The invention relates to an emergency braking control method and device for an unmanned heavy vehicle, electronic equipment and a storage medium. The method comprises the following steps: calculating longitudinal force and lateral force of a vehicle according to a Dugoff tire model based on vehicle tire rigidity on the basis of preset parameters and a driving state of the vehicle; establishing an extended Kalman filtering equation, and estimating a road adhesion coefficient; respectively calculating an early warning safety distance and an emergency braking safety distance; and when the vehicle runs, the obstacle distance is compared with the early warning safety distance and the emergency braking safety distance, and retarder action or emergency braking action is executed on the vehicle based on a preset obstacle meeting decision according to the comparison result. According to the unmanned heavy vehicle emergency braking strategy based on road adhesion coefficient estimation, vehicle damage caused by frequent emergency braking of the heavy vehicle is avoided, false triggering of emergency braking of the vehicle is prevented, the driving safety of the unmanned heavy vehicle is improved, and life and property losses are reduced.
本公开是关于一种无人驾驶重型车辆紧急制动控制方法、装置、电子设备以及存储介质。其中,该方法包括:基于车辆的预设参数及行驶状态,根据基于车辆轮胎刚度的Dugoff轮胎模型计算车辆的纵向力、侧向力;建立扩展卡尔曼滤波方程,对路面附着系数进行估计;分别计算预警安全距离、紧急制动安全距离;在所述车辆行驶时,将障碍物距离与所述预警安全距离、紧急制动安全距离对比,根据对比结果,基于预设遇障决策,对车辆执行缓速器动作或紧急制动动作。本公开提出的基于路面附着系数估计的无人驾驶重型车辆紧急制动策略,避免了重型车辆频繁紧急制动造成的车辆受损,防止车辆紧急制动误触发,提高了无人驾驶重型车辆的行驶安全性,减少生命财产损失。
Emergency braking control method for unmanned heavy vehicle
一种无人驾驶重型车辆紧急制动控制方法
10.10.2023
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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