摘要
以有人驾驶4×4轻型战术轮式车辆为基础,开展无人驾驶电控制动技术研究。针对原车气压制动的结构和特点,设计一种电控气压制动系统,实现该车无人驾驶模式电控制动功能的同时,保留人工驾驶模式人工制动功能,且两种模式能够灵活切换。通过实车试验辨识电磁阀控制特性、不同路面车辆滚动阻力系数、电控制动车辆减速度与车速及控制输入的关系,并与无人车辆其他模块联调,为后续无人车辆控制策略的制定提供试验依据和理论支撑。试验结果表明:所开发的电控气压制动系统能够快速、精确地响应制动请求,人工行车制动与电控行车制动切换灵活、过渡平稳,可广泛应用于其他使用气压制动系统的商用车辆,以实现无人驾驶或辅助驾驶功能。
The electronic control brake technology for unmanned driving is researched based on a 4 × 4manned light tactical wheeled vehicle. An electropneumatic brake system is designed according to the structure and characteristics of the original vehicle air brake,which realizes an electronic control brake function in unmanned driving mode,and reserves the manual brake function in manual driving mode.The two modes can be switched freely. The control characteristics of solenoid valve,vehicle rolling resistance coefficient on different roads,and the relationship among vehicle deceleration,speed and control input of electronic control brake are identified through vehicle test. The test results show that the electropneumatic brake system can rapidly and accurately respond to the braking request,and the user can flexibly switch between manual braking and electronic-controlled braking. The electropneumatic brake system can be used for the commercial vehicles.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2015年第11期2017-2023,共7页
Acta Armamentarii
基金
国家自然科学基金项目(51275041
91420203)
关键词
兵器科学与技术
轮式车辆
无人驾驶
电控气压制动
实车试验
ordnance science and technology
wheeled vehicle
unmanned driving
electropneumatic brake
vehicle test
