Adaptive automatic emergency braking control strategy based on an ESHB system

doi:10.3969/j.issn.1674-8484.2022.02.010

Abstract

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

CLC Number:

U461.91

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.

Figures/Tables 16

References 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