CN110667543B - Brake pedal feeling simulation device and method for driving habit classification - Google Patents

Brake pedal feeling simulation device and method for driving habit classification Download PDF

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CN110667543B
CN110667543B CN201911031930.2A CN201911031930A CN110667543B CN 110667543 B CN110667543 B CN 110667543B CN 201911031930 A CN201911031930 A CN 201911031930A CN 110667543 B CN110667543 B CN 110667543B
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pedal
piston
strain gauge
brake pedal
simulation
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CN110667543A (en
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朱冰
张伊晗
赵健
孟鹏翔
靳万里
李伟男
康宇
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
    • B60T8/4081—Systems with stroke simulating devices for driver input
    • B60T8/409—Systems with stroke simulating devices for driver input characterised by details of the stroke simulating device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/746—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive and mechanical transmission of the braking action
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Braking Elements And Transmission Devices (AREA)

Abstract

The invention discloses a brake pedal feel simulator for classifying driving habits, wherein one end of a pedal push rod is hinged to the middle part of a brake pedal, and the other end of the pedal push rod is connected with a pedal feel simulator; the top end of the brake pedal is hinged with the pedal bracket and is fixed on the firewall through the pedal bracket and the cushion block; the pedal feeling simulator penetrates through a through hole in the firewall to be connected with the pedal push rod; the rear end of the pedal push rod is attached with a strain gauge, the data acquisition and processing module is connected with the strain gauge through a wire, and strain data generated on the strain gauge are acquired and received by the data acquisition and processing module. The device provided by the invention has a simple structure and high integration level, adopts detachable connection, and is convenient to install, disassemble, assemble and maintain; the brake pedal force is accurately measured under the condition of not using a pedal force sensor, so that the cost of a measuring system is reduced; the pedal feeling simulator can provide more real pedal feeling; follow-up driving data are conveniently processed and driving habit classification is carried out.

Description

Brake pedal feeling simulation device and method for driving habit classification
Technical Field
The invention relates to the technical field of pedal simulators, in particular to a brake pedal feeling simulation device and method for driving habit classification.
Background
At present, with the continuous development of automobile intellectualization, the requirements on the simulation authenticity and the pedal force measurement accuracy degree of a pedal feeling simulator applied to a driving simulator are gradually improved, the authenticity of a driver in the simulated driving can be ensured as far as possible by the proper simulation of the pedal feeling, the validity of driving data such as the brake pedal force and the change rate thereof can be ensured by the accurate acquisition of the driving data, and the subsequent driving data processing is convenient for the classification of driving habits.
The existing brake pedal feel simulator is mainly divided into two types, namely hydraulic simulation and spring simulation, and the hydraulic pedal feel simulator usually needs complex pipelines and electromagnetic valves to realize the simulation of pedal feel, so that the cost is high and the integration level is low; the spring type pedal feel simulator generally adopts a single return spring to perform linear fitting on a pedal force-stroke curve, and the simulated brake pedal feel is different from the real pedal feel. The existing pedal force measuring device has the defects of measuring precision and measuring cost.
Therefore, it is an urgent need to solve the problems of the art to provide a brake pedal feel simulation apparatus and method with high measurement accuracy and closer to the real pedal feel.
Disclosure of Invention
In view of the above, the invention provides a brake pedal feel simulation device and method for driving habit classification, the device provided by the invention has the advantages of simple structure and high integration level, and all components are detachably connected, so that the device is convenient to mount, dismount and maintain; the brake pedal force is accurately measured under the condition of not using a pedal force sensor, so that the cost of a measuring system is reduced; the pedal feeling simulator adopts three sections of springs with different rigidity to simulate the pedal feeling, and can provide more real pedal feeling compared with a double-spring type; the device and the method provided by the invention provide an effective brake pedal feeling simulation and force measurement device for a driving data acquisition system for scientific research and teaching, and are convenient for processing subsequent driving data and classifying driving habits.
In order to achieve the above purpose, the invention provides the following technical scheme:
a brake pedal feel simulation apparatus for driving habit classification, comprising: the device comprises a brake pedal, a pedal push rod, a pedal feeling simulator, a pedal bracket, a base plate, a firewall, a strain gauge and a data acquisition and processing module; one end of the pedal push rod is hinged to the middle of the brake pedal, and the other end of the pedal push rod is connected with the pedal feeling simulator; the top end of the brake pedal is hinged with the pedal bracket and is fixed on the firewall through the pedal bracket and the cushion block; the pedal feeling simulator penetrates through a through hole in the firewall to be connected with the pedal push rod; the rear end of the pedal push rod is attached with a strain gauge, the data acquisition and processing module is connected with the strain gauge through a wire, and strain data generated on the strain gauge are acquired and received by the data acquisition and processing module.
Preferably, in the above-described brake pedal feel simulator for driving habit classification, the pedal feel simulator is a three-stage cylindrical rotating body; shoulders are arranged in the inner cavities of the front-end small-shaft-diameter section and the middle section, and shoulders are arranged in the inner cavities of the middle section and the rear-end large-shaft-diameter section; a first piston, a first simulation spring, a second piston, a second simulation spring, a third piston and a third simulation spring are sequentially assembled in the inner cavity, wherein the front end of the first piston is a large-shaft-diameter section and is hinged with the pedal push rod, the rear end of the first piston is a small-shaft-diameter section and is assembled with the first simulation spring, the rear end of the first piston and the front end of the second piston form a first working cavity, the front end of the second piston is a small-shaft-diameter section and is assembled with the first simulation spring, the middle part of the second piston is a large-shaft-diameter section and is matched with a first shoulder, the rear end of the second piston is a small-shaft-diameter section and is assembled with the second simulation spring, the rear end of the second piston and the front end of the third piston form a second working cavity, the front end of the third piston is a small-shaft-diameter section and is assembled with the second simulation spring, the middle part of the third piston is a large-shaft-diameter section and is matched with a second shoulder, the rear end of the third piston is a small-shaft-diameter section and is provided with the third simulation spring, and the rear end of the third piston and the rear end of the pedal feeling simulator form a third working cavity.
Preferably, in the brake pedal feel simulator for driving habit classification described above, a connecting plate is provided in the middle of the pedal feel simulator, and is connected to the firewall through the connecting plate.
Preferably, in the above brake pedal feel simulation device for driving habit classification, the data acquisition and processing module includes a power supply, a full bridge circuit, a brake pedal force processing unit, a general control switch and a protection resistor, wherein the power supply supplies power to the full bridge circuit, and the voltage output by the full bridge circuit acts on the brake pedal force processing unit; the master control switch is arranged on a connecting circuit of the power supply and the full-bridge circuit; the protection resistor is arranged on a connecting line of the full-bridge circuit and the brake pedal force processing unit.
Preferably, in the brake pedal feel simulator for driving habit classification described above, the full bridge circuit is composed of strain gauges, and specifically includes a first strain gauge, a second strain gauge, a third strain gauge, a fourth strain gauge, a fifth strain gauge, a sixth strain gauge, a seventh strain gauge and an eighth strain gauge, wherein the first strain gauge, the second strain gauge, the third strain gauge and the fourth strain gauge are uniformly arranged in parallel to the axial direction along the circumferential direction, the fifth strain gauge, the sixth strain gauge, the seventh strain gauge and the eighth strain gauge are uniformly arranged in perpendicular to the axial direction along the circumferential direction, the first strain gauge and the third strain gauge are connected in series to one bridge arm, the second strain gauge and the fourth strain gauge are connected in series to one bridge arm, the fifth strain gauge and the seventh strain gauge are connected in series to one bridge arm, the sixth strain gauge and the eighth strain gauge are connected in series on one bridge arm, and the four bridge arms are all working arms to form a full-bridge circuit.
When a driver steps on a brake pedal, the pedal push rod is pushed to translate rightwards, the pedal push rod is subjected to corresponding pressure stress and generates tiny compression deformation, the tiny deformation changes the resistance value of a strain gauge adhered to the surface of a cylinder of the pedal push rod, and the voltage in a full-bridge circuit is changed, so that the pedal force is calculated by a fitting function preset in a brake pedal force control unit in the data acquisition and processing module.
Preferably, in the brake pedal feel simulation device for driving habit classification described above, the first simulated spring, the second simulated spring, and the third simulated spring each have a stiffness k1，k2，k3And k is1＜k2＜k3。
A brake pedal feel simulation method for driving habit classification, comprising the steps of:
the method comprises the following steps: a calibration experiment is carried out in advance, and the mapping relation between the output voltage and the brake pedal force is determined;
step two: presetting a mapping relation between the output voltage and the brake pedal force in a brake pedal force processing unit;
step three: calculating the brake pedal force through a mapping relation preset in the brake pedal force processing unit;
step four: according to the fact that the pedal force of different drivers is different in magnitude and change rate, the drivers are classified and the driving habits of the drivers are classified based on a K-means clustering method.
Preferably, in the above-mentioned brake pedal feel simulation method for driving habit classification, in the first step, initial resistances of arms of the full-bridge circuit are equal to R0And the Poisson ratios are all mu, the output voltage of the full bridge circuit is as follows:
Figure BDA0002250401180000041
obtaining n groups of full-bridge circuit output voltages u through experimental calibrationkWith brake pedal force FkData, curve fitting using Hermite interpolation, constructing an interpolation polynomial H (x),
constructing Hermite interpolation polynomial
Figure BDA0002250401180000042
Wherein h isk(x) (k ═ 0,1,. ang., n) and
Figure BDA0002250401180000043
are all n + r +1 degree undetermined polynomials and satisfy the following interpolation condition:
Figure BDA0002250401180000051
h′k(xi)＝0，k＝0，1，...，n，i＝0，1，...，r
Figure BDA0002250401180000053
Figure BDA0002250401180000054
solving to obtain the output voltage u of the full bridge circuitkWith brake pedal force FkH (u) of the fitting function between.
Preferably, in the above-mentioned brake pedal feel simulation method for driving habit classification, in the fourth step, the collected brake pedal forces F of different drivers are measuredkWith rate of change of pedal force vkAnd (3) carrying out global K-means clustering to classify the driving habits of the drivers, wherein the method comprises the following steps:
the global K-means clustering algorithm is to convert the clustering problem of K clusters into a series of sub-clustering problems, and after the iteration process of each step is finished, the optimal initial center of the next cluster is selected by an increment method; data set F ═ F1,f2,f3,...,fn},fj∈RD(j ═ 1, 2.. times, k), using a clustering error sum of squares function E as a clustering criterion function, defined as
Figure BDA0002250401180000055
And (4) repeatedly iterating and clustering until the clustering criterion function converges, namely seeking the optimal clustering center.
Preferably, in the brake pedal feel simulation method for driving habit classification described above, the specific process of finding the optimal clustering center is as follows:
the method comprises the following steps: the mean of all samples in the data set is calculated as the cluster center for the first cluster,
Figure BDA0002250401180000056
and k is 1;
step two: k is K +1, and if K > K, clustering is terminated;
step three: when generating the initial clustering center of the next cluster, introducing a parameter amCalculating a data set F ═ F1,f2,f3,...,fnParameter a at each point inmAnd the initial cluster center of the next cluster is selected such that amSample point at which the maximum value is reached, amIs given by the formula
Figure BDA0002250401180000061
In the formula (I), the compound is shown in the specification,
Figure BDA0002250401180000062
is fiEuclidean distance to the center of the class to which it belongs;
step four: using Euclidean distance to represent fiDistance from the cluster center point, find fiNearest center point, and fiAssigning to the class;
step five: the center point of the newly generated cluster is recalculated,
Figure BDA0002250401180000063
and N is the data sample size in the ith cluster, and the value of a criterion function E is calculated.
Step six: if the value of the criterion function E is converged, returning to the step two, otherwise, returning to the step four, and continuing to iterate based on the new cluster center;
before clustering, determining an optimal clustering number K, taking DB as an evaluation index, and taking the minimum value of the DB as the optimal clustering number during clustering; the DB index is defined as follows,
Figure BDA0002250401180000064
in the formula：WiAs a cluster CiAverage distance of all samples to their cluster center, CijIs in a state CjAnd state CiThe distance between them;
the force and the speed of a driver stepping on a brake pedal when the driver faces the same working condition reflect the driving habit characteristics of the driver, the drivers to be tested with similar driving habits are continuously gathered into the same cluster, each cluster corresponds to the driving habits with different styles, and finally 3 maximum clusters are taken to finally gather driving habit sample data into 3 groups which correspond to aggressive drivers, general drivers and conservative drivers respectively.
According to the technical scheme, compared with the prior art, the brake pedal feel simulation device and method for driving habit classification are provided, a driver sits in a cab of a driving simulator to drive a simulation scene, when the driver steps on the brake pedal, the brake pedal pushes a pedal push rod to translate rightwards under the guiding action of a pedal support, the pedal push rod pushes a first piston in the pedal feel simulator to translate rightwards against the counterforce of a first simulation spring, and the first simulation spring, a second simulation spring and a third simulation spring are arranged, wherein the stiffness of the first simulation spring, the stiffness of the second simulation spring and the stiffness of the third simulation spring are respectively k1，k2，k3Then k is1＜k2＜k3When the first analog spring is compressed, the deformation of the second analog spring and the third analog spring is smaller, and the process corresponds to the first stage of the pedal force-pedal stroke relation curve. When the first simulation spring is compressed to enable the first piston to be in contact with the second piston, the pedal push rod pushes the first piston and the second piston to translate rightwards against the reaction force of the second simulation spring, and the process corresponds to the second stage of the pedal force-pedal stroke relation curve. When the second analog spring is compressed to enable the second piston to be in contact with the third piston, the pedal push rod pushes the first piston, the second piston and the third piston to translate rightwards against the reaction force of the third analog spring, and the process corresponds to the third stage of the pedal force-pedal stroke relation curve. Meanwhile, the pedal push rod is subjected to corresponding compressive stress and generates compressive deformation, the strain gauge adhered to the surface of the cylinder of the pedal push rod generates deformation together with the cylinder, and corresponding full-bridge electricityThe output voltage acts on the brake pedal force processing unit, and a corresponding pedal force signal is obtained according to the mapping relation between the output voltage of the full-bridge circuit preset in the brake pedal force processing unit and the brake pedal force, so that the brake pedal force is obtained.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is an exploded view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the apparatus of the present invention;
FIG. 3 is a schematic view of a strain gage arrangement according to the present invention;
FIG. 4 is a schematic diagram showing the connection relationship of the strain gauges in the full-bridge circuit according to the present invention;
fig. 5 is a schematic diagram of the internal structure and the line connection relationship of the data acquisition and processing module according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a brake pedal feeling simulation device and a brake pedal feeling simulation method for driving habit classification, wherein the device provided by the invention is simple in structure and high in integration level, and all components are detachably connected, so that the device is convenient to mount, dismount and maintain; the brake pedal force is accurately measured under the condition of not using a pedal force sensor, so that the cost of a measuring system is reduced; the pedal feeling simulator adopts three sections of springs with different rigidity to simulate the pedal feeling, and can provide more real pedal feeling compared with a double-spring type; the device and the method provided by the invention provide an effective brake pedal feeling simulation and force measurement device for a driving data acquisition system for scientific research and teaching, and are convenient for processing subsequent driving data and classifying driving habits.
The invention provides a brake pedal feeling simulation device for driving habit classification, which comprises a brake pedal 1, a pedal push rod 2, a pedal feeling simulator 3, a pedal bracket 4, a cushion block 5, a firewall 6, a strain gauge 7 and a data acquisition and processing module 8, wherein the pedal push rod 2 is hinged at the rear end of the brake pedal 1, and the rear end of the pedal push rod 2 is connected with a first piston 31 in the pedal feeling simulator 3. The upper end of the brake pedal 1 is hinged with the pedal bracket 4 and is fixed on the firewall 6 through the pedal bracket 4 and the cushion block 5; the front end of the pedal feeling simulator 3 passes through a through hole on the firewall 6 and is hinged with the rear end of the pedal push rod 2; a connecting plate is processed in the middle of the pedal feeling simulator 3 and is connected with the firewall 6 through the connecting plate; the rear end cylinder part of the pedal push rod 2 is provided with a strain gauge 7 in an attached mode, the data acquisition and processing module 8 is connected with the strain gauge 7 through a conducting wire, and strain data generated on the strain gauge 7 can be acquired and received by the data acquisition and processing module 8.
The inner cavity of the pedal feeling simulator 3 is a three-section cylindrical revolving body, the front end of the pedal feeling simulator 3 is provided with a through hole, the rear end of the pedal push rod 2 passes through the through hole to be connected with a first piston 31, the inner cavities of the small shaft diameter section and the middle section of the front end of the pedal feeling simulator 3 are provided with shoulders, the inner cavities of the middle section and the rear end large shaft diameter section are provided with shoulders, the inner cavity is sequentially assembled with the first piston 31, the first simulation spring 32, a second piston 34, a second simulation spring 35, a third piston 37 and a third simulation spring 38, wherein the front end of the first piston 31 is a large shaft diameter section and is hinged with the rear end of the pedal push rod 2, the rear end of the first piston 31 is a small shaft diameter section and is assembled with the first simulation spring 32, the rear end of the first piston 31 and the front end of the second piston 34 form a first working cavity 33, the front end of the second piston 34 is a small shaft diameter section and is assembled with the first simulation spring 32, second piston 34 rear end is little shaft diameter section and is equipped with second simulation spring 35, second piston 34 rear end and third piston 37 front end form second working chamber 36, third piston 37 front end is little shaft diameter section and is equipped with second simulation spring 35, third piston 37 middle part is big shaft diameter section and plays limiting displacement with the cooperation of second circular bead, third piston 37 rear end is little shaft diameter section and is equipped with third simulation spring 38, third piston 37 rear end and footboard sensation simulator 3 rear end form third working chamber 39.
The strain gauge 7 is composed of a first strain gauge 71, a second strain gauge 72, a third strain gauge 73, a fourth strain gauge 74, a fifth strain gauge 75, a sixth strain gauge 76, a seventh strain gauge 77 and an eighth strain gauge 78, wherein the first strain gauge 71, the second strain gauge 72, the third strain gauge 73 and the fourth strain gauge 74 are uniformly arranged in parallel to the axial direction along the circumferential direction, the fifth strain gauge 75, the sixth strain gauge 76, the seventh strain gauge 77 and the eighth strain gauge 78 are uniformly arranged in perpendicular to the axial direction along the circumferential direction, the first strain gauge 71 and the third strain gauge 73 are connected in series on one bridge arm, the second strain gauge 72 and the fourth strain gauge 74 are connected in series on one bridge arm, the fifth strain gauge 75 and the seventh strain gauge 77 are connected in series on one bridge arm, the sixth strain gauge 76 and the eighth strain gauge 78 are connected in series on one bridge arm, and all four bridge arms are working arms to form a full bridge. Fig. 3 is an expanded schematic diagram of the arrangement of the strain gauge.
Including power 81 in the data acquisition and processing module 8, full-bridge circuit 83, brake pedal power processing unit 85, total switch 82 and protective resistor 84, wherein power 81 directly supplies power for full-bridge circuit 83, the voltage of full-bridge circuit 83 output is used on brake pedal power processing unit 85, total switch 82 establishes on the connecting wire way of power 81 and full-bridge circuit 83, protective resistor 84 establishes on the connecting wire way of full-bridge circuit 83 and brake pedal power processing unit 85.
As shown in fig. 4, the power input terminal of the full-bridge circuit 83 is connected to both ends of the power supply 81, and the output voltage terminal has one end connected to the protection resistor 84 and the other end connected to the brake pedal force processing unit 85.
The power supply 81, the full-bridge circuit 83, the brake pedal force processing unit 85, the master switch 82 and the protection resistor 84 in the data acquisition and processing module 8 are all assembled in the existing equipment, and therefore, the specific model and specification are not further described. Here, the brake pedal force processing unit 85 is an ECU, and a mapping relation between the output voltage of the full-bridge circuit 83 and the brake pedal force is built in to obtain a corresponding pedal force signal, so that the brake pedal force is obtained.
The working principle of the invention is as follows:
a driver sits in a cab of a driving simulator to drive a simulated scene, when the driver steps on a brake pedal 1, the brake pedal 1 pushes a pedal push rod 2 to translate rightwards under the guiding action of a pedal support 4, the pedal push rod 2 pushes a first piston 31 in a pedal feeling simulator 3 to translate rightwards by overcoming the reaction force of a first simulation spring 32, and the first simulation spring 32, a second simulation spring 35 and a third simulation spring 38 are respectively provided with the rigidity k1，k2，k3Then k is1＜k2＜k3When the first simulation spring 32 is compressed, the second simulation spring 35 and the third simulation spring 38 are deformed less, and this process corresponds to the first stage of the pedal force-pedal stroke relation curve. After the first analog spring 32 is compressed until the first piston 31 contacts the second piston 34, the pedal push rod 2 pushes the first piston 31 and the second piston 34 to translate rightward against the reaction force of the second analog spring 34, and the process corresponds to the second stage of the pedal force-pedal stroke relation curve. After the second analog spring 34 is compressed until the second piston 34 contacts the third piston 37, the pedal push rod 2 pushes the first piston 31, the second piston 34 and the third piston 37 to translate to the right against the reaction force of the third analog spring 38, which corresponds to the third stage of the pedal force-pedal stroke curve.
Meanwhile, the pedal push rod 2 is subjected to corresponding compressive stress and generates compressive deformation, the strain gauge 7 adhered to the cylindrical surface of the pedal push rod 2 generates deformation together with the cylindrical body, and the corresponding full-bridge circuit 83 outputs voltage to act on the brake pedal force processing unit 85. According to the mapping relation between the output voltage of the full-bridge circuit 83 preset in the brake pedal force processing unit 85 and the brake pedal force, a corresponding pedal force signal is obtained, and the brake pedal force is obtained.
The invention provides a brake pedal feeling simulation method for driving habit classification, which comprises the following steps:
the method comprises the following steps: a calibration experiment is carried out in advance to determine the mapping relation between the output voltage and the brake pedal force
Step two is to set a mapping relationship between the output voltage and the brake pedal force in the brake pedal force processing unit 85 in advance.
Step three when the driver steps on the brake pedal 1, the map switch provided in advance in the brake pedal force processing unit 85 is passed
The brake pedal force is calculated.
And step four, classifying the drivers and classifying the driving habits of the drivers based on a K-means clustering method according to different magnitudes and different change rates of the pedal force of different drivers.
The mapping relation obtaining method comprises the following steps:
the initial resistances of the arms of the full bridge circuit 83 are equal and are all R0If the poisson ratios are all μ, the output voltage of the full bridge circuit 83 is:
Figure BDA0002250401180000111
it can be seen that there is a corresponding relationship between the output voltage of the full-bridge circuit 83 and the deformation of the surface mount type force measuring device caused by the force, calibration experiments are performed by using the relationship, and the output voltage of the full-bridge circuit 83 is measured by using a voltmeter.
N groups of full-bridge circuit 83 output voltages u are obtained through experimental calibrationkWith brake pedal force FkData:
Figure BDA0002250401180000112
Figure BDA0002250401180000121
and (2) carrying out curve fitting by using Hermite interpolation to construct an interpolation polynomial H (x), wherein the interpolation requires that an interpolation function not only passes through a given node, but also ensures that derivatives at the node are equal, namely:
H(xi)＝f(xi),i＝1,2...,n
H′(xi)＝f′(xi),i＝1,2...,r(r≤n)；
constructing Hermite interpolation polynomial
Figure BDA0002250401180000122
Wherein h isk(x) (k ═ 0,1,. ang., n) and
Figure BDA0002250401180000123
are all n + r +1 degree undetermined polynomials and satisfy the following interpolation condition:
Figure BDA0002250401180000124
h′k(xi)＝0，k＝0，1，...，n，i＝0，1，...，r
Figure BDA0002250401180000126
Figure BDA0002250401180000127
the output voltage u of the full bridge circuit 83 is obtained after the solutionkWith brake pedal force FkH (u) of the fitting function between. The fitting function h (u) is set in advance in the brake pedal force processing unit 85. Thereafter, the output voltage u of the full-bridge circuit 83 is supplied to the brake pedal force processing unit 85kThen, the brake pedal force processing unit 85 can output the corresponding brake pedal force FkA signal.
The force and speed of stepping on the brake pedal when different drivers face the same working condition can reflect the driving of the driversDriving habit characteristics, brake pedal force F for different driverskWith rate of change of pedal force vkThe driving habits of the drivers can be classified by carrying out global K-means clustering, and the method comprises the following steps:
the global K-means clustering algorithm is to convert the clustering problem of K clusters into a series of sub-clustering problems, and after the iteration process of each step is finished, the optimal initial center of the next cluster is selected by an increment method. Assume the dataset is F ═ F1,f2,f3,...,fn},fj∈RD(j ═ 1, 2.. times, k), using a clustering error sum of squares function E as a clustering criterion function, defined as
Figure BDA0002250401180000131
And (4) repeatedly iterating and clustering until the clustering criterion function converges, namely seeking the optimal clustering center. The specific process is as follows:
the method comprises the following steps: the mean of all samples in the data set is calculated as the cluster center for the first cluster,
Figure BDA0002250401180000132
and k is 1;
step two: k is K +1, and if K > K, clustering is terminated;
step three: when generating the initial clustering center of the next cluster, introducing a parameter amCalculating a data set F ═ F1,f2,f3,...,fnParameter a at each point inmAnd the initial cluster center of the next cluster is selected such that amSample point at which the maximum value is reached, amIs given by the formula
Figure BDA0002250401180000133
In the formula (I), the compound is shown in the specification,
Figure BDA0002250401180000134
is fiCenter of class to which it belongsThe Euclidean distance of;
step four: using Euclidean distance to represent fiDistance from the cluster center point, find fiNearest center point, and fiAssigning to the class;
step five: the center point of the newly generated cluster is recalculated,
Figure BDA0002250401180000135
and N is the data sample size in the ith cluster, and the value of a criterion function E is calculated.
Step six: if the value of the criterion function E is converged, returning to the step two, otherwise, returning to the step four, and continuing to iterate based on the new cluster center;
before clustering, determining an optimal clustering number K, taking DB as an evaluation index, and taking the minimum value of the DB as the optimal clustering number during clustering; the DB index is defined as follows,
Figure BDA0002250401180000136
in the formula: wiAs a cluster CiAverage distance of all samples to their cluster center, CijIs in a state CjAnd state CiThe distance between them;
the force and the speed of a driver stepping on a brake pedal when the driver faces the same working condition reflect the driving habit characteristics of the driver, the drivers to be tested with similar driving habits are continuously gathered into the same cluster, each cluster corresponds to the driving habits with different styles, and finally 3 maximum clusters are taken to finally gather driving habit sample data into 3 groups which correspond to aggressive drivers, general drivers and conservative drivers respectively.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (5)

1. A brake pedal feel simulation apparatus for driving habit classification, characterized by comprising: the device comprises a brake pedal, a pedal push rod, a pedal feeling simulator, a pedal bracket, a base plate, a firewall, a strain gauge and a data acquisition and processing module; one end of the pedal push rod is hinged to the middle of the brake pedal, and the other end of the pedal push rod is connected with the pedal feeling simulator; the top end of the brake pedal is hinged with the pedal bracket and is fixed on the firewall through the pedal bracket and the base plate; the pedal feeling simulator penetrates through a through hole in the firewall to be connected with the pedal push rod; the rear end of the pedal push rod is attached with a strain gauge, the data acquisition and processing module is connected with the strain gauge through a wire, and strain data generated on the strain gauge is acquired and received by the data acquisition and processing module; the data acquisition processing module comprises a brake pedal force processing unit;
the pedal feeling simulator is a three-section cylindrical revolving body, a first piston, a first simulation spring, a second piston, a second simulation spring, a third piston and a third simulation spring are sequentially assembled in an inner cavity, wherein the front end of the first piston is a large-shaft-diameter section and is hinged with the pedal push rod, and the rear end of the first piston is a small-shaft-diameter section and is assembled with the first simulation spring; the front end of the second piston is a small shaft diameter section and is assembled with the first simulation spring, the rear end of the second piston is a small shaft diameter section and is assembled with the second simulation spring, the front end of the third piston is a small shaft diameter section and is assembled with the second simulation spring, and the rear end of the third piston is a small shaft diameter section and is assembled with the third simulation spring;
when a driver steps on a brake pedal, the brake pedal pushes a pedal push rod to translate rightwards under the guiding action of a pedal support, the pedal push rod pushes a first piston in a pedal feel simulator to translate rightwards against the counterforce of a first simulation spring, and the first simulation spring, a second simulation spring and a third simulation spring are arranged at the positions with the rigidity of k respectively1，k2，k3Then k is1＜k2＜k3When the first simulation spring is compressed, the deformation of the second simulation spring and the third simulation spring is smaller, and the process corresponds to the first stage of a pedal force-pedal stroke relation curve; when the first simulation spring is compressed to enable the first piston to be in contact with the second piston, the pedal push rod pushes the first piston and the second piston to translate rightwards by overcoming the reaction force of the second simulation spring, and the process corresponds to a second stage of a pedal force-pedal stroke relation curve; when the second simulation spring is compressed to enable the second piston to be in contact with the third piston, the pedal push rod pushes the first piston, the second piston and the third piston to move horizontally to the right by overcoming the reaction force of the third simulation spring, and the process corresponds to the third stage of a pedal force-pedal stroke relation curve; meanwhile, the pedal push rod is subjected to corresponding compressive stress and generates compression deformation, the strain gauge adhered to the surface of the cylinder of the pedal push rod and the cylinder generate deformation together, corresponding full-bridge circuit output voltage acts on the brake pedal force processing unit, and a corresponding pedal force signal is obtained according to the mapping relation between the full-bridge circuit output voltage and the brake pedal force preset in the brake pedal force processing unit.
2. The brake pedal feel simulation device for driving habit classification according to claim 1, characterized in that the pedal feel simulator is a three-section cylindrical body of revolution; shoulders are arranged in the inner cavities of the front-end small-shaft-diameter section and the middle section, and shoulders are arranged in the inner cavities of the middle section and the rear-end large-shaft-diameter section; a first piston, a first simulation spring, a second piston, a second simulation spring, a third piston and a third simulation spring are sequentially assembled in the inner cavity, wherein the front end of the first piston is a large-shaft-diameter section and is hinged with the pedal push rod, the rear end of the first piston is a small-shaft-diameter section and is assembled with the first simulation spring, the rear end of the first piston and the front end of the second piston form a first working cavity, the front end of the second piston is a small-shaft-diameter section and is assembled with the first simulation spring, the middle part of the second piston is a large-shaft-diameter section and is matched with a first shoulder, the rear end of the second piston is a small-shaft-diameter section and is assembled with the second simulation spring, the rear end of the second piston and the front end of the third piston form a second working cavity, the front end of the third piston is a small-shaft-diameter section and is assembled with the second simulation spring, the middle part of the third piston is a large-shaft-diameter section and is matched with a second shoulder, the rear end of the third piston is a small-shaft-diameter section and is provided with the third simulation spring, and the rear end of the third piston and the rear end of the pedal feeling simulator form a third working cavity.
3. The brake pedal feel simulation device for driving habit classification according to claim 1, wherein the pedal feel simulator is provided with a connection plate at the middle part and is connected with the firewall through the connection plate.
4. The brake pedal feeling simulation device for driving habit classification according to claim 1, wherein the data acquisition and processing module comprises a power supply, a full-bridge circuit, a brake pedal force processing unit, a general control switch and a protection resistor, wherein the power supply supplies power to the full-bridge circuit, and the voltage output by the full-bridge circuit acts on the brake pedal force processing unit; the master control switch is arranged on a connecting circuit of the power supply and the full-bridge circuit; the protection resistor is arranged on a connecting line of the full-bridge circuit and the brake pedal force processing unit.
5. The brake pedal feel simulation device for driving habit classification as recited in claim 4, wherein the full bridge circuit is composed of strain gauges, specifically including a first strain gauge, a second strain gauge, a third strain gauge, a fourth strain gauge, a fifth strain gauge, a sixth strain gauge, a seventh strain gauge and an eighth strain gauge, wherein the first strain gauge, the second strain gauge, the third strain gauge and the fourth strain gauge are uniformly arranged in a circumferential direction parallel to an axial direction, the fifth strain gauge, the sixth strain gauge, the seventh strain gauge and the eighth strain gauge are uniformly arranged in a circumferential direction perpendicular to the axial direction, the first strain gauge and the third strain gauge are connected in series to one bridge arm, the second strain gauge and the fourth strain gauge are connected in series to one bridge arm, the fifth strain gauge and the seventh strain gauge are connected in series to one bridge arm, the sixth strain gauge and the eighth strain gauge are connected in series on one bridge arm, and the four bridge arms are all working arms to form a full-bridge circuit.
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