The embodiment of the invention provides a system for detecting the braking performance of an unmanned vehicle, and the system comprises a vehicle model matching module which is used for matching a pre-constructed vehicle model for the unmanned vehicle based on the obtained vehicle data; the expected deceleration obtaining module is used for inputting the braking request of the unmanned vehicle and the current vehicle speed into the vehicle model under the condition that the braking demand is generated, and the expected deceleration is obtained; the observer is used for estimating the actual deceleration of the unmanned vehicle based on a first observed quantity obtained by observing the real vehicle data of the unmanned vehicle, and estimating the driving resistance of the unmanned vehicle by using the expected deceleration and the actual deceleration to obtain a road surface rolling resistance estimated value; and the evaluation module is used for judging whether the braking performance of the unmanned vehicle declines or not based on the road surface rolling resistance estimation value obtained in the braking process and the road surface rolling resistance estimation threshold value corresponding to the vehicle model. The method achieves the discrimination of the degradation degree of the braking performance of different unmanned vehicles, and effectively avoids the occurrence of safety accidents.
本公开实施例提供了一种无人车制动性能的检测系统,包括:车辆模型匹配模块,用于基于获取的车辆数据为无人车匹配预先构建的车辆模型;期望减速度获取模块,用于在产生制动需求的情况下,将无人车的制动请求和当前车速输入车辆模型中,得到期望减速度;观测器,用于基于对无人车的实车数据进行观测得到的第一观测量,估算无人车的实际减速度,并利用期望减速度和实际减速度对无人车的行驶阻力进行估计,得到路面滚动阻力估计值;评价模块,用于基于制动过程中获得的路面滚动阻力估计值,以及车辆模型对应的路面滚动阻力估计阈值,对无人车的制动性能是否衰退进行判别。实现了对于不同的无人车的制动性能衰退程度的判别,有效避免安全事故的发生。
Unmanned vehicle braking performance detection system and unmanned vehicle
一种无人车制动性能的检测系统及无人车
2024-12-20
Patent
Electronic Resource
Chinese
IPC: | G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / G01L Messen von Kraft, mechanischer Spannung, Drehmoment, Arbeit, mechanischer Leistung, mechanischem Wirkungsgrad oder des Drucks von Fluiden , MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE |
Unmanned vehicle braking method and device, and unmanned vehicle
European Patent Office | 2020
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