考虑路面摩擦性能的自动驾驶汽车安全制动策略OA北大核心CSTPCD

In view of the problem that most of the existing researches on automatic driving ignore the friction performance of pavement,five kinds of asphalt mixture rutting plate specimens were prepared in this paper.Based on Persson's surface fractal friction theory and the 3D tire-pavement finite element model,dynamic friction coefficient and adhesion coefficient of asphalt pavement were calculated to characterize the friction performance.Matlab/Simulink software was used to establish the dynamics control module of autonomous vehicles,and the braking pressure of the wheel cylinder was solved by reverse calculation based on the desired braking speed and pavement friction performance of the vehicle to realize the braking process of the vehicle.Finally,CarSim and Matlab/Simulink were used for co-simulation,setting downhill braking and curve braking conditions,and analyzing the influence of factors such as longitudinal slope,curve radius,and pavement superelevation on the braking performance of autonomous vehicles.