The invention belongs to the technical field of vehicle automatic driving, and relates to a multi-vehicle cooperative braking control method and system for guaranteeing the safe distance between vehicles and a readable medium, and the method comprises the following steps: respectively obtaining the acceleration, speed and displacement of a self vehicle, a head vehicle and an adjacent vehicle; judging whether the multiple vehicles are in multi-vehicle cooperative braking or not according to the accelerated speed, the speed and the displacement of the own vehicle, the head vehicle and the adjacent vehicle, returning to the previous step if the multiple vehicles are not in the multi-vehicle cooperative braking, and executing the next step if the multiple vehicles are in the multi-vehicle cooperative braking; and the reference braking torque of the vehicle is calculated, the vehicle brakes according to the reference braking torque of the vehicle, and real-time braking operation is conducted on all vehicles through multi-vehicle cooperative braking. The road scene recognition module is adopted, a safe distance strategy is adjusted on line according to the road scene where the current vehicle is located, road driving safety and traffic efficiency can be considered, and the system is suitable for various road scenes.

    本发明属于车辆自动驾驶技术领域,涉及一种保障车间安全距离的多车协同制动控制方法、系统和可读介质,包括以下步骤:分别获取自车、头车和临车的加速度、速度和位移;根据自车、头车和临车的加速度、速度和位移,裁决多车是否处于多车协同制动,若不处于多车协同制动,返回上一步,若处于多车协同制动,则执行下一步;计算自车参考制动力矩,自车根据自车参考制动力矩进行制动,通过多车协同制动,对所有车辆实时制动操作。其采用了道路场景识别模块,根据当前车辆所处的道路场景,在线调整安全距离策略,可以兼顾道路行车安全性及交通效率,适用于多种道路场景。


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    Title :

    Multi-vehicle cooperative braking control method and system for guaranteeing safe distance between vehicles


    Additional title:

    一种保障车间安全距离的多车协同制动控制方法及系统


    Contributors:
    MA RUIHAI (author) / ZHANG JUNZHI (author) / HE CHENGKUN (author) / LIU WEILONG (author)

    Publication date :

    2022-12-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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