The invention discloses a stable driving braking method for an automatic driving vehicle, which comprises an electronic hydraulic braking system consisting of a hardware assembly, a vehicle control unit, a braking pressure sensor, a six-axis gyroscope acceleration sensor, a braking driver and a braking force distribution unit, and the vehicle control unit is in signal connection with the brake driver and the brake pressure sensor. Compared with a vacuum boosting type brake system of a traditional automobile, the hardware assembly has the advantages that a brake pedal, a vacuum booster and a vacuum source are omitted in the mechanical structure, automobile braking is controlled through the servo motor and the control system, the integration degree is higher, the size is smaller, and flexible arrangement can be achieved. For the four wheels, the RBF neural network is introduced into the PID control adjustment process, the reference braking torque and the additional braking torque are fused, the sum of the reference braking torque and the additional braking torque serves as the braking torque of the four wheels, the direct braking effect on the vehicle body is avoided, and therefore the out-of-control, sideslip and other dangerous states are avoided.
本发明公开了一种自动驾驶车辆的行车稳定制动方法,包括电子液压制动系统,电子液压制动系统由硬件总成、整车控制器、制动压力传感器、6轴陀螺仪加速度传感器、制动驱动器、制动力分配单元组成,整车控制器与制动驱动器和制动压力传感器信号连接。本发明硬件总成相较于传统汽车的真空助力式刹车系统,在机械结构上取消了制动踏板、真空助力器、真空源,通过伺服电机及控制系统进行对车辆制动的控制,集成度更高,体积更小,可以进行灵活的布置。对于四个车轮,将RBF神经网络引入PID控制调节过程中,融合基准制动力矩与附加制动力矩,将二者之和作为对四个车轮的制动力矩,避免直接对车体进行制动作用,从而避免失控和侧滑等危险状态。
Driving stable braking method for autonomous vehicle
一种自动驾驶车辆的行车稳定制动方法
2023-05-09
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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