The invention discloses a pilotless automobile and a brake control method, device and controller thereof, and relates to the technical field of pilotless control, the method comprises the following steps: in the driving process of the pilotless automobile, detecting a brake signal output by PI closed-loop control according to a preset period, and obtaining a corresponding logic brake deceleration after the brake signal is detected; the logic braking deceleration is compared with a predetermined unauthorized braking deceleration, and the larger braking deceleration serves as an output deceleration to be issued to a hydraulic braking valve; after it is detected that the hydraulic brake valve is opened, the braking deceleration is adjusted through PI closed-loop control, the braking force output by the hydraulic brake valve is subsequently adjusted, braking failure caused by too small logic braking deceleration is effectively avoided, the braking success rate is greatly increased, and various accidents caused by braking failure are reduced.
本申请公开了一种无人驾驶汽车及其制动控制方法、装置和控制器,涉及无人驾驶控制技术领域,该方法在无人驾驶汽车行驶过程中,按照预设周期检测PI闭环控制输出的制动信号,并在检测到制动信号后,获取对应的逻辑制动减速度;将逻辑制动减速度和预先确定的越权制动减速度进行对比,将其中较大的制动减速度作为输出减速度下发至液压制动阀;在检测到液压制动阀打开后,由PI闭环控制调整制动减速度的大小,对液压制动阀输出的制动力大小进行后续调整,有效避免因逻辑制动减速度过小导致的制动失败,大大提高制动成功率,减少因制动失败导致的各种事故。
Pilotless automobile, braking control method and device thereof and controller
无人驾驶汽车及其制动控制方法、装置和控制器
11.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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