同济大学学报（自然科学版）2024，Vol.52Issue(4)：489-500,12.DOI:10.11908/j.issn.0253-374x.23400
考虑路面摩擦性能的自动驾驶汽车安全制动策略
Safety Braking Strategies for Autonomous Vehicles Considering Road Friction Performance
摘要
Abstract
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.关键词
三维纹理/沥青路面摩擦性能/轮胎有限元模型/自动驾驶车辆/制动效能Key words
3D textures/asphalt pavement friction performance/finite element models of tires/automated vehicles/braking performance分类
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李峰,邓宇彤,刘亦心,周思齐..考虑路面摩擦性能的自动驾驶汽车安全制动策略[J].同济大学学报（自然科学版）,2024,52(4):489-500,12.基金项目
国家重点研发计划(20232604600) （20232604600）
北京市政路桥股份有限公司技术创新项目(2022-03) （2022-03）
