The invention discloses an automatic emergency braking control method and system based on road adhesion coefficient estimation, and belongs to the technical field of automatic driving. Comprising the following steps: acquiring and fitting a plurality of road adhesion coefficients and tire slip rates of the self-driving automobile in an acceleration stage or a starting stage, and generating a rising fitting line; acquiring and fitting a plurality of road adhesion coefficients and tire slip rates of the self-driving automobile in a deceleration stage, and acquiring a descent fitting line; based on the intersection point of the ascending fitting line and the descending fitting line, curve fitting is conducted on the ascending fitting line and the descending fitting line, a road surface adhesion coefficient-tire slip rate curve corresponding to the current road surface is obtained, and a road surface adhesion coefficient estimated value is extracted; and the relative vehicle speed of the automatic driving vehicle and the target obstacle is obtained, and an automatic emergency braking threshold value is determined in combination with the road adhesion coefficient estimation value. The braking threshold value can be adaptively adjusted according to the type of the road surface, and the problem that an existing AEB system is not timely in braking on the low-attachment road surface is solved.
本发明公开了一种基于路面附着系数估计的自动紧急制动控制方法及系统,属于自动驾驶技术领域。包括:获取自动驾驶汽车在加速阶段或起步阶段的多个路面附着系数和轮胎滑移率并拟合,生成上升拟合线;获取自动驾驶汽车在减速阶段的多个路面附着系数和轮胎滑移率并拟合,获取下降拟合线;基于上升拟合线和下降拟合线的交点,对上升拟合线和下降拟合线进行曲线拟合,获取当前路面对应的路面附着系数‑轮胎滑移率曲线并提取路面附着系数估计值;获取自动驾驶车辆和目标障碍物的相对车速,结合路面附着系数估计值,确定自动紧急制动阈值。能够根据路面类型对制动阈值进行自适应调整,解决了现有AEB系统在低附路面制动不及时的问题。
Automatic emergency braking control method and system based on road adhesion coefficient estimation
基于路面附着系数估计的自动紧急制动控制方法及系统
2025-02-18
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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