一种ACC制动踩刹车缓退的控制方法及系统

The application relates to a control method for ACC braking stepping and backing-up, which comprises the following steps of responding to the condition that a preset backing-up triggering condition is met, executing a backing-up control strategy, wherein the backing-up triggering condition comprises that a vehicle is in a braking state of an adaptive cruise control system and a driver steps on a brake pedal to cause the adaptive cruise control system to withdraw, acquiring a state parameter of the adaptive cruise control system at withdrawing time, determining an adaptive braking slope according to the acquired state parameter through a preset first mapping relation, and determining target braking acceleration data according to the opening degree of the driver stepping on the brake pedal. According to the application, a smooth torque transition stage is established between ACC brake exit and driver take over by introducing a slow-back control strategy, so that torque abrupt change and vehicle frustration caused by direct switching or zero clearing of a torque source are fundamentally eliminated, the smoothness of vehicle control right in the process of handover is improved, and the comfort of a driver is further ensured.