CN108238026B - Control method and system for automatic emergency braking of vehicle - Google Patents
Control method and system for automatic emergency braking of vehicle Download PDFInfo
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- CN108238026B CN108238026B CN201711462879.1A CN201711462879A CN108238026B CN 108238026 B CN108238026 B CN 108238026B CN 201711462879 A CN201711462879 A CN 201711462879A CN 108238026 B CN108238026 B CN 108238026B
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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
- 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
- B60T8/321—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 deceleration
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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
- B60T8/58—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 responsive to speed and another condition or to plural speed conditions
Abstract
The invention discloses a control method and a system for automatic emergency braking of a vehicle; the method comprises the following steps: when the locking is not triggered, according to the target road surface where the vehicle is located, the minimum adhesion coefficient mu of the current vehicle on the target road surface is obtained by combining a calculation formulamin(ii) a Obtaining the braking deceleration a of the vehicle according to the minimum adhesion coefficientbreaking(ii) a According to said braking deceleration abreakingWith a predetermined collision acceleration apreAnd formula amin＝min(apre,abreaking) The maximum applicable brake deceleration a is obtainedmin(ii) a According to the target braking deceleration aminControlling the braking of the vehicle. The minimum adhesion coefficient mu obtained by the inventionminThe braking deceleration is matched with the road surface where the current vehicle is located, and the minimum value obtained by comparing the braking deceleration with the preset collision acceleration is used as the target braking deceleration, so that the problem that the vehicle triggers automatic emergency braking under different road surface adhesion conditions can be solved.
Description
Technical Field
The invention relates to the technical field of vehicle brake control, in particular to a control method and a system for automatic emergency braking of a vehicle.
Background
The automatic emergency braking system is an important function in an active safety system, and the principle of the automatic emergency braking system is that a front radar or a front camera and other sensors are utilized to judge whether a vehicle is about to collide, so that target braking strengths of different levels are sent to a vehicle stability control unit, and the braking system is controlled to complete braking.
However, the road adhesion is not fixed, and the maximum braking force which can be provided by the automatic emergency braking system also changes with different road adhesion, so that the control of the triggering of the automatic emergency braking system on the basis of considering the road adhesion can improve the safety and the robustness of the system.
The current trigger strategy of the automatic emergency braking system is to calculate the pre-collision acceleration (including considering the reaction of the driver) and the distance collision time according to the relative distance, the relative speed and the relative acceleration of the vehicle and the target vehicle monitored by a medium-distance radar or a long-distance radar or a camera, and to compare the pre-collision acceleration with the distance collision time with a threshold value to be used as a judgment basis for triggering braking. However, when the vehicle is in a wet and slippery road surface in a rainy or snowy day, and when the collision avoidance acceleration is smaller than the threshold trigger, the actual applied braking deceleration of the vehicle is far smaller than the threshold of the collision avoidance acceleration, and the existing control scheme has great potential safety threat; therefore, the prior art can not solve the problem that the vehicle triggers automatic emergency braking under different road adhesion conditions.
Disclosure of Invention
In order to solve the technical problem, the invention provides a control method and a system for automatic emergency braking of a vehicle;
the invention is realized by the following technical scheme:
a first aspect provides a method of controlling automatic emergency braking of a vehicle, comprising:
when the locking is not triggered, according to the target road surface where the vehicle is located, the minimum adhesion coefficient mu of the current vehicle on the target road surface is obtained by combining a calculation formulamin；
Obtaining the braking deceleration a of the vehicle according to the minimum adhesion coefficientbreaking；
According to said braking deceleration abreakingWith a predetermined collision acceleration apreAnd formula amin＝min(apre,abreaking) The maximum applicable brake deceleration a is obtainedmin；
According to said maximum applicable braking deceleration aminControlling the braking of the vehicle.
Further, when the locking is not triggered,
according to a target road surface where a current vehicle is located, and a calculation formula, obtaining a minimum adhesion coefficient mu of the current vehicle on the target road surfaceminThe method comprises the following steps:
when the locking is not triggered, the slip ratio lambda of the vehicle is obtainediAnd coefficient of adhesion mui；
According to the slip ratio lambdaiAnd coefficient of adhesion muiDetermining a target road surface where a current vehicle is located;
according to the target road surface, the minimum adhesion coefficient mu of the current vehicle on the target road surface is obtained by combining a calculation formulamin。
Further, the minimum adhesion coefficient mu of the current vehicle on the target road surface is obtainedminThe formula utilized is:
wherein z isestFor braking strength, Ffront_total_actFor actual braking of the front axle, Frear_total_actIs the actual braking force of the rear axle, G is the gravity of the whole vehicle, a is the front wheelbase, b is the rear wheelbase, L is the wheelbase of the whole vehicle, hgIs the vehicle center of mass height.
Further, the maximum applicable brake deceleration a of the vehicle is obtained according to the minimum adhesion coefficientbreakingThe method comprises the following steps:
according to said minimum adhesion coefficient muminVehicle mass M, gravitational acceleration g, and formula Fbreaking＝M*g*μminTo obtain braking force Fbreaking；
According to braking force FbreakingVehicle mass M and formula abreaking＝FbreakingCalculating the braking acceleration a by the aid of the/Mbreaking。
A second aspect provides a control system for automatic emergency braking of a vehicle, comprising:
a minimum adhesion coefficient acquisition module, configured to, when locking is not triggered, acquire a minimum adhesion coefficient μ of a current vehicle on a target road surface according to the target road surface where the vehicle is located in combination with a calculation formulamin；
A braking deceleration obtaining module for obtaining the braking deceleration a of the vehicle according to the minimum adhesion coefficientbreaking；
Maximum applicable brake deceleration acquisition module according to brake deceleration abreakingWith a predetermined collision acceleration apreAnd formula amin＝min(apre,abreaking) The maximum applicable brake deceleration a is obtainedmin；
A vehicle brake control module for controlling the brake system according to the maximum applicable brake deceleration aminControlling the braking of the vehicle.
Further, the minimum adhesion coefficient obtaining module includes:
a basic parameter obtaining unit for obtaining the slip ratio lambda of the vehicle when the locking is not triggerediAnd coefficient of adhesion mui；
A road surface determination unit for determining the road surface based on the slip ratio lambdaiAnd coefficient of adhesion muiDetermining a target road surface where a current vehicle is located;
a minimum adhesion coefficient obtaining unit for obtaining a minimum adhesion coefficient mu of the current vehicle on the target road surface according to the target road surface by combining a calculation formulamin。
Further, the minimum adhesion coefficient mu of the current vehicle on the target road surface is obtainedminThe formula utilized is:
wherein z isestFor braking strength, Ffront_total_actFor actual braking of the front axle, Frear_total_actIs the actual braking force of the rear axle, G is the gravity of the whole vehicle, a is the front wheelbase, b is the rear wheelbase, L is the wheelbase of the whole vehicle, hgIs the vehicle center of mass height.
Further, the brake deceleration acquisition module includes:
a braking force acquisition unit for acquiring a braking force according to the minimum adhesion coefficient muminVehicle mass M, gravitational acceleration g, and formula Fbreaking＝M*g*μminTo obtain braking force Fbreaking；
A braking deceleration obtaining unit for obtaining braking force FbreakingVehicle mass M and formula abreaking＝FbreakingCalculating braking deceleration a by/Mbreaking。
The method is mainly applied to the scene that under the condition that the vehicle is not triggered to be locked, the target road surface where the vehicle is located is judged through the obtained adhesion coefficient value and slip rate value, and the minimum adhesion coefficient mu of the current vehicle on the target road surface is obtained according to a formula on the basis of judging the target road surfacemin(ii) a Reducing the braking speed abreakingWith a predetermined collision acceleration apreComparing, and controlling the braking of the vehicle according to the comparison result; the minimum adhesion coefficient mu obtained by the inventionminThe brake deceleration is matched with the road surface where the current vehicle is located, and the minimum value obtained by comparing the brake deceleration with the preset collision acceleration is used as the maximum applicable brake deceleration, so that the problem that the vehicle triggers automatic emergency braking under different road surface adhesion conditions can be solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for controlling automatic emergency braking of a vehicle according to one embodiment;
fig. 2 is a diagram that is obtained by combining a calculation formula to obtain the minimum adhesion coefficient μ of the current vehicle on the target road surface according to the target road surface where the current vehicle is located when locking is not triggered according to the first embodimentminA method flowchart of (1);
FIG. 3 shows the minimum adhesion coefficient μ according to the exampleminObtaining the maximum applicable brake deceleration a of the vehiclebreakingA method flowchart of (1);
fig. 4 is a block diagram of a control system for automatic emergency braking of a vehicle according to a second embodiment.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The first embodiment is as follows:
when the vehicle is in a wet and slippery road surface condition in a rainy and snowy day and when collision avoidance acceleration is smaller than a threshold (under the condition of considering the reaction of a driver), triggering is carried out, the braking deceleration which can be actually applied by the vehicle is far smaller than the threshold of the collision avoidance acceleration, and the original control scheme has great potential safety threat; the embodiment provides a control method for automatic emergency braking of a vehicle, which is used for solving the problem that the vehicle triggers the automatic emergency braking under different road adhesion conditions; the invention belongs to the field of active safety systems, and relates to a technical scheme for realizing an automatic emergency braking function and ensuring the safety of a driver under the condition of considering road adhesion.
As shown in fig. 1, the method includes:
s101, when locking is not triggered, obtaining the minimum adhesion coefficient mu of the current vehicle on a target road surface according to the target road surface where the vehicle is located and combining a calculation formulamin；
The road surface adhesion coefficient not only influences the acceleration performance and the braking performance of the automobile, but also influences the operation stability of the automobile, the adhesion coefficient of the road surface is known in real time, the road surface adhesion performance is fully utilized, and the acceleration performance, the braking performance and the operation stability of the automobile can be greatly improved.
Further, when the locking is not triggered, the minimum adhesion coefficient mu of the current vehicle on the target road surface is obtained according to the target road surface where the current vehicle is located and by combining a calculation formulaminAs shown in fig. 2, includes:
s101a, when locking is not triggered, obtaining the slip rate lambda of the vehicleiAnd coefficient of adhesion mui；
The slip rate of the vehicle is calculated according to the vehicle speed and the wheel speed, each wheel is provided with a vehicle wheel speed sensor, the wheel speed of the wheel is detected in real time through the current vehicle wheel speed sensor, and the slip rate state of each current wheel is estimated;
s101b, according to the slip rate lambdaiAnd coefficient of adhesion muiDetermining a target road surface where a current vehicle is located;
wherein, the road surface is judged according to the slip ratio and the adhesion coefficient as reference; specifically, the road surface is judged according to the optimal slip ratio range where the slip ratio is located and the range where the adhesion coefficient is located; typical road surfaces were classified, as shown in table 1,
TABLE 1 typical road surface adhesion coefficient
Conservative estimation is carried out on the road surface possibly positioned by utilizing the adhesion coefficient according to the front shaft and the rear shaft; for example, if the calculated slip ratio is 0.18 and the calculated adhesion coefficient is 0.92, the road surface where the current vehicle is located may be basically determined to be dry asphalt and dry concrete, and the dry asphalt and the dry concrete are the target road surface of the current vehicle;
it should be noted that the present invention is directed to the control performed when the vehicle is not triggered to be locked, and if the vehicle is in a locked state, the maximum applicable braking deceleration is obtained by calculation directly using a road surface adhesion estimation algorithm in the original hydraulic pressure adjusting unit.
Wherein, the range of the general slip ratio is 10% -25%, if the slip ratio obtained by the above calculation exceeds 0.25, in this case, it can be directly determined that the current vehicle is in a locked state, and then the maximum applicable braking deceleration is calculated by the road surface adhesion estimation algorithm in the original hydraulic pressure adjusting unit.
S101c, obtaining the minimum adhesion coefficient mu of the current vehicle on the target road surface according to the target road surface by combining a calculation formulamin。
Specifically, the minimum adhesion coefficient mu of the current vehicle on the target road surface is obtainedminThe formula utilized is:
wherein z isestFor braking strength, Ffront_total_actFor actual braking of the front axle, Frear_total_actIs the actual braking force of the rear axle, G is the gravity of the whole vehicle, a is the front wheelbase, b is the rear wheelbase, L is the wheelbase of the whole vehicle, hgIs the vehicle center of mass height.
S102, according to the minimum adhesion coefficient muminObtaining the braking deceleration a of the vehiclebreaking；
Further, the minimum adhesion coefficient mu is usedminObtaining the maximum applicable brake deceleration a of the vehiclebreakingAs shown in fig. 3, includes:
s102a, according to the minimum adhesion coefficient muminVehicle mass M, gravitational acceleration g, and formula Fbreaking＝M*g*μminTo obtain braking force Fbreaking；
S102b. according to braking force FbreakingVehicle mass M and formula abreaking＝FbreakingCalculating braking deceleration a by/Mbreaking。
S103, according to the braking deceleration abreakingWith a predetermined collision acceleration apreAnd formula amin＝min(apre,abreaking) The maximum applicable brake deceleration a is obtainedmin；
Wherein the preset collision acceleration is a preset parameter as a basis for obtaining the maximum applicable braking deceleration.
S104. according to the maximum applicable brake deceleration aminControlling the braking of the vehicle.
And the obtained braking deceleration and the preset collision acceleration are compared to serve as system triggering conditions and are used for triggering the system to control the self-braking of the vehicle.
It should be noted that the smaller value obtained by comparison is used as a brake conservative value, and on the premise that the conservative value is used as a trigger brake control brake system, the safety and robustness of vehicle braking are improved.
Example two:
as shown in fig. 4, the present embodiment provides a control system for automatic emergency braking of a vehicle, including:
a minimum adhesion coefficient obtaining module 110, configured to, when locking is not triggered, obtain, according to a target road surface where a vehicle is located, a minimum adhesion coefficient μ of the current vehicle on the target road surface in combination with a calculation formulamin；
The minimum adhesion coefficient mu of the current vehicle on the target road surface is obtainedminThe formula utilized is:
wherein z isestFor braking strength, Ffront_total_actFor actual braking of the front axle, Frear_total_actIs the actual braking force of the rear axle, G is the gravity of the whole vehicle, a is the front wheelbase, b is the rear wheelbase, L is the wheelbase of the whole vehicle, hgIs the vehicle center of mass height.
A braking deceleration obtaining module 120 for obtaining the braking deceleration a of the vehicle according to the minimum adhesion coefficientbreaking；
Maximum applicable brake deceleration acquisition module 130, according to which brake deceleration abreakingWith a predetermined collision acceleration apreAnd formula amin＝min(apre,abreaking) The maximum applicable brake deceleration a is obtainedmin；
A vehicle brake control module 140 for controlling the brake system according to the maximum applicable brake deceleration aminControlling the braking of the vehicle.
Further, the minimum adhesion coefficient obtaining module 110 includes:
a basic parameter obtaining unit 111 for obtaining the slip ratio lambda of the vehicle when the locking is not triggerediAnd coefficient of adhesion mui；
The vehicle speed is detected by the vehicle speed sensor at any time, the wheel speed is detected by the front wheel speed sensor and the rear wheel speed sensor at any time, and the slip rate of the vehicle tire and the ground is obtained by using the detected vehicle speed and wheel speed.
A road surface determination unit 112 for determining the slip ratio lambdaiAnd coefficient of adhesion muiDetermining a target road surface where a current vehicle is located;
a minimum adhesion coefficient acquisition unit 113 for combining a calculation formula according to the target road surface
Acquiring the minimum adhesion coefficient mu of the current vehicle on the target road surfacemin。
In detail, the braking deceleration obtaining module 120 includes:
a braking force obtaining unit 121 for obtaining a braking force according to the minimum adhesion coefficient muminVehicle mass M, gravitational acceleration g, and formula Fbreaking＝M*g*μminTo obtain braking force Fbreaking；
A brake deceleration obtaining unit 122 for obtaining a braking force F according to the braking forcebreakingVehicle mass M and formula abreaking＝FbreakingCalculating braking deceleration a by/Mbreaking。
The invention is mainly applied to the situation that the obtained attachment is used under the condition that the vehicle is not triggered to be lockedDetermining a target road surface where the vehicle is located according to the coefficient value and the slip rate value, and acquiring the minimum adhesion coefficient mu of the current vehicle on the target road surface according to a formula on the basis of determining the target road surfacemin(ii) a Reducing the braking speed abreakingWith a predetermined collision acceleration apreComparing, and controlling the braking of the vehicle according to the comparison result;
the minimum adhesion coefficient mu obtained by the inventionminMatching with the road surface where the current vehicle is located, further obtaining the maximum applicable braking deceleration according to the minimum adhesion coefficient obtained by matching, and controlling the vehicle braking; the minimum value obtained by comparing the braking deceleration with the preset collision acceleration is used as the maximum applicable braking deceleration, so that the invention can solve the problem that the vehicle triggers automatic emergency braking under different road adhesion conditions.
In a word, the automatic emergency braking device can efficiently and accurately realize the automatic emergency braking of the vehicle.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
All the modules in the technical scheme of the invention can be realized by a computer terminal or other equipment. The computer terminal includes a processor and a memory. The memory is used for storing the program instructions/modules in the invention, and the processor realizes the corresponding functions of the invention by operating the program instructions/modules stored in the memory.
The technical solution of the present invention may be substantially implemented or a part of or all or part of the technical solution that contributes to the prior art may be implemented in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention.
The division of the modules/units described in the present invention is only a logical function division, and other division manners may be available in actual implementation, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. Some or all of the modules/units can be selected according to actual needs to achieve the purpose of implementing the scheme of the invention.
In addition, each module/unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A method for controlling automatic emergency braking of a vehicle, comprising:
when the locking is not triggered, according to the target road surface where the vehicle is located, the minimum adhesion coefficient mu of the current vehicle on the target road surface is obtained by combining a calculation formulamin；
Obtaining the braking deceleration a of the vehicle according to the minimum adhesion coefficientbreaking；
According to said braking deceleration abreakingWith a predetermined collision acceleration apreAnd formula amin＝min(apre,abreaking) The maximum applicable brake deceleration a is obtainedmin；
According to said maximum applicable braking deceleration aminControlling braking of the vehicle;
wherein the obtaining of the minimum adhesion coefficient mu of the current vehicle on the target road surfaceminThe formula utilized is:
wherein z isestFor braking strength, Ffront_total_actFor actual braking of the front axle, Frear_total_actIs the actual braking force of the rear axle, G is the gravity of the whole vehicle, a is the front wheelbase, b is the rear wheelbase, L is the wheelbase of the whole vehicle, hgIs the vehicle center of mass height.
2. The method according to claim 1, characterized in that when locking is not triggered, the minimum adhesion coefficient μ of the current vehicle on the target road surface is obtained according to the target road surface where the current vehicle is located and by combining a calculation formulaminThe method comprises the following steps:
when the locking is not triggered, the slip ratio lambda of the vehicle is obtainediAnd coefficient of adhesion mui；
According to the slip ratio lambdaiAnd coefficient of adhesion muiDetermining a target road surface where a current vehicle is located;
according to the target road surface, the minimum adhesion coefficient mu of the current vehicle on the target road surface is obtained by combining a calculation formulamin。
3. Method according to claim 1, characterized in that said braking deceleration a of the vehicle is derived from said minimum adhesion coefficientbreakingThe method comprises the following steps:
according to said minimum adhesion coefficient muminVehicle mass M, gravitational acceleration g, and formula Fbreaking＝M*g*μminTo obtain braking force Fbreaking；
According to braking force FbreakingVehicle mass M and formula abreaking＝FbreakingCalculating the braking acceleration a by the aid of the/Mbreaking。
4. A control system for automatic emergency braking of a vehicle, comprising:
the minimum adhesion coefficient acquisition module is used for acquiring the current vehicle position by combining a calculation formula according to the target road surface of the vehicle when the locking is not triggeredMinimum adhesion coefficient mu on the target road surfacemin；
A braking deceleration obtaining module for obtaining the braking deceleration a of the vehicle according to the minimum adhesion coefficientbreaking；
Maximum applicable brake deceleration acquisition module according to brake deceleration abreakingWith a predetermined collision acceleration apreAnd formula amin＝min(apre,abreaking) The maximum applicable brake deceleration a is obtainedmin；
A vehicle brake control module for controlling the brake system according to the maximum applicable brake deceleration aminControlling braking of the vehicle;
wherein the obtaining of the minimum adhesion coefficient mu of the current vehicle on the target road surfaceminThe formula utilized is:
wherein z isestFor braking strength, Ffront_total_actFor actual braking of the front axle, Frear_total_actIs the actual braking force of the rear axle, G is the gravity of the whole vehicle, a is the front wheelbase, b is the rear wheelbase, L is the wheelbase of the whole vehicle, hgIs the vehicle center of mass height.
5. The system of claim 4, wherein the minimum adhesion coefficient obtaining module comprises:
a basic parameter obtaining unit for obtaining the slip ratio lambda of the vehicle when the locking is not triggerediAnd coefficient of adhesion mui；
A road surface determination unit for determining the road surface based on the slip ratio lambdaiAnd coefficient of adhesion muiDetermining a target road surface where a current vehicle is located;
a minimum adhesion coefficient obtaining unit for obtaining a minimum adhesion coefficient mu of the current vehicle on the target road surface according to the target road surface by combining a calculation formulamin。
6. The system of claim 4, wherein the brake deceleration acquisition module comprises:
a braking force acquisition unit for acquiring a braking force according to the minimum adhesion coefficient muminVehicle mass M, gravitational acceleration g, and formula Fbreaking＝M*g*μminTo obtain braking force Fbreaking；
A braking deceleration obtaining unit for obtaining braking force FbreakingVehicle mass M and formula abreaking＝FbreakingCalculating braking deceleration a by/Mbreaking。
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| CN111547023B (en) * | 2020-05-27 | 2021-10-15 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle braking method and device and unmanned vehicle |
| CN113071489A (en) * | 2021-04-30 | 2021-07-06 | 宝能(广州)汽车研究院有限公司 | Vehicle running control method and device, vehicle-mounted electronic equipment and readable storage medium |
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| US6549842B1 (en) * | 2001-10-31 | 2003-04-15 | Delphi Technologies, Inc. | Method and apparatus for determining an individual wheel surface coefficient of adhesion |
| WO2009005073A1 (en) * | 2007-07-02 | 2009-01-08 | Equos Research Co., Ltd. | Camber angle controlling device |
| FR2923436B1 (en) * | 2007-11-09 | 2010-04-09 | Michelin Soc Tech | SYSTEM FOR MONITORING THE BEHAVIOR OF A VEHICLE COMPRISING A DETERMINATION OF ITS SPEED IN RELATION TO THE GROUND |
| DE102011113117A1 (en) * | 2011-09-09 | 2013-03-14 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Brake control device for rail vehicles, brake system for rail vehicles and methods for brake control for rail vehicles and computer program product |
| CN104670191B (en) * | 2015-02-09 | 2017-09-22 | 浙江吉利汽车研究院有限公司 | Automatic emergency brake method and apparatus |
| CN106740768B (en) * | 2017-02-14 | 2019-11-26 | 天津英创汇智汽车技术有限公司 | A kind of automobile brake control method and device |
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