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

作　　者：雍加望[1,2] 李岩松 冯能莲 刘亚辉[2] YONG Jiawang;LI Yansong;FENG Nenglian;LIU Yahui(Beijing Key Laboratory of Traffic Engineering(Beijing University of Technology),Faculty of Architecture,Civil and Transportation Engineering,Beijing University of Technology,Beijing 100124,China;The State Key Laboratory of Automotive Safety and Energy(Tsinghua University),Beijing 100084,China;Faculty of Environment and Life,Beijing University of Technology,Beijing 100124,China)

机构地区：[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 [2]汽车安全与节能国家重点实验室(清华大学),北京100084 [3]北京工业大学环境与生命学部,北京100124

出　　处：《汽车安全与节能学报》2022年第2期300-308,共9页Journal of Automotive Safety and Energy

基　　金：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)。

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。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.

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 

分 类 号：U461.91[机械工程—车辆工程]