Braking force control method for emergency braking of unmanned vehicles on dry roads

Abstract

The invention discloses a braking force control method for emergency braking of an unmanned vehicle on a dry road, The method comprises the following steps: a vehicle-mounted sensor of an unmanned vehicle reads the braking condition parameters, calculates the actual braking force required according to the above parameters, brakes the required braking force according to a proportional command three-channel ABS anti-lock braking system, and judges whether the actual output total braking force of the ABS system meets the braking demand; the braking condition parameters of the ABS anti-lock braking system are calculated according to the proportional command three-channel anti-lock braking system. If the demand is not met, steering obstacle avoidance is carried out; If it meets the requirements, the on-board sensor is used to obtain new braking condition parameters after 0.5 second to determine whether to continue braking or not; If the braking is required to continue and the current braking force meets the requirements, the current braking force is maintained, and if the requirements are not met, the braking force control process described above is repeated until the braking is completed. The braking force control method is used for autonomous control of an unmanned vehicle during emergency braking, which can make real-time decision of braking strategy according to the conditions of each time of the obstacle, and ensure the safety of the emergency braking process.

Description

technical field [0001] The invention belongs to the fields of road engineering and vehicle engineering, and in particular relates to a braking force control method for emergency braking of an unmanned vehicle on a dry road. Background technique [0002] Unmanned vehicles are one of the important directions of future vehicle development. The ultimate goal is to completely control the driving behavior of the vehicle and replace the driver's control role, so as to avoid the potential risk of traffic accidents caused by human uncertain factors and improve the quality of transportation. efficiency. Emergency braking is an important means of avoiding danger taken by the vehicle after it finds an obstacle that may collide in the traveling track. Chinese patent document CN106394534A discloses a braking control method for unmanned electric vehicles, but it simply regards the friction coefficient of the road surface as a fixed value, and does not consider the possible slipping and lo...

AI Technical Summary

Problems solved by technology

Chinese patent document CN106394534A discloses a braking control method for unmanned electric vehicles, but it simply regards the friction coefficient of the road surface as a fixed value, and does not consider the possibility of slipping and locking during the braking process

At present, there are relatively few patent documents related to the control method of the braking process of unmanned vehicles, and the existing related control methods all oversimplify the road surface-tire adhesion characteristics, regard the friction coefficient as a fixed value, and ignore Anti-lock brake safety considerations

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