基于ESHB系统的自适应自动紧急制动控制策略

doi:10.3969/j.issn.1674-8484.2022.02.010

汽车安全与节能学报 ›› 2022, Vol. 13 ›› Issue (2): 300-308.DOI: 10.3969/j.issn.1674-8484.2022.02.010

基于ESHB系统的自适应自动紧急制动控制策略

雍加望¹^,²(), 李岩松³, 冯能莲³, 刘亚辉²

1.交通工程北京市重点实验室（北京工业大学）,北京工业大学城市建设学部,北京 100124,中国
2.汽车安全与节能国家重点实验室（清华大学）,北京 100084,中国
3.北京工业大学环境与生命学部,北京 100124,中国

收稿日期:2021-10-01 修回日期:2022-02-16 出版日期:2022-06-30 发布日期:2022-07-01
作者简介:雍加望(1988—),男(汉),安徽,讲师。E-mail: yongjw@bjut.edu.cn。
基金资助:
汽车安全与节能国家重点实验室开放基金课题(KF2010);北京市自然科学基金面上项目(3222003);国家自然科学基金青年项目(52002009)

Adaptive automatic emergency braking control strategy based on an ESHB system

YONG Jiawang¹^,²(), LI Yansong³, FENG Nenglian³, LIU Yahui²

1. Beijing Key Laboratory of Traffic Engineering(Beijing University of Technology); Faculty of Architecture, Civil and Transportation Engineering, Beijing University of Technology, Beijing 100124, China
2. The State Key Laboratory of Automotive Safety and Energy (Tsinghua University), Beijing 100084, China
3. Faculty of Environment and Life, Beijing University of Technology, Beijing 100124, China

Received:2021-10-01 Revised:2022-02-16 Online:2022-06-30 Published:2022-07-01

摘要/Abstract

摘要：

为降低汽车碰撞风险,提升安全性与舒适性,提出一种基于电动伺服液压制动（ESHB）系统的自适应自动紧急制动（AEB）的分层控制策略。考虑了路面附着因数和车辆行驶状态,构建车辆模型、轮胎模型及路面峰值附着因数观测器;进行台架测试和实车实验。结果表明：路面附着因数观测稳态误差小于3%;制动压力跟随稳态误差小于100 kPa;在相对车速70 km/h以内实现有效避撞;在兼备舒适性前提下,相较于固定即碰时间（TTC）阈值的多级制动控制策略,本策略的一级和二级制动请求分别提前了0.2 s和0.1 s。因此,本策略能适应路面附着条件的变化,实现避撞控制。

关键词: 汽车安全, 自动紧急制动（AEB）, 电动伺服液压制动（ESHB）, 路面附着因数, 多级制动

Abstract:

An adaptive-hierarchical automatic-emergency-braking (AEB) control-strategy was proposed based on the electro-servo hydraulic braking (ESHB) system to reduce the vehicle collision risk and improve vehicle safety and comfort. A vehicle model, a tire model and a road peak adhesion coefficient observer were built considering road adhesion coefficient and vehicle driving state, experiments were carried out on test bench and vehicle. The results show that the steady-state error of the road adhesion coefficient observation is less than 3 %; the steady-state tracking error of the braking pressure is less than 100 kPa; the proposed strategy avoids collision effectively within a speed of 70 km/h; in addition to comfortable, compared with the multi-level braking control-strategy with a fixed time to collision (TTC) threshold, the primary and secondary braking requests of the proposed strategy are advanced by 0.2 s and 0.1 s, respectively. Therefore, the proposed strategy could realize collision avoidance control considering adhesion condition variation.

Key words: vehicle safety, automatic emergency braking (AEB), electro-servo hydraulic braking (ESHB), road adhesion coefficient, multi-level braking

中图分类号:

U461.91

雍加望, 李岩松, 冯能莲, 刘亚辉. 基于ESHB系统的自适应自动紧急制动控制策略[J]. 汽车安全与节能学报, 2022, 13(2): 300-308.

YONG Jiawang, LI Yansong, FENG Nenglian, LIU Yahui. Adaptive automatic emergency braking control strategy based on an ESHB system[J]. Journal of Automotive Safety and Energy, 2022, 13(2): 300-308.

图/表 16

参考文献 16

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输入、输出量	论域范围	变量符号描述
v_f / (km·h^-1)	[0,120]	M、Z、K、TK
v_r / (km·h^-1)	[0,120]	M、Z、K、TK
a_f / (m·s^-2)	[-10,10]	J0、J1
α	[0,1]	H、C、R、SR

输入、输出量	论域范围	变量符号描述
v_f / (km·h^-1)	[0,120]	M、Z、K、TK
v_r / (km·h^-1)	[0,120]	M、Z、K、TK
a_f / (m·s^-2)	[-10,10]	J0、J1
α	[0,1]	H、C、R、SR

前车速度	前车减速时				前车匀速或加速时
前车速度	自车速度→M	Z	K	TK	M	Z	K	TK
M	H	C	R	SR	M	Z	K	TK
Z	H	C	C	SR	H	C	C	SR
K	H	C	R	R	-	C	C	R
TK	-	H	R	C	-	-	C	R

前车速度	前车减速时				前车匀速或加速时
前车速度	自车速度→M	Z	K	TK	M	Z	K	TK
M	H	C	R	SR	M	Z	K	TK
Z	H	C	C	SR	H	C	C	SR
K	H	C	R	R	-	C	C	R
TK	-	H	R	C	-	-	C	R

车身绕Z轴转动惯量,I_z	700 kg·m²
车辆质量,m	600 kg
质心距离前轴的距离,a	1.00 m
质心距离后轴的距离,b	1.26 m
前后轴距,L	2.23 m
车轮有效滚动半径,R_e	0.37 m
质心高度,h_g	0.45 m
前轮轮距,w	1.50 m
后轮轮距,w	1.50 m

基于ESHB系统的自适应自动紧急制动控制策略

Adaptive automatic emergency braking control strategy based on an ESHB system

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