The invention provides an automatic emergency braking control method for vulnerable road users. The automatic emergency braking control method comprises the steps that the relative distance between a running vehicle and a moving target in front of the running vehicle and the relative speed between the running vehicle and the moving target are obtained; inputting the relative distance between the running vehicle and a moving target in front of the running vehicle and the relative speed between the running vehicle and the moving target into a pre-trained decision control model, and determining an expected braking deceleration corresponding to the running vehicle based on an output result of the decision control model; and a pre-optimized tracking controller is adopted to carry out feedback adjustment on the expected braking deceleration corresponding to the running vehicle. Therefore, the double-layer feedforward neural network structure serves as a network structure of the decision control model, good timeliness is achieved, the PID controller serves as a tracking controller in the emergency braking control process, effective emergency braking is conducted on the vehicle, and the problem that risks exist in the vehicle braking process is solved.
本公开提供一种面向弱势道路使用者的自动紧急制动控制方法,包括:获取行驶车辆与行驶车辆前方的移动目标之间的相对距离,以及行驶车辆与移动目标之间的相对速度;将行驶车辆与行驶车辆前方的移动目标之间的相对距离以及行驶车辆与移动目标之间的相对速度输入预先训练好的决策控制模型中,基于决策控制模型的输出结果确定行驶车辆对应的期望制动减速度;采用预先优化好的跟踪控制器,对行驶车辆对应的期望制动减速度进行反馈调节。从而,通过双层前馈神经网络结构作为决策控制模型的网络结构,具有较好的时效性,并且,采用PID控制器作为紧急制动控制过程中的跟踪控制器,以对车辆进行有效的紧急制动,解决了车辆制动过程中存在风险的问题。
Automatic emergency braking control method for vulnerable road users
一种面向弱势道路使用者的自动紧急制动控制方法
2024-03-26
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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