重庆理工大学学报2025，Vol.39Issue(21)：72-81,10.DOI:10.3969/j.issn.1674-8425(z).2025.11.009
考虑舒适性的商用客车AEB分层控制策略研究
Research on the hierarchical control strategy of AEB for commercial buses considering comfort
摘要
Abstract
Traditional graded braking control strategy of autonomous emergency braking(AEB)systems for commercial buses tends to cause sudden desired braking deceleration change during emergency braking,which adversely affects passenger comfort.To address the problem,this paper proposes a comfort-oriented single-stage braking and hierarchical control strategy for AEB systems.First,a graded warning and single-stage braking AEB system control scheme based on time to collision safety model is designed.Then,a hierarchical AEB control strategy isdeveloped.Inthe upper layer,adesired braking deceleration controller based on Linear Quadratic Regulator(LQR)optimal control is designed,and a time compensation coefficient is introduced to smooth the desired braking deceleration and improve braking comfort.In the lower layer,a desired deceleration tracking controller combining feedforward and feedback control is designed.Finally,a hardware in the loop(Hil)testing platform based on NI/PXI isbuilt,and both HIL and real vehicle experiments are conducted to validate the proposed AEB control strategy.Experimental results demonstrateitmeets the functional safety requirements of emergency collision avoidance forcommercial buses,effectively reducing the longitudinal jerk and markedly improving passenger comfort during emergency braking.关键词
车辆工程/商用客车/自动紧急制动控制系统/制动舒适性Key words
automobile engineering/commercial buses/autonomous emergency braking control system/braking comfort分类
交通工程引用本文复制引用
LI Yang,GAO Shoulin,XU Jinpeng,LI Xingkun,LI Lianqiang..考虑舒适性的商用客车AEB分层控制策略研究[J].重庆理工大学学报,2025,39(21):72-81,10.基金项目
国家自然科学基金青年科学基金项目(C类)(52505268) （C类）
山东省自然科学基金项目(ZR2024QE509) （ZR2024QE509）
山东省科技型中小企业创新能力提升工程(2024TSGC0279) （2024TSGC0279）
中国博士后科学基金项目(2024M574) （2024M574）
