (k) is less than threshold value, then carry out step 2, is otherwise failure to actuate；
Step 2, by velocity deviation e (k)=ve(k)-viVelocity deviation variable quantity ec (k)=e in (k) and a controlling cycle
K ()-e (k-1) carries out fuzzy quantization and obtains input variable fe (k) and fec (k)；
Step 3, corresponding fuzzy control rule table is formulated according to pilot steering and braking experimental knowledge storehouse, is quantified using step 2
Input variable fe (k) and fec (k) for obtaining obtain output variable fu (k)；
Step 4, input variable fe (k) for quantifying to obtain using step 2 obtains output variable fu (k) with fec (k), specifically, choosing
The fuzzy subset for selecting input variable fe (k), fec (k) and output variable fu (k) is { NB, NM, NS, ZO, PS, PM, PB }, i.e.,
It is negative big, and it is negative small in bearing, zero, just small, center is honest }, fu (k) is obtained according to fuzzy control rule table；
Step 5, determines membership function of the Gauss π membership function as each fuzzy variable, specific function：
In above formula：X is the element value of each membership function, i.e. independent variable,
Finally give the membership function numerical value of each fuzzy variable；
Step 6, according to the membership function and fuzzy control rule table of each fuzzy variable, using Mamdani types fuzzy reasoning side
Method carries out fuzzy reasoning, and the fuzzy set that reasoning is obtained carries out anti fuzzy method using gravity model appoach, accurate so as to obtain
Control variables fufK (), the formula of gravity model appoach isWherein u is input variable, and v is output variable, and u
∈U,v∈V；
Step 7, to fufK () carries out gear division, and according to gear division result, obtain actual controlled output amount u (k)；
Step 8, executing agency is transferred to by actual controlled output amount u (k) by slave computer, and executing agency realizes automatic driving car
Braking.
6. a kind of automatic driving vehicle braking method according to claim 5, it is characterised in that the fuzzy input variable
The fuzzy subset of fe (k), fec (k) and output variable fu (k) is { NB, NM, NS, ZO, PS, PM, PB }, i.e., and it is negative big, in bearing,
It is negative small, zero, just small, center is honest }.
7. a kind of automatic driving vehicle braking method according to claim 5, it is characterised in that the reality described in step 4
Border controlled output amount u (k) is divided into 5 gears, and specific division rule is：
(1) if 0 ＞ fuf(k)≥T1, then u (k)=0；
(2) if T1＞ fuf(k)≥T2, then u (k)=u1；
(3) if T2＞ fuf(k)≥T3, then u (k)=u2；
(4) if T3＞ fuf(k)≥T4, then u (k)=u3；
(5) if T4＞ fuf(k), then u (k)=u4,
Wherein, 0 ＞ T1＞ T2＞ T3＞ T4, 0 represents not braking, u1Represent slight braking, u2Represent average braking, u3Represent slightly strong
Braking, u4Represent brake hard.
Priority Applications (1)
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| CN107399306A (en) * | 2017-08-02 | 2017-11-28 | 张天欣 | A kind of automotive emergency brake system, method, apparatus and small electronic equipment |
| CN108725442A (en) * | 2018-05-25 | 2018-11-02 | 北京敏捷动力科技有限公司 | A kind of automatic driving vehicle braking system and method based on PID control |
| CN109050459A (en) * | 2018-07-26 | 2018-12-21 | 东南大学 | A kind of omnidirectional vehicle collision protection system, monitoring protection method and the automobile for being equipped with the system |
| CN110525225A (en) * | 2019-08-22 | 2019-12-03 | 广州易流新能源汽车科技有限公司 | A kind of braking method of driverless electric automobile, storage medium and its development approach |
| CN110579960A (en) * | 2019-10-10 | 2019-12-17 | 扬州恒山宏业科技发展有限公司 | Motion simulator control system |
| CN111216728A (en) * | 2020-03-17 | 2020-06-02 | 江铃汽车股份有限公司 | Brake control method and system |
| CN112327836A (en) * | 2020-10-27 | 2021-02-05 | 南宁市第一人民医院 | Wheelchair automatic driving control method based on 5G technology and automatic driving wheelchair |
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| CN107399306A (en) * | 2017-08-02 | 2017-11-28 | 张天欣 | A kind of automotive emergency brake system, method, apparatus and small electronic equipment |
| CN108725442A (en) * | 2018-05-25 | 2018-11-02 | 北京敏捷动力科技有限公司 | A kind of automatic driving vehicle braking system and method based on PID control |
| CN109050459A (en) * | 2018-07-26 | 2018-12-21 | 东南大学 | A kind of omnidirectional vehicle collision protection system, monitoring protection method and the automobile for being equipped with the system |
| CN110525225A (en) * | 2019-08-22 | 2019-12-03 | 广州易流新能源汽车科技有限公司 | A kind of braking method of driverless electric automobile, storage medium and its development approach |
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| CN110579960A (en) * | 2019-10-10 | 2019-12-17 | 扬州恒山宏业科技发展有限公司 | Motion simulator control system |
| CN111216728A (en) * | 2020-03-17 | 2020-06-02 | 江铃汽车股份有限公司 | Brake control method and system |
| CN112327836A (en) * | 2020-10-27 | 2021-02-05 | 南宁市第一人民医院 | Wheelchair automatic driving control method based on 5G technology and automatic driving wheelchair |
| CN112327836B (en) * | 2020-10-27 | 2021-10-01 | 南宁市第一人民医院 | Wheelchair automatic driving control method based on 5G technology and automatic driving wheelchair |
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