The invention discloses a car following brake dragging compensation method which comprises the following steps: acquiring a self-vehicle wheel speed, a self-vehicle deceleration request and a distance between a self-vehicle and a target vehicle, and calculating a self-vehicle speed and a self-vehicle deceleration; when the difference value between the deceleration request and the deceleration of the vehicle is larger than or equal to a calibration threshold value in the braking control process, dragging compensation is triggered; the dragging degree, dragging gain and dragging compensation are calculated; and carrying out optimization processing on dragging compensation to remove dragging compensation values outside a specified range, and adding an integral of the optimized dragging compensation value into an integral of the deceleration request to obtain a corrected deceleration request. According to the method, the robustness of the self-adaptive cruise following and stopping function is improved, the vehicle development cost is reduced, the practical engineering problem is rapidly solved, and the method has practical significance for improving vehicle braking control.

    本发明公开了一种跟车制动拖滞补偿方法,包括:获取自车轮速、自车减速度请求以及自车与目标车距离,计算自车车速和自车减速度;当制动控制过程中减速度请求与自车减速度的差值大于等于标定门槛值触发拖滞补偿;计算拖滞程度、拖滞增益和拖滞补偿;对拖滞补偿进行优化处理去除指定范围外的拖滞补偿值,将优化后的拖滞补偿值的积分加入到减速度请求的积分获得修正后的减速度请求。本发明提升了自适应巡航跟停功能的鲁棒性,降低了车辆开发的成本,快速解决实际工程问题,对改善车辆制动控制具有实际意义。


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    Title :

    Car following brake dragging compensation method and module


    Additional title:

    跟车制动拖滞补偿方法及模块


    Contributors:
    HOU SHICHANG (author) / HE YICHAO (author) / LI HAO (author) / TIAN HE (author) / LU CHANG (author)

    Publication date :

    2023-05-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / 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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