The invention discloses an unmanned vehicle brake drive-by-wire control method which comprises the following steps: step 1, collecting brake control information, obtaining an initial position of an electric push rod release brake position value and an initial position of an electric push rod maximum brake position value, and recording the initial positions as d0 and d1; step 2, verifying and calibrating the position of the electric push rod during brake release and maximum brake of the whole vehicle, and recording the calibrated release brake position value of the electric push rod as D0 and the calibrated maximum brake position value of the electric push rod as D1; 3, obtaining a current control signal of the whole vehicle, and obtaining an electric push rod target value used for adjusting braking of the whole vehicle; 4, the target value, obtained in the step 3, of the electric push rod is sent to a whole vehicle controller to be used for controlling whole vehicle braking, and whether the whole vehicle is in a manual braking state or an automatic braking state can be judged by detecting the emergency stop switching signal and the automatic driving mode switching signal; in addition, different braking controls are executed in different braking states, so that the braking control can be improved.
本发明公开了一种无人驾驶车辆制动线控控制方法,包括以下步骤:步骤1、采集制动控制信息,获取电动推杆释放制动位置值和电动推杆最大制动位置值的初始位置并记录为d0和d1;步骤2、对整车制动释放和最大制动时电动推杆位置校验和标定,记录标定的电动推杆释放制动位置值为D0,标定的电动推杆最大制动位置值为D1;步骤3、获取整车当前控制信号,获得用于调整整车制动的电动推杆目标值;步骤4、将步骤3得到的电动推杆目标值到整车控制器用于控制整车制动,本申请通过检测急停开关信号和自动驾驶模式开关信号,进而可以判断整车是处于人工制动状态还是处于自动制动状态,并且在不同的制动状态下执行不同的制动控制,进而可以提高制动控制。
Unmanned vehicle brake drive-by-wire control method and control system
一种无人驾驶车辆制动线控控制方法及控制系统
2023-06-23
Patent
Elektronische Ressource
Chinesisch
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