Brake control method for unmanned vehicle

Abstract

The embodiment of the invention relates to a brake control method for an unmanned vehicle. The brake control method for the unmanned vehicle comprises the following steps: calculating a safety monitoring and control area of vehicle brake control; obtaining the current running speed of the vehicle, and calculating a safety distance according to vehicle brake parameters and the current running speed; monitoring whether an obstacle having a distance which is less than the safety distance, away from the vehicle, exists in the safety monitoring and control area or not; while detecting that the distance between the obstacle and the vehicle is not less than a preset emergency brake distance in the safety monitoring and control area, outputting a first-stage brake control instruction, and controlling the vehicle to brake by a first brake force; while detecting that the distance between the obstacle and the vehicle is less than the preset emergency brake distance in the safety monitoring and control area, determining the current maximum vehicle wheel rotation angle of the vehicle, outputting a second-stage brake control instruction when the current maximum vehicle wheel rotation angle is greater than a set rotation angle threshold value, and controlling the vehicle to brake by the maximum brake force; and outputting a first-stage brake control instruction when the current maximum vehicle wheel rotation angle is not greater than the set rotation angle threshold value, and controlling the vehicle to brake by the first brake force.

Description

technical field [0001] The invention relates to the technical field of automatic driving control, in particular to a braking control method for unmanned vehicles. Background technique [0002] Braking control is a very key technical element of unmanned driving technology. The emergency braking algorithm of unmanned vehicles requires the cooperation of the perception module and the control module. The perception module is responsible for detecting obstacles and classifying obstacles, and then performing coordinate transformation , giving the coordinates, velocity and obstacle type of the obstacle in the car body coordinate system. [0003] At present, the emergency braking algorithm in the field of unmanned driving generally only considers whether there is an obstacle in the dangerous area directly in front or behind the vehicle, and judges whether the coordinates of the obstacle in the vehicle body coordinate system are within the dangerous range, so as to obtain whether the...

AI Technical Summary

Problems solved by technology

[0004] Although this kind of emergency braking scheme that only considers obstacles directly in front or behind is simple in principle and easy to implement, it has two disadvantages when the vehicle is turning: one is that if there is an obstacle directly in front of the vehicle during the turning process, the lateral When the balance wheel can pass normally, the vehicle will "stop by mistake"; secondly, when the vehicle is turning or turning around, because only the obstacles directly in front are considered, if there are obstacles on the side, it is not in the danger zone directly ahead, the vehicle will not brake urgently , leading to "false collisions"

like figure 2 As shown, the rectangle in the figure represents the unmanned vehicle, the two arcs are the future driving path of the vehicle, and the dots and triangles are obstacles. When judging emergency braking, the vehicle only judges the obstacle directly ahead, so it will trigger emergency braking at this time and stop causing bad experience; in the second case, when the vehicle is turning around, there is a dot obstacle in front of the path, but the vehicle is in the During the driving process, only the obstacles directly ahead are judged in real time, so the obstacles may not be detected in time and lead to "false collision"

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