最小二乘法分段拟合下的无人驾驶汽车下坡空电联合制动方法  

A Method of Combined Air Electric Braking for Unmanned Vehicles Downhill Using Least Squares Method with Segmented Fitting

作　　者：魏合瑜 徐建 WEI He-yu;XU Jian(Zhengzhou Technical College of Finance and Economics,Zhengzhou 450013,China;Department of Mechanical Engineering,Nanyang Technician College,Nanyang 473000,China)

机构地区：[1]郑州财经技师学院,河南郑州450013 [2]南阳技师学院机械工程系,河南南阳473000

出　　处：《液压气动与密封》2025年第2期79-85,共7页Hydraulics Pneumatics & Seals

摘　　要：无人驾驶汽车空电联合制动效果受到温度和运行状态等环境因素的影响,在下坡路段时,减缓车速的制动力不均,且使用单一变量求取路段坡度时,制动距离较长,导致制动性能较差,为此,提出最小二乘法分段拟合下的无人驾驶汽车下坡空电联合制动方法。结合下坡路段测量点的高程值,计算当前道路的坡度,将路段坡度和车辆运行数据作为历史数据,将历史数据投影到超平面上,由此估计出车辆的状态参数,根据多变量联合制动原理,通过制动目标转矩,分析制动操作的持续时间、强度和频率,设置观测数据序列,对照期望驱动力,构建车辆制动意图识别函数,引入最小二乘法,当车辆速度大于制动目标的转矩时,通过对联合制动力的补偿与修正,分段拟合最佳制动力,实现车辆的复合制动。算例测试结果显示,对无人驾驶车辆进行下坡空电联合制动,得到的制动距离较短,输出的热衰退率始终保持在10%以下,制动均匀,制动性能更佳。The effectiveness of air electric combined braking for autonomous vehicles is influenced by environmental factors such as temperature and operating conditions.When slowing down on downhill sections,the braking is uneven,and when using a single variable to calculate the slope of the section,the braking distance is longer,resulting in poor braking performance.Therefore,a segmented least squares fitting method for air electric combined braking for autonomous vehicles on downhill sections is proposed.Based on the elevation values of the measurement points on the downhill section,calculate the slope of the current road,use the section slope and vehicle operation data as historical data,project the historical data onto the hyperplane,and estimate the vehicle's state parameters.According to the principle of multivariate joint braking,analyze the duration,intensity,and frequency of braking operation through the braking target torque,set an observation data sequence,and compare it with the expected driving force,construct a vehicle braking intention recognition function,introduce the least squares method,and when the vehicle speed is greater than the torque of the braking target,compensate and correct the combined braking force to segment and fit the optimal braking force,achieving the composite braking of the vehicle.The test results of the calculation example show that the braking distance obtained by applying downhill air electric combined braking to unmanned vehicles is shorter,the output heat decay rate remains below 10%,the braking is uniform,and the braking performance is better.

关 键 词：最小二乘法分段拟合 无人驾驶汽车 下坡空电复合制动 制动距离 

分 类 号：TH138[机械工程—机械制造及自动化] U469.72[机械工程—车辆工程]