The invention discloses a vehicle-following braking control method, device and equipment and a computer readable storage medium. The vehicle-following braking control method comprises the steps that the vehicle speed vstd and the vehicle body acceleration astd when a vehicle enters a stagnation mode are obtained; the stop time tstop of the vehicle is estimated based on the vehicle speed vstd and the vehicle body acceleration astd, and timing tcount is started when the vehicle enters a stagnation mode; comparing and judging the stop time of the vehicle with tcount; and when the tcount is greater than the tstop, the compensation braking force F1 is calculated and output to the braking module, so that the vehicle is braked in time. The method comprises the following steps: pre-estimating the stop time tstop of the vehicle, starting timing tcount when the vehicle enters a stagnation mode, comparing the values of tstop and tcount, when tcount is greater than tstop, indicating that the vehicle is not completely static within the pre-estimated time, calculating the compensation braking force F1, and outputting the compensation braking force F1 to a braking module, so that the vehicle is braked in time. The working condition that the braking time is too long at the rear section of normal braking can be solved, the braking force is increased by increasing the compensation braking force, so that the vehicle is completely static, the loss of the vehicle and even the injury to a driver and passengers are avoided, and the driving safety is protected.
一种跟车刹停控制方法、装置、设备及计算机可读存储介质,获取车辆进入停滞模式的车速vstd和车身加速度astd;基于车速vstd和车身加速度astd预估车辆停止时间tstop,并对车辆进入停滞模式开始计时tcount;将车辆停止时间与tcount进行比较判断;当tcount>tstop时,计算出补偿制动力F1并输出给制动模块,使车辆及时刹停。预估车辆停止时间tstop,并对车辆进入停滞模式开始计时tcount,基于tstop和tcount数值比较,当tcount>tstop时,说明车辆在预计时间内还未完全静止,计算出补偿制动力F1并输出给制动模块,使车辆及时刹停。能够解决正常刹车后段其刹停时间过长的工况,通过增加补偿制动力的方式,加大制动力,使得车辆完全静止,避免车辆造成损失,甚至对驾乘人员产生伤害,保护驾乘安全。
Vehicle-following braking control method, device and equipment and computer readable storage medium
跟车刹停控制方法、装置、设备及计算机可读存储介质
2024-07-23
Patent
Electronic Resource
Chinese
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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