自动紧急制动系统仿真测试的制动模型修正

Brake model updating of automatic emergency braking system simulation test

为提升自动紧急制动(AEB)系统的仿真测试精度,基于某车型的AEB功能,建立了包含场景模型、车辆模型、传感器模型和控制模型的闭环仿真测试系统;并进行了一系列数值仿真和实车对比试验。为减少仿真和实车试验结果存在的误差,在车辆模型的制动系统中增加了由纯延迟环节、惯性延迟环节和增益环节组成的制动系统修正模块。试验结果表明:车辆模型制动系统修正后,AEB仿真测试的最大减速度的平均误差为0.34 m/s^(2),平均减速度的平均误差为0.16 m/s^(2),最小车间距平均误差为4 cm,仿真测试与实车试验的结果接近一致,实现了对AEB功能准确有效的验证。

A closed-loop simulation test system was established including a scenario model,a vehicle model,a sensor model,and a control model based on a vehicle Automatic Emergency Braking(AEB)function to improve accuracy of AEB simulation tests with a series of digital simulations and field tests.A correct module including a pure delay link,an inertial delay link,and a gain link was added in the vehicle braking system model to reduce the errors between the simulations and the field test results.The results indicate that after amending the braking system of vehicle model,the average error of maximum decelerations is 0.34 m/s^(2),the average error of mean decelerations is 0.16 m/s^(2) and the average error of minimum vehicle gaps is 4 cm in the AEB simulation tests;The simulation test results are coinciding with that of the field tests.Therefore,the simulation test system is capable of validating the AEB system correctly and effectively.