【作者】 潘勇；

【导师】 薛殿伦； 胡林；

【作者基本信息】 湖南大学 ， 车辆工程（专业学位）， 2021， 硕士

【摘要】 自动紧急制动系统AEB是重要的汽车主动安全驾驶辅助技术,它的研究应用不仅是为了满足人民群众对于提高汽车安全性的客观需求,也是为了满足汽车法规的强制要求,而AEB控制执行模块是保障自动紧急制动功能顺利实现的关键。因此,开展AEB控制执行模块的分析研究,对缓解严峻的交通安全问题具有重要的意义。本文首先阐述了控制执行模块在AEB中的作用,提出了控制执行模块设计要求和基于目标研究车型的制动系统改进方案。设计了一种基于主动制动控制的执行机构构型,并对其工作模式和主要液压元件进行了分析和选型。在AMESim中搭建执行机构模型,分析执行机构中液压元件关键结构参数对制动系统增压及减压过程的影响,完成了关键元件的参数化设计。其次,为实现车辆恒减速度制动,本文提出了由减速度控制、期望前后轮制动力计算和制动压力控制组成的联合控制策略架构。制动压力控制采用基于逻辑门限值和状态转移的方式建立。通过AMESim与Simulink联合仿真的形式,测试了对制动压力控制的快速性和准确性均较好。减速度控制策略是基于ADRC自抗扰控制算法建立的。通过AMESim、Carsim与Simulink联合仿真的形式,验证了减速度控制策略在车辆动力学参数和行驶环境的变化时对减速度的控制仍可保持较好的鲁棒性。最后,为实现对本文设计的控制策略进行实车验证,本文首先完成主动制动装置的制作,然后对研究车型制动系统进行硬件升级,最后搭建了实车试验平台。试验结果表明,硬件升级后的制动系统可实现恒压力和恒减速度主动制动,并且对目标压力和目标减速度跟踪误差较小。更多还原

【Abstract】 Automatic emergency braking(AEB)is an important vehicle active safety driving assistant technology.Its research and application is not only to meet the objective needs of the people to improve vehicle safety,but also to meet the mandatory requirements of automobile regulations.The control execution module is the key to ensure the realization of the system functions.Therefore,the study and analysis of control execution module makes the traffic safety problems less severe with far-reaching significance.This paper describes the role of the control execution module in AEB system,and comes up with the design requirements of the control execution module and the general plan of the braking system based on the target research vehicle.An actuator configuration based on active braking control is designed,and its working mode and main hydraulic components are analyzed and selected.The actuator model is built in AMESim to analyze the influence of the key parameters of the hydraulic elements in the actuator on the pressurization and decompression process of the brake system,and the parametric design of the key elements is completed.Secondly,in order to make vehicle braking at constant deceleration come true,this paper proposes a joint control strategy framework composed of deceleration control,braking force distribution and braking pressure control.The braking pressure control is built by logic threshold control algorithm and state transition.Through the co-simulation of AMESim and Simulink,the rapidity and accuracy of the braking pressure control are tested.The deceleration control strategy is based on ADRC algorithm.Through the co-simulation of AMESim,Car Sim and Simulink,it is verified that the deceleration control strategy can maintain good robustness when the vehicle dynamic parameters and driving environment change.Finally,in order to realize the real vehicle verification of the control strategy designed in this paper,this paper completes the production of active braking device,then upgrades the hardware of the braking system of the research vehicle,and finally builds vehicle experimental platform.The experimental data shows that the braking system after hardware upgrading can realize s active brake with constant pressure and constant deceleration,and the tracking error of target pressure and target deceleration is small.更多还原