The invention relates to the technical field of braking control of unmanned vehicles, and discloses a braking control method, device and equipment for an unmanned vehicle and a storage medium, which are used for reducing the risk of frequent braking failure of a hydraulic braking actuator, improving the energy recovery rate, enabling hydraulic braking and electric braking to be mutually redundant and complementary, and improving the braking efficiency of the unmanned vehicle. The brake requirements under special conditions are met, and the smoothness of the brake mode switching process is guaranteed. The braking control method of the unmanned vehicle comprises the following steps: acquiring a first actual state parameter and a target negative acceleration of the vehicle, wherein the first actual state parameter at least comprises a first driving speed; according to the target negative value acceleration and a preset brake meter, the total braking requirement is calculated, and the total braking requirement comprises the target braking opening degree; performing braking distribution according to the first driving speed and the total braking demand to obtain a first target braking mode and a first target braking command value; and performing braking control according to the first target braking mode and the first target braking command value.
本发明涉及无人驾驶车辆制动控制技术领域,公开了一种无人驾驶车辆的制动控制方法、装置、设备及存储介质,用于降低液压制动执行器频繁制动失效的风险,提高能量回收率,将液压制动和电制动互为冗余,互为补充,满足特殊情况下的刹车需求,保障制动模式切换过程的平顺性。无人驾驶车辆的制动控制方法包括:获取车辆的第一实际状态参数和目标负值加速度,第一实际状态参数至少包括第一驾驶速度;根据目标负值加速度和预置的刹车表,计算总制动需求,总制动需求包括目标制动开度;根据第一驾驶速度和总制动需求进行制动分配,得到第一目标制动模式和第一目标制动命令值;根据第一目标制动模式和第一目标制动命令值进行制动控制。
Braking control method, device and equipment of unmanned vehicle and storage medium
无人驾驶车辆的制动控制方法、装置、设备及存储介质
2023-01-20
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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