The control optimization algorithm for automatic braking of a wheeled vehicle

Abstract

Introduction (problem statement and relevance). One of the most promising and intensively developing directions in the automation field of road transport management is the creation of highly automated vehicles.The purpose of the study was to find a way to solve a wheeled vehicle safe automatic braking problem in terms of minimizing quality control of the quadratic functional and work out optimal software and hardware implementation of this system.Methodology and research methods. To solve the problem, the method of the control algorithm analytical design was used, basing on the use of the necessary conditions for minimizing the elements of the functional for the control law synthesis. The maximum deceleration value was due to the identified tire grip, and the deceleration threshold from which braking begins was selected as the minimum of the working deceleration and two decelerations depending on the rear obstacle distance.Scientific novelty and results. The tests of the developed function were carried out for the LADA Vesta vehicle equipped with an ABS valve body with the possibility of programmed control. The analysis of the research results showed that when solving the problem of safe automatic braking in front of an obstacle, the software limitation of braking deceleration did not allow wheel blocking and performed the functions of an anti-lock braking system at the permissible wheel slipping level; software backup of the distance calculation to the front obstacle from the moment of braking start allowed to prevent most of the situations with false data from the radar when the vehicle pecked during braking.Practical significance. Software tuning of mathematical models parameters of the engine, transmission and braking system allows you to adapt the automatic braking system to a wide class of vehicle models.