The invention provides an automatic emergency braking hierarchical control system and a vehicle. The system is mainly composed of a high-level rule supervision control module, a middle-level control algorithm switching module and a bottom-level control module. The high-level rule supervision control module evaluates a potential collision risk in real time based on the relative distance and a self-adaptive relative distance threshold value, and generates a sliding control demand and a corresponding target deceleration based on the grade of the potential collision risk; the middle-layer control algorithm switching module is used for switching among different sliding control modes based on the sliding control requirement, the target deceleration and the current vehicle state; and the bottom layer control module calculates the cruise speed of the vehicle in the vehicle following process or calculates the target slip rate of the vehicle in the braking process and applies the corresponding braking torque based on the target deceleration, the sliding control mode and the current vehicle state. A hierarchical control architecture is designed, different hierarchies are responsible for different control targets, and the modularization and expandability of the system are improved.
本申请提供一种自动紧急制动分层控制系统和车辆,该系统主要由高层规则监督控制模块、中层控制算法切换模块和底层控制模块组成。高层规则监督控制模块基于相对距离与自适应相对距离阈值实时评估潜在碰撞风险,并基于潜在碰撞风险的等级生成滑动控制需求以及对应的目标减速度;中层控制算法切换模块基于滑动控制需求、目标减速度和当前车辆状态,在不同的滑动控制模式之间进行切换;底层控制模块基于目标减速度、滑动控制模式和当前车辆状态,计算跟车过程中自车的巡航速度,或计算制动过程中自车的目标滑移率并施加相应的制动力矩。本申请设计一种分层控制架构,不同层级负责不同的控制目标,提高了系统的模块化与可扩展性。
Automatic emergency braking layered control system and vehicle
一种自动紧急制动分层控制系统和车辆
2025-05-13
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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