The invention relates to a braking control method based on the comfort of an automatic driving vehicle, which comprises the following steps of: 1, collecting the speed and distance information of a front obstacle, and analyzing the collected road information and vehicle information; comprehensively judging whether the condition is an emergency condition or not by combining the current speed of the vehicle, the speed of the front vehicle, the distance information with the obstacle and the like; 2, learning a Q matrix in model prediction control through a TD3 deep reinforcement learning algorithm; 3, the model prediction control model estimates the current braking stage according to the information input data, and calls a Q matrix which is suitable for the current stage and has the best comfort from a strategy library to carry out optimization solution; 4, calling the trained Q matrix to carry out optimization solution so as to generate a most comfortable control sequence; and 5, the control sequence is transmitted to a vehicle control module for signal conversion, braking torque is generated, and the pitch angle of the whole vehicle is made to be within a comfortable range.

    本发明涉及一种基于自动驾驶车辆舒适性的制动控制方法,包括以下步骤:步骤1,收集前方障碍物的速度和距离信息,分析采集到的道路信息和车辆信息,再结合自身车辆当前速度、前方车辆速度以及与障碍物的距离信息等综合判断是否为紧急工况;步骤2,通过TD3深度强化学习算法对模型预测控制中的Q矩阵进行学习;步骤3,模型预测控制模型根据信息输入数据估计当前制动阶段,从策略库中调用适合当前阶段舒适性最好的Q矩阵进行优化求解;步骤4,调用训练好以后的Q矩阵进行优化求解,以生成最舒适的控制序列;步骤5,将控制序列传递给车辆控制模块进行信号转化,生成制动力矩,使得全程车辆俯仰角处于一个舒适的范围内。


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    Title :

    Brake control method based on comfort of automatic driving vehicle


    Additional title:

    一种基于自动驾驶车辆舒适性的制动控制方法


    Contributors:
    CHEN ZHENBIN (author) / LIN LUORUI (author) / LI PEIXIN (author) / MA YUNFA (author) / PANG ZHAOWEN (author)

    Publication date :

    2025-03-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V



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