Automatic braking system low-velocity emergency braking control method
An emergency braking and automatic braking technology, applied in the direction of automatic starting devices, etc., can solve the problems of deceleration calculation error, relative distance calculation error, and failure to consider, so as to optimize the braking distance and the timing of active boosting Effect
Inactive Publication Date: 2018-09-04
JILIN UNIV
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Problems solved by technology
[0006] The technical problem to be solved by the present invention is to overcome the calculation error of the deceleration caused by the prior art, which only considers the system delay stage and the full pressure stage in the active supercharging unit, but does not consider the supercharging stage of the motor rotation to build up the pressure. It does not take into account the calculation error of the required relative distance caused by the front vehicle stopping earlier than the self-vehicle due to the sudden braking of the self-vehicle, which leads to the deviation of the braking time. Low-speed emergency braking control method for automatic braking system
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[0088] refer to image 3 , image 3 is the simulation model diagram of the ego vehicle driving ahead, with the safety distance d safe = 2m as the premise that the vehicle in front is set as a stationary vehicle, that is, v obj =0,a obj =0; ego vehicle drives forward vehicle at a constant speed of 30km / h, i.e. v ego =30,a ego = 0, where the relative distance between the vehicle in front and its own vehicle is d rel Set to 150m. The ESP is calibrated through the real vehicle experiment, and the ESP system delay is 350ms, that is, t 0 =0.35s, the boosting time is 150ms or t 1 =0.5s, import the real vehicle time-braking pressure characteristic curve into the Carsim vehicle model to simulate the real vehicle braking process, through Simulink joint simulation, the vehicle model can reach the maximum deceleration d egomax -9.2m / s 2 , so that K ego About 61.33m / s 3 .
[0089] 1. Acquisition of longitudinal velocity and longitudinal acceleration of ego vehicle
[0090] ego...
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The invention discloses an automatic braking system low-velocity emergency braking control method. The problems that a calculation error is generated due to the fact that only a system delay stage inan active pressurization unit is considered and a pressurization stage of motor rotation build-up pressure is not considered, and a calculation error is generated due to the fact that front vehicle emergency braking is not considered are solved. The method includes the following steps that (1) the longitudinal velocity and the longitudinal acceleration of an own vehicle are obtained; (2) the driver behavior is judged; (3) due to active pressurization, which stage of parking time of the own vehicle is in is judged, and through the own vehicle speed vego, the own vehicle parking time obtained due to active pressurization is calculated; (4) the front vehicle parking time is confirmed; (5) the required relative distance is determined, after the parking time tegostop and the parking time tobjstop generated due to active pressurization are determined, the distances of the vehicles traveling in the respective current states within the respective parking time ranges are determined, and therefore the relative distance required for stopping the own vehicle in the active pressurization process is obtained through the difference; and (6) whether an active pressurization condition is met or notis judged.
Description
technical field [0001] The invention relates to a control method belonging to the field of automatic emergency braking of automobiles, more precisely, the invention relates to a low-speed emergency braking control method of an automatic braking system. Background technique [0002] As traffic safety issues become more prominent, automotive active safety technologies that can prevent accidents have attracted great attention around the world. Automatic Emergency Braking (AEB) is a system that can automatically brake or assist when a collision risk is detected. The application of active safety technology in automobiles, in which the driver brakes to effectively avoid collisions or reduce collision injuries, is gradually becoming popular. [0003] The low-speed automatic emergency braking system is aimed at the working condition of the vehicle's speed not greater than 30km / h. It uses the millimeter-wave radar to detect the road conditions ahead in real time, actively monitors th...
Claims
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IPC IPC(8): B60T7/12B60W30/09
CPCB60T7/12B60W30/09
Inventor 郭崇李学林董洁全思航罗水平于欣彤
Owner JILIN UNIV