欢迎访问《汽车安全与节能学报》，
汽车安全与节能学报

汽车安全与节能学报 ›› 2022, Vol. 13 ›› Issue (3): 502-508.DOI: 10.3969/j.issn.1674-8484.2022.03.011

• 智能驾驶与智慧交通 • 上一篇    下一篇

自动紧急制动系统仿真测试的制动模型修正

刘涛(), 迟霆(), 王迪, 吴振昕, 张正龙   

  1. 中国第一汽车股份有限公司 智能网联开发院,长春130000,中国
  • 收稿日期:2022-03-07 修回日期:2022-06-05 出版日期:2022-09-30 发布日期:2022-10-04
  • 通讯作者: 迟霆
  • 作者简介:* 迟霆（1991—）,男（汉）,工程师。E-mail： chiting@faw.com.cn。
    刘涛（1982—）,男（汉）,高级工程师。E-mail： liutao1@faw.com.cn。
  • 基金资助:
    中国第一汽车股份有限公司自立课题(20210319)

Brake model updating of automatic emergency braking system simulation test

LIU Tao(), CHI Ting(), WANG Di, WU Zhenxin, ZHANG Zhenglong   

  1. Intelligent Connected Vehicle Development Institute, FAW (China First Automobile Works), Changchun 130000, China
  • Received:2022-03-07 Revised:2022-06-05 Online:2022-09-30 Published:2022-10-04
  • Contact: CHI Ting

RichHTML

4

PDF

53

摘要：

为提升自动紧急制动(AEB)系统的仿真测试精度,基于某车型的AEB功能,建立了包含场景模型、车辆模型、传感器模型和控制模型的闭环仿真测试系统; 并进行了一系列数值仿真和实车对比试验。为减少仿真和实车试验结果存在的误差,在车辆模型的制动系统中增加了由纯延迟环节、惯性延迟环节和增益环节组成的制动系统修正模块。试验结果表明：车辆模型制动系统修正后,AEB仿真测试的最大减速度的平均误差为0.34 m/s2,平均减速度的平均误差为0.16 m/s2,最小车间距平均误差为4 cm,仿真测试与实车试验的结果接近一致,实现了对AEB功能准确有效的验证。

关键词: 汽车安全, 自动紧急制动(AEB), 仿真场景, 数值仿真测试

Abstract:

A closed-loop simulation test system was established including a scenario model, a vehicle model, a sensor model, and a control model based on a vehicle Automatic Emergency Braking (AEB) function to improve accuracy of AEB simulation tests with a series of digital simulations and field tests. A correct module including a pure delay link, an inertial delay link, and a gain link was added in the vehicle braking system model to reduce the errors between the simulations and the field test results. The results indicate that after amending the braking system of vehicle model, the average error of maximum decelerations is 0.34 m/s2, the average error of mean decelerations is 0.16 m/s2 and the average error of minimum vehicle gaps is 4 cm in the AEB simulation tests; The simulation test results are coinciding with that of the field tests. Therefore, the simulation test system is capable of validating the AEB system correctly and effectively.

Key words: vehicle safety, advanced emergency braking (AEB), simulation scenario, digital simulation tests

中图分类号: