The invention discloses a braking control method, device and equipment of a self-adaptive cruise control system and a medium, and relates to the technical field of automatic driving, and the braking control method comprises the steps that the initial deceleration is determined based on the current relative speed and the relative distance of a vehicle relative to a front vehicle; the current expected vehicle speed of the vehicle is determined through the initial deceleration and the current deceleration flag bit of the self-adaptive cruise control system; the speed deviation between the current expected vehicle speed and the current actual vehicle speed of the vehicle is determined, and compensation deceleration is determined through a proportional-integral control algorithm based on the speed deviation; and target deceleration is obtained based on the initial deceleration and the compensation deceleration, the vehicle is controlled to decelerate by using the target deceleration, and whether maintenance prompt is carried out or not is determined based on the current deceleration request state of the adaptive cruise control system. According to the method, the initial deceleration obtained through calculation is compensated, the target deceleration finally used for controlling deceleration of the vehicle is obtained, and maintenance prompting is carried out, so that the problems of vehicle rear-end collision and the like caused by insufficient deceleration are solved.

    本申请公开了一种自适应巡航控制系统的制动控制方法、装置、设备及介质,涉及自动驾驶技术领域,包括:基于自车当前相对于前车的相对速度和相对距离确定出初始减速度;利用初始减速度和自适应巡航控制系统当前的减速标志位确定出自车的当前期望车速;确定当前期望车速和自车的当前实际车速之间的速度偏差,基于速度偏差利用比例积分控制算法确定出补偿减速度;基于初始减速度和补偿减速度得到目标减速度,利用目标减速度控制自车减速,基于自适应巡航控制系统的当前减速请求状态确定是否进行检修提示。本申请通过对计算得到的初始减速度进行补偿,得到最终用于控制自车减速的目标减速度,并进行检修提示,以避免减速度不够造成的车辆追尾等问题。


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    Title :

    Braking control method, device and equipment of self-adaptive cruise control system and medium


    Additional title:

    自适应巡航控制系统的制动控制方法、装置、设备及介质


    Contributors:
    CUI WENTAO (author) / LI GANG (author) / LU YUKUN (author)

    Publication date :

    2024-02-06


    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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