The invention discloses a truck AEB self-adaptive control method based on ice and snow pavement recognition, and the method overcomes the problems that in the prior art, under the severe weather conditions such as ice and snow, the driving safety of a truck is not good, and the characteristics of the truck are not fully considered, and the control method comprises the following steps that 1, a truck longitudinal dynamics and load transfer model is established; estimating the road adhesion coefficient in the ice and snow scene by using a slope method and a recursive least square method based on genetic factors; 2) carrying out risk assessment on road conditions and collision speeds under ice and snow weather conditions, calculating a comprehensive risk coefficient, and adaptively adjusting an early warning distance threshold value; (3) according to the road adhesion coefficient estimated value and the driver response time, self-adaptive calibration is conducted on the braking distance threshold value, and the expected deceleration of the partial braking stage and the expected deceleration of the complete braking stage are determined; and 4) calculating the distance between the truck and the front obstacle, and formulating an AEB control strategy according to the relationship between the truck and the early warning distance threshold and the braking distance threshold.

    本发明公开了一种基于冰雪路面识别的卡车AEB自适应控制方法,本方法克服了现有技术存在的在冰雪等恶劣天气条件下对卡车行车安全性不佳和卡车特性考虑不足的问题,本控制方法的步骤如下:1)建立卡车纵向动力学以及负载转移模型,利用斜率法和基于遗传因子的递推最小二乘法对冰雪场景下的路面附着系数进行估计;2)对冰雪天气条件下的路面情况及碰撞速度进行风险评估,计算综合风险系数,并自适应调整预警距离阈值;3)根据路面附着系数估计值、驾驶员反应时间,对制动距离阈值进行自适应标定,并确定部分制动和完全制动两阶段的期望减速度;4)计算卡车与前方障碍物的距离,根据其与预警距离阈值、制动距离阈值的关系制定AEB控制策略。


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    Title :

    Truck AEB self-adaptive control method based on ice and snow pavement recognition


    Additional title:

    一种基于冰雪路面识别的卡车AEB自适应控制方法


    Contributors:
    SONG XIANMIN (author) / LIU YUZHU (author) / LI HAITAO (author) / LIU BO (author) / SUN YINGNAN (author) / ZHANG YUNXIANG (author) / HUANG JINGCHEN (author) / LEI WENYUAN (author)

    Publication date :

    2024-12-03


    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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