The invention discloses a semitrailer automatic emergency braking control system and method based on vehicle-road cooperation. The system comprises an information acquisition module and a multi-stage AEB early warning module. The invention provides a semi-trailer braking control system, a multi-stage AEB braking module, an inverse braking module and a PID control module, and provides a braking control method using the control system, and accurate multi-stage early warning and multi-stage braking control are output for a semi-trailer under different road situations based on the vehicle-road cooperation technology. The brake deceleration output by the control strategy is converted into brake master cylinder pressure by constructing an inverse brake module; and based on a PID control module, the error between the ideal expected braking deceleration planned by the control strategy and the actual braking deceleration of the semi-trailer actually running under each working condition is reduced. The semitrailer can accurately judge and output accurate control braking deceleration according to different road scenes such as various road attachment conditions, and the requirement for automatic emergency braking control of the semitrailer under the complex road working conditions such as a low attachment road surface, a curve and a ramp is met.
本发明公开了基于车路协同的半挂车自动紧急制动控制系统及控制方法,该系统包括信息采集模块、多级AEB预警模块;多级AEB制动模块、逆制动模块和PID控制模块,并提供了使用该控制系统的制动控制方法,基于车路协同技术对半挂车在不同道路情境下输出精准的多级预警和多级制动控制,通过构建逆制动模块将控制策略输出的制动减速度转化为制动主缸压力;基于PID控制模块,缩小控制策略所规划的理想期望制动减速度与半挂车在各工况下真实行驶的实际制动减速度的误差。使半挂车能够根据不同的道路场景如各种道路附着条件进行准确的判断输出精准的控制制动减速度,满足半挂车在低附着路面、弯道、坡道等复杂道路工况下的自动紧急制动控制的需求。
Semitrailer automatic emergency braking control system and control method based on vehicle-road cooperation
基于车路协同的半挂车自动紧急制动控制系统及控制方法
2025-01-24
Patent
Electronic Resource
Chinese
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