CN112896123B - Automatic brake pedal feel adjusting method and device based on driver style - Google Patents
Automatic brake pedal feel adjusting method and device based on driver style Download PDFInfo
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- CN112896123B CN112896123B CN202110334173.7A CN202110334173A CN112896123B CN 112896123 B CN112896123 B CN 112896123B CN 202110334173 A CN202110334173 A CN 202110334173A CN 112896123 B CN112896123 B CN 112896123B
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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
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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
- B60T8/17—Using electrical or electronic regulation means to control braking
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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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
Abstract
The invention relates to the technical field of automobile control methods, in particular to a method and a device for automatically adjusting brake pedal feel based on driver style. When the vehicle meets the brake sample collection condition, the brake sample of the vehicle is collected, the brake sample is analyzed, the reaction speed and the tread force of the driver during braking are obtained, the obtained reaction speed and the tread force are compared with a brake style model stored in a control system, the brake style of the driver is judged, and the control system adjusts the electronic booster according to the obtained brake style of the driver, so that the electronic booster is adjusted according to the brake style to achieve the required pedal feeling. The adjusting method is very simple, can be automatically adjusted to adapt to the braking style of different drivers without any hardware upgrading, and has the advantages of very low modification cost, economic cost, high safety and great popularization value.
Description
Technical Field
The invention relates to the technical field of automobile control methods, in particular to a method and a device for automatically adjusting brake pedal feel based on driver style.
Background
In recent years, with the explosion of the automobile market, the requirements of customers on vehicles are more and more, and in addition to safety, more and more customers put more specific demands on the driving performance of the vehicles. On the other hand, with the rapid development of automobile electronic technology, the level of electronization and intellectualization of automobiles is higher and higher. Especially in the aspect of chassis control of vehicles, the traditional chassis control is mainly realized by mechanical and hydraulic pressure. Because the later stage can not be changed and is limited by factors such as design size and strength, the later stage has great limitation on the adjustment of the control performance. With the increasing electronic control on the vehicles nowadays, a large amount of equipment is arranged, and the control and adjustment on the vehicles become more convenient.
In conventional brake systems, the booster device is primarily a vacuum booster. As long as the design parameters are determined, the later stage of key parameters such as the power-assisted initial point, the power-assisted ratio, the saturation point and the like can not be changed; namely, the parameters of the braking system of the trolley are fixed and not adjustable, namely, only one pedal feeling is provided; however, the conventional brake system has a great limitation in pedal feel due to different drivers' own physical conditions and driving habits. The electronic booster device which is newly appeared now replaces the traditional vacuum booster through an electronic and gear structure. The motor torque booster is characterized in that boosting is performed through motor torque, and the motor torque booster has the advantage that different boosting characteristic curves can be obtained in the calibration process. The power assisting device has the advantages that different pedal feelings can be obtained by the power assisting device of the same platform. For example, the invention patent of chinese entitled "brake pedal feel adjustment system" with patent number "CN 110758363A" introduces a pedal feel adjustment system, in which brake information data is acquired by a brake information acquisition module, a data preprocessing module preprocesses brake information, a brake habit recognition module recognizes habits, and a parameter configuration module controls an electrically controlled brake booster according to a brake boosting characteristic curve. The scheme can well adjust the electric control brake booster, but the scheme for identifying the brake habit is not mentioned in detail, and how to judge the brake habit of the driver in the actual application process is not clear, but the step is most important in practice, and how to accurately judge the brake habit of the driver is the technical problem to be solved at present.
Disclosure of Invention
The invention aims to solve the defects of the background art and provide a method and a device for automatically adjusting the brake pedal feel based on the style of a driver.
The technical scheme of the invention is as follows: a brake pedal feel automatic adjusting method based on driver style is characterized in that: when the vehicle meets the brake sample collection condition, the brake sample of the vehicle is collected, the brake sample is analyzed, the reaction speed and the tread force of the driver during braking are obtained, the obtained reaction speed and the tread force are compared with a brake style model stored in a control system, the brake style of the driver is judged, and the control system adjusts the electronic booster according to the obtained brake style of the driver, so that the electronic booster is adjusted according to the brake style to achieve the required pedal feeling.
Further, the method for acquiring the reaction speed of the driver during braking comprises the following steps: the method comprises the steps of collecting real-time braking time from braking to when the braking pressure reaches a pressure peak value when a driver brakes, comparing the real-time braking time with set braking time, and judging the reaction speed of the driver when braking according to a comparison result.
Further, the method for acquiring the stepping force of the driver during braking comprises the following steps: the method comprises the steps of collecting a pedal displacement speed peak value in the braking process of a driver as a real-time pedal displacement speed, comparing the real-time pedal displacement speed with a set pedal displacement speed, and judging the pedaling force of the driver during braking according to a comparison result.
The method for judging which braking style the driver belongs to further comprises the following steps: the method comprises the steps of dividing the reaction speed of a driver during braking into three speed grades of high reaction speed, medium reaction speed and low reaction speed according to set braking time, dividing the pedaling force of the driver during braking into three force grades of strong pedaling force, medium pedaling force and weak pedaling force according to set pedal displacement speed, dividing the driver braking style into nine types according to the three speed grades and the three force grades, and judging which one of the nine braking styles the driver braking style belongs to according to the reaction speed and the pedaling force of the driver during braking.
Further, the brake template acquisition conditions include: the pressure of the main brake cylinder of the vehicle is greater than the set pressure value, the speed of the vehicle is greater than the set speed, and the braking condition of the driver of the vehicle meets the current danger degree of the vehicle.
The further method for acquiring the vehicle danger degree comprises the following steps: acquiring the relative distance between the vehicle and the front vehicle and the relative speed between the vehicle and the front vehicle, setting the ratio of the relative distance to the relative speed as a danger value, comparing the danger value with a first set value and a second set value, and judging that the danger degree of the current vehicle is high if the danger value is less than or equal to the first set value; if the first set value is less than the danger degree and less than the second set value, judging that the danger degree of the current vehicle is middle; if the danger degree is larger than or equal to the second set value, judging that the danger degree of the current vehicle is low; the first set value is less than the second set value.
The further method for judging the braking condition of the driver comprises the following steps: drawing a brake curve graph with the displacement of the brake pedal as an abscissa and the displacement speed of the brake pedal as an ordinate, comparing the brake curve graph with a category dividing line obtained by calibration, and if the brake curve representing the current braking condition of the driver in the brake curve graph is above the category dividing line, judging the current braking of the driver as emergency braking; and if the brake curve representing the brake condition of the driver at this time in the brake curve graph is below the category division line, judging that the brake of the driver at this time is the conventional brake.
Further, the method for judging whether the braking condition of the driver meets the current vehicle danger level comprises the following steps: if the danger degree of the vehicle is high and the braking condition of the driver is emergency braking, judging that the braking condition of the driver meets the current vehicle danger degree, otherwise, judging that the braking condition of the driver does not meet the current vehicle danger degree; and if the danger degree of the vehicle is middle or low, the braking condition of the driver is conventional braking, judging that the braking condition of the driver meets the current vehicle danger degree, and otherwise, judging that the braking condition of the driver does not meet the current vehicle danger degree.
Further, the method for adjusting the electronic booster according to the acquired braking style of the driver by the control system comprises the following steps: the control system adjusts jump point increasing parameters of the electronic booster to change the response speed of the electronic booster, and adjusts boosting ratio parameters of the electronic booster to change the boosting strength of the electronic booster.
The utility model provides a brake pedal feels automatic regulating apparatus based on driver's style which characterized in that: the method comprises the following steps:
the data acquisition module is used for acquiring the speed of a front vehicle, the speed of the vehicle, the displacement speed of a brake pedal of the vehicle, the displacement of the brake pedal, the brake deceleration and the brake pressure;
the data processing module is used for analyzing the data acquired by the data acquisition module to obtain the response speed and the treading force of the driver during braking;
the control system is used for receiving the data information of the reaction speed and the treading force when the driver brakes and comparing the data information with the stored brake style model to obtain the brake style of the driver;
the electronic booster is used for receiving the adjusting instruction transmitted by the control system and adjusting the adjusting instruction to be in accordance with the braking style of the driver;
the data acquisition module and the data processing module are in data connection with the control system; the electronic booster is in data connection with the control system.
The invention analyzes the braking style of the driver according to the braking condition of the driver and carries out corresponding mode adjustment on the electronic booster according to the braking style, so that the braking condition of the vehicle is adapted to the style of the driver, and each driver can obtain the best driving feeling in real time on the premise of not carrying out any special operation.
The invention can also intelligently adjust the brake pedal feel characteristic in real time aiming at different drivers; the pedal force and the pedal stroke which are most suitable for different driver styles can be automatically adjusted, so that the driving safety is improved.
The adjusting method can meet the pedal feeling requirements of different customers without any hardware upgrade of the vehicle after the vehicle leaves the factory, thereby reducing the cost in the vehicle research and development process on one hand; on the other hand, the technology upgrading and maintenance cost in the after-sale process is also reduced.
The adjusting method is very simple, can be automatically adjusted to adapt to the braking style of different drivers without any hardware upgrading, and has the advantages of very low modification cost, economic cost, high safety and great popularization value.
Drawings
FIG. 1: and the driver braking class distinction schematic diagram.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The invention is described in further detail below with reference to the figures and the specific embodiments.
The embodiment introduces a method and a device for automatically adjusting the feeling of a brake pedal based on the style of a driver. The automatic adjustment method of the embodiment has the following control logic: the method comprises the steps of firstly obtaining vehicle running information and braking information, then judging the braking style of a driver according to the information, and finally controlling an electronic booster to adjust according to the braking style of the driver by a control system.
The judgement of braking style needs to gather driver's braking sample, judges driver's braking style through gathering effectual braking sample, and the collection of effective braking sample needs to gather when according with braking sample collection condition, and the braking sample collection condition of this embodiment includes: the pressure of the main brake cylinder of the vehicle is greater than the set pressure value, the speed of the vehicle is greater than the set speed, and the braking condition of the driver of the vehicle meets the current danger degree of the vehicle.
The pressure of the brake master cylinder in the brake sample acquisition condition of the embodiment is greater than the set pressure value, which means that the pressure of the brake master cylinder is greater than 50bar, and the pressure is not limited to the value in the actual application process and can be adjusted according to actual requirements; the vehicle speed of the vehicle in the brake sample acquisition condition of the embodiment is greater than the set vehicle speed, which means that the vehicle body of the vehicle is greater than 25km/h, and the vehicle speed is not limited to the set vehicle speed in the actual application process and can be adjusted according to actual requirements.
For the condition that the braking condition of the driver of the vehicle in the braking sample collection condition meets the current vehicle risk degree, the braking condition of the driver of the vehicle and the current risk degree of the vehicle need to be obtained. The method for acquiring the braking condition of the driver of the vehicle comprises the following steps: acquiring displacement and displacement speed of a driver when the driver steps on a brake pedal through a sensor arranged on the brake pedal, drawing a brake curve graph with the displacement of the brake pedal as an abscissa and the displacement speed of the brake pedal as an ordinate, comparing the brake curve graph with a category division line obtained by calibration as shown in fig. 1, and judging the current braking of the driver as emergency braking if the brake curve representing the current braking condition of the driver in the brake curve graph is positioned above the category division line; and if the brake curve representing the current brake condition of the driver in the brake curve graph is below the type division line, judging that the current brake of the driver is the conventional brake. The category distinguishing line of the embodiment is obtained through calibration, stored in the control system, and directly called for comparison when in use.
The method for acquiring the risk level of the current host vehicle in the embodiment is as follows: acquiring a relative distance between the vehicle and the front vehicle and a relative speed between the vehicle and the front vehicle through a radar and a camera which are installed on a vehicle body of the vehicle, setting a ratio of the relative distance to the relative speed as a danger value, comparing the danger value with a first set value (the first set value of the embodiment is 0.6 second) and a second set value (the second set value of the embodiment is 1.6 second), and if the danger value is less than or equal to the first set value, judging that the danger degree of the current vehicle is high; if the first set value is less than the danger degree and less than the second set value, judging that the danger degree of the current vehicle is middle; if the danger degree is larger than or equal to the second set value, the danger degree of the current vehicle is judged to be low, and the first set value is larger than the second set value. In practical applications, the first setting value and the second setting value may be adjusted according to practical situations, and are not limited to the values described in this embodiment.
After the braking condition of the driver of the vehicle and the danger degree of the vehicle are obtained, whether the braking condition of the driver of the vehicle meets the danger degree of the vehicle is judged, and the specific judgment method comprises the following steps: if the danger degree of the vehicle is high and the braking condition of the driver is emergency braking, judging that the braking condition of the driver meets the current vehicle danger degree, otherwise, judging that the braking condition of the driver does not meet the current vehicle danger degree; and if the danger degree of the vehicle is middle or low, the braking condition of the driver is conventional braking, judging that the braking condition of the driver meets the current vehicle danger degree, and otherwise, judging that the braking condition of the driver does not meet the current vehicle danger degree. The judging method of the embodiment is mainly used for eliminating the interference factors and improving the accuracy of brake style identification in order to avoid error records caused by misoperation or atypical operation of a driver.
After the brake sample sampling condition is met, the collected brake sample is analyzed, and the reaction speed and the stepping force of the driver in the brake sample need to be analyzed in the embodiment. The method for acquiring the reaction speed of the driver comprises the following steps: as shown in fig. 1, the real-time braking time from the start of braking to the time when the braking pressure reaches the pressure peak value is collected when the driver brakes, the real-time braking time is compared with the set braking time, and the reaction speed of the driver during braking is judged according to the comparison result. The set braking time of the present embodiment includes a first set time a and a second set time b, wherein the first set time a is less than the second set time b. Comparing the real-time braking time with a first set time a and a second set time b, and if the real-time braking time is less than or equal to the first set time a, the reaction speed of the driver is high; if the first set time a is less than the real-time braking time and less than the second set time b, the reaction speed of the driver is medium; and if the real-time braking time is more than or equal to the second set time b, the reaction speed of the driver is slow. Namely, the reaction speed of the driver is divided into three levels by setting the braking time.
The method for acquiring the stepping force of the driver during braking in the embodiment comprises the following steps: the method comprises the steps of collecting a pedal displacement speed peak value in the braking process of a driver as a real-time pedal displacement speed, comparing the real-time pedal displacement speed with a set pedal displacement speed, and judging the pedaling force of the driver during braking according to a comparison result. The larger the force of the driver for stepping on the brake pedal is, the larger the displacement speed which can be reached by the brake pedal is, and the stepping force of the driver is reflected through the displacement speed peak value of the brake pedal, so that the method is more accurate and direct. The set pedal displacement speed of the embodiment comprises a first set speed c and a second set speed d, wherein the first set speed c is greater than the second set speed d, and in actual application, if the collected real-time pedal displacement speed is greater than or equal to the first set speed c, the pedaling force of a driver during braking is strong; if the first set speed is less than the real-time pedal displacement speed and less than the second set speed d, the pedaling force of the driver during braking is in the middle; and if the collected real-time pedal displacement speed is less than or equal to a second set speed d, the pedaling force of the driver during braking is weak. Namely, the stepping force of the driver is divided into three levels by setting the pedal displacement speed.
The braking style of the driver is divided into nine grades according to the reaction speed and the stepping force when the driver brakes, and the grades are shown in the following table:
the driver braking style is divided into 9 levels, each level corresponding to one driver braking style. The parameters corresponding to each braking style are stored in the control system in a calibration mode, the obtained reaction speed and tread force of the driver during braking are compared with the style grading table during use, the braking style of the driver can be quickly obtained, the control system calls the corresponding braking style, then the command is transmitted to the electronic booster, and the electronic booster is adjusted according to the command until the braking style meeting the driver is achieved.
The adjusting device of the embodiment comprises four modules, a data acquisition module and a data processing module, wherein the data acquisition module is used for acquiring the speed of a front vehicle, the speed of the vehicle, the displacement speed of a brake pedal of the vehicle, the displacement of the brake pedal, the braking deceleration and the braking pressure, and comprises a camera, a radar, a sensor and other data acquisition units; the data processing module is used for analyzing the data acquired by the data acquisition module to obtain the response speed and the treading force of the driver during braking; the control system is used for receiving the data information of the reaction speed and the treading force when the driver brakes and comparing the data information with the stored brake style model to obtain the brake style of the driver; and the electronic booster is used for receiving the adjusting command transmitted by the control system and adjusting the adjusting command to be in accordance with the braking style of the driver. The data acquisition module and the data processing module are in data connection with the control system, and the electronic booster is in data connection with the control system.
The ultimate goal of this embodiment is to adjust the electronic booster to achieve a pedal feel consistent with the driver's braking style. The working principle of the electronic booster is similar to that of a traditional vacuum booster: the air entering the rear cavity of the booster is controlled by the valve body to generate the boosting force required by the pedal braking. In the electronic power assist mode, the displacement of the booster input rod is detected by a pedal travel sensor integrated in the electronic power booster and a displacement signal is sent to the control unit of the electronic power booster. The control unit calculates the torque requirement of the motor, and the secondary gear device converts the torque into the servo braking force of the valve body of the booster. The output force of the booster valve body and the input force of the booster input rod are converted into brake hydraulic pressure together in the brake master cylinder.
Based on the characteristics of the electronic booster product, different brake boosting ratios can be adjusted by adjusting the control parameters of the boosting motor in the control unit of the electronic booster. Different pedal feelings are realized by adjusting necessary parameters such as boosting ratio and the like; the pedal feeling adjustment mainly includes two aspects of pedal force and pedal stroke. The regulation of the electronic booster can be carried out by the following parameters: jump point, boosting ratio, lag value and inflection point pressure are increased. The pedal feel is typically adjusted directly by modifying the above parameters in the companion software.
The embodiment adjusts the electronic booster according to the braking style of the driver, and mainly adjusts two parameters of the electronic booster: the jump point and the boosting ratio are increased. The jump increasing point corresponds to the intervention time of the response speed, and the slope of the boosting ratio section corresponds to the boosting strength. Namely, the jump increasing point corresponds to the reaction speed of the driver during braking, and the boosting ratio corresponds to the stepping force of the driver during braking. By adjusting the jump increasing point, the intervention time, namely the response speed, is divided into three gears, the boosting ratio is adjusted, the boosting strength is divided into three gears, and the two parameters can be matched with the 9-middle brake boosting style together and are in one-to-one correspondence with the brake style of the driver.
In summary, the design of the present embodiment mainly includes two aspects: 1. automatically identifying the braking style of a driver during braking; 2. according to the identified braking style, the electronic booster automatically carries out adaptive adjustment, and finally, the electronic booster intelligently adjusts in real time according to the braking characteristics of different drivers so as to generate optimal braking boosting characteristic and pedal feeling.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A brake pedal feel automatic adjusting method based on driver style is characterized in that: when the vehicle meets the brake sample collection condition, the brake sample of the vehicle is collected, the brake sample is analyzed, the reaction speed and the tread force of a driver during braking are obtained, the brake sample is compared with a brake style model stored in a control system, and the brake style of the driver is judged;
the brake template acquisition conditions comprise: the pressure of the brake master cylinder of the vehicle is greater than a set pressure value, the speed of the vehicle is greater than a set speed, and the braking condition of the driver of the vehicle meets the current danger degree of the vehicle;
the method for acquiring the risk degree of the vehicle comprises the following steps: acquiring the relative distance between the vehicle and the front vehicle and the relative speed between the vehicle and the front vehicle, setting the ratio of the relative distance to the relative speed as a danger value, comparing the danger value with a first set value and a second set value, and judging that the danger degree of the current vehicle is high if the danger value is less than or equal to the first set value; if the first set value is less than the danger degree and less than the second set value, judging that the danger degree of the current vehicle is middle; if the danger degree is larger than or equal to the second set value, judging that the danger degree of the current vehicle is low; the first set value is less than the second set value.
2. The driver style-based automatic brake pedal feel adjustment method according to claim 1, characterized in that: the method for acquiring the reaction speed of the driver during braking comprises the following steps: the method comprises the steps of collecting real-time braking time from braking start to when the displacement speed of a pedal reaches a peak value when a driver brakes, comparing the real-time braking time with set braking time, and judging the reaction speed grade of the driver when the driver brakes according to a comparison result.
3. The driver style-based automatic brake pedal feel adjustment method according to claim 2, characterized in that: the method for acquiring the stepping force of the driver during braking comprises the following steps: the method comprises the steps of collecting a pedal displacement speed peak value in the braking process of a driver as a real-time pedal displacement speed, comparing the real-time pedal displacement speed with a set pedal displacement speed, and judging the stepping strength grade of the driver during braking according to a comparison result.
4. A driver style-based automatic brake pedal feel adjustment method according to claim 3, characterized in that: the method for judging which braking style the driver belongs to comprises the following steps: the method comprises the steps of dividing the reaction speed of a driver during braking into three speed grades of high reaction speed, medium reaction speed and low reaction speed according to set braking time, dividing the pedaling force of the driver during braking into three force grades of strong pedaling force, medium pedaling force and weak pedaling force according to set pedal displacement speed, dividing the driver braking style into nine types according to the three speed grades and the three force grades, and judging which one of the nine braking styles the driver braking style belongs to according to the reaction speed and the pedaling force of the driver during braking.
5. The driver style-based automatic brake pedal feel adjustment method according to claim 1, characterized in that: the method for judging the braking condition of the driver of the vehicle comprises the following steps: drawing a brake curve graph with the displacement of the brake pedal as an abscissa and the displacement speed of the brake pedal as an ordinate, comparing the brake curve graph with a category dividing line obtained by calibration, and if the brake curve representing the current braking condition of the driver in the brake curve graph is above the category dividing line, judging the current braking of the driver as emergency braking; and if the braking curve is positioned below the category division line, judging that the current braking of the driver of the vehicle is conventional braking.
6. The automatic driver style-based brake pedal feel adjustment method according to claim 5, characterized in that: the method for judging whether the braking condition of the driver of the vehicle meets the current danger level of the vehicle comprises the following steps: if the danger degree of the vehicle is high and the braking condition of the driver is emergency braking, judging that the braking condition of the driver meets the current vehicle danger degree, otherwise, judging that the braking condition of the driver does not meet the current vehicle danger degree; and if the danger degree of the vehicle is middle or low, the braking condition of the driver is conventional braking, judging that the braking condition of the driver meets the current vehicle danger degree, and otherwise, judging that the braking condition of the driver does not meet the current vehicle danger degree.
7. The automatic driver style-based brake pedal feel adjustment method according to any one of claims 1 to 6, characterized in that: the method for adjusting the electronic booster according to the acquired braking style of the driver by the control system comprises the following steps: the control system adjusts jump point increasing parameters of the electronic booster to change the response speed of the electronic booster, and adjusts boosting ratio parameters of the electronic booster to change the boosting strength of the electronic booster.
8. An apparatus having the driver style-based brake pedal feel automatic adjusting method according to claim 1, characterized in that: the method comprises the following steps:
the data acquisition module is used for acquiring the speed of a front vehicle, the speed of the vehicle, the displacement speed of a brake pedal of the vehicle, the displacement of the brake pedal, the brake deceleration and the brake pressure;
the data processing module is used for analyzing the data acquired by the data acquisition module to obtain the response speed and the treading force of the driver during braking;
the control system is used for receiving the data information of the reaction speed and the treading force when the driver brakes and comparing the data information with the stored brake style model to obtain the brake style of the driver;
the electronic booster is used for receiving the adjusting instruction transmitted by the control system and adjusting the adjusting instruction to be in accordance with the braking style of the driver;
the data acquisition module and the data processing module are in data connection with the control system; the electronic booster is in data connection with the control system.
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|---|---|---|---|---|
| CN113602088B (en) * | 2021-08-02 | 2023-07-18 | 岚图汽车科技有限公司 | Pedal height adjusting method and adjusting device |
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