汽车制动距离估算模型和安全车距控制算法

Vehicle Braking Distance Estimation Model and Safe Distance Control Algorithm

针对智能车辆自动紧急制动和自主跟车时安全距离控制稳定较差的问题,提出了一种最小安全车距控制算法,基于汽车制动距离分段精确估算模型,针对车辆制动过程的不同阶段,采用不同的制动距离估算模型,准确计算制动距离。尤其是初始制动距离的精确估算,可以准确给出实施制动的最佳时机。再结合周期安全距离闭环控制算法,实现了最小安全车距的精准控制。该模型及算法已应用于奇瑞智能驾驶自动紧急制动和自主跟车系统中,经过5种初始车速,3000次的实际工况试验,最小安全车距均保持在1.0~2.0m内,控制精度<±0.5m。结果表明:所提算法能够精确控制最小安全车距,尤其是针对前方静止目标的工况下,能够保证驾乘舒适性,同时有效提高车辆行驶安全性和道路行车效率。

For the problem that the safety distance control of the current intelligent vehicle in automatic emergency braking and follow-up has large control deviation and poor stability,a vehicle minimum safe distance control algorithm was proposed.Based on different segmentation of vehicle braking distance,different brake distance estimation models were used to accurately calculate the braking distance.Especially the accurate estimation of the initial braking distance can give the best brake timing.Combined with the cyclic safety distance closed-loop control algorithm,precise control of the minimum safety distance has been realized.The estimation model and algorithm have been applied to Chery emergency braking and follow-up systems.After 5 kinds of initial speed and 3000 times of actual working condition test,the minimum safety distance was kept within 1.0~2.0 m,and the control precision was less than±0.5 m.The results show that the proposed algorithm can accurately control the minimum safety distance.Especially for the front stationary target,it not only ensures better braking comfort,but also effectively improves driving safety and road traffic efficiency.