CN113844426B - Vehicle braking intention recognition method, vehicle braking device and vehicle - Google Patents

Vehicle braking intention recognition method, vehicle braking device and vehicle Download PDF

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Publication number
CN113844426B
CN113844426B CN202111247958.7A CN202111247958A CN113844426B CN 113844426 B CN113844426 B CN 113844426B CN 202111247958 A CN202111247958 A CN 202111247958A CN 113844426 B CN113844426 B CN 113844426B
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brake pedal
brake
master cylinder
vehicle
piston
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CN113844426A (en
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蒋帅
张建斌
李磊
史亨波
孙曙光
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FAW Group Corp
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FAW Group Corp
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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
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention relates to the technical field of vehicles, and particularly discloses a vehicle braking intention identification method, a vehicle braking device and a vehicle, wherein the vehicle braking intention identification method comprises the following steps: determining a relational expression between a rotation angle of the brake pedal and a displacement of a piston of the master cylinder based on a mutual positional relationship of the brake pedal, the booster, the mount and the master cylinder; acquiring map1 between the rotation angle of the brake pedal and the pressure of the brake master cylinder; the map2 of the displacement of the piston and the pressure of the master cylinder is determined based on the relational expression between the rotational angle of the brake pedal and the displacement of the piston and the map1 between the rotational angle of the brake pedal and the pressure of the master cylinder. The corresponding relation between the displacement of the brake master cylinder and the oil pressure of the brake master cylinder can guarantee that the braking intention of a driver can be accurately reflected.

Description

Vehicle braking intention recognition method, vehicle braking device and vehicle
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle braking intention identification method, a vehicle braking device and a vehicle.
Background
The driver braking identification usually judges the braking demand of the driver based on the stroke of a brake pedal or the pressure of a brake master cylinder, but in an electric vehicle equipped with an electro-hydraulic coordinated brake system (CRBS), as the braking comprises hydraulic braking and motor feedback braking, the external characteristic that the braking torque of a motor changes along with the rotating speed exists, in order to ensure constant brake pedal feeling, the braking hydraulic pressure can change along with the change of the motor feedback torque, and the braking demand of the driver cannot be reflected due to the change of the braking pressure in the braking process, the braking intention of the driver needs to be identified by using the stroke of the brake pedal or the stroke of a push rod.
Disclosure of Invention
The invention aims to: provided are a vehicle braking intention recognition method, a vehicle braking device and a vehicle, which can realize the recognition of the braking intention of a driver.
In one aspect, the invention provides a vehicle braking intention recognition method, wherein a brake comprises a brake pedal, a booster, a mounting seat and a brake master cylinder, the brake pedal is rotatably connected with the mounting seat, the mounting seat is fixedly connected with the brake master cylinder, the brake pedal is rotatably connected with a push rod of the booster, and the push rod is in spherical hinge with a piston of the brake master cylinder, the vehicle braking intention recognition method comprises the following steps:
determining a relational expression between a rotation angle of a brake pedal and a displacement of a piston of a master cylinder based on a mutual positional relationship of the brake pedal, a booster, a mount and the master cylinder;
acquiring map1 between the rotation angle of the brake pedal and the pressure of the brake master cylinder;
determining map2 of the displacement of the piston and the pressure of the master cylinder based on a relational expression between the rotational angle of the brake pedal and the displacement of the piston and map1 between the rotational angle of the brake pedal and the pressure of the master cylinder.
As a preferable technical solution of the vehicle braking intention identifying method, a position of a transfer point between the brake pedal and the mount is P1, a position of a transfer point between the brake pedal and a push rod of the booster is P2, and a position of a ball pivot point between a ball head of the push rod and the piston is P3;
the distance between P2 and P3 and the distance between P1 and P3 in the vertical direction determine the relationship between the rotational angle of the brake pedal and the displacement of the piston based on the distance between P1 and P2.
As a preferable aspect of the vehicle braking intention identifying method, determining the relationship between the rotational angle of the brake pedal and the displacement of the piston based on the distance between P1 and P2, the interval between P2 and P3, and the interval between P1 and P3 in the vertical direction includes:
Figure BDA0003321745000000021
wherein S ispushrodFor the displacement of the piston, alpha is the angle of rotation of the brake pedal, alpha1Angle alpha when the brake pedal is not depressed1- α is that the brake pedal is stepped onAngle after rotation, LpedalIs the distance between P1 and P2, SrodIs the spacing between P2 and P3, YrodIs the spacing in the vertical direction between P1 and P3.
As a preferable aspect of the vehicle braking intention recognition method, acquiring a map1 between a rotation angle of the brake pedal and a pressure of the master cylinder includes:
when the vehicle is at a stationary idle speed, the master cylinder oil pressure in the master cylinder when the brake pedal is at each position is collected within the rotation range of the brake pedal to establish map1 between the rotation angle of the brake pedal and the pressure of the master cylinder.
As a preferable technical scheme of the vehicle braking intention identification method, the rotation angle of the brake pedal is acquired through a rotation angle sensor.
As a preferable technical solution of the vehicle braking intention identifying method, the vehicle braking intention identifying method further includes;
acquiring an actual rotation angle of the brake pedal;
inputting the actual rotation angle to a relational expression between the rotation angle of the brake pedal and the displacement of the piston, and outputting the actual displacement of the piston;
inquiring the map2 to obtain the actual pressure of the brake master cylinder based on the actual displacement of the piston;
acquiring the efficiency coefficient of the brake;
determining a target braking torque of the brake based on the actual pressure of the brake master cylinder and the efficiency coefficient of the brake;
and carrying out feedback braking on the target braking torque.
As a preferable technical solution of the method for recognizing the braking intention of the vehicle, the regenerative braking the target braking torque includes:
and judging whether the target braking torque is in the range of motor feedback braking, and if the target braking torque is in the range of motor feedback braking, feeding back the target braking torque through motor braking.
As a preferable technical scheme of the vehicle braking intention identification method, if the target braking torque is not in the range of motor feedback braking, the target braking torque is fed back through motor braking and hydraulic braking.
In another aspect, the present invention further provides a vehicle braking apparatus including a driving controller, a memory, a brake, and a rotation angle sensor;
the brake comprises a brake pedal, a booster, a mounting seat and a brake master cylinder, wherein the brake pedal is rotationally connected with the mounting seat, the mounting seat is fixedly connected with the brake master cylinder, the brake pedal is rotationally connected with a push rod of the booster, and the push rod is in spherical hinge with a piston of the brake master cylinder;
the rotation angle sensor is used for detecting the rotation angle of the brake pedal and sending the rotation angle to the controller;
the memory is used for storing one or more programs;
when executed by the vehicle controller, the one or more programs cause the vehicle controller to implement the vehicle braking intention identification method as in any one of the above aspects.
In another aspect, the present invention provides a vehicle including the vehicle brake device in any one of the above aspects.
The invention has the beneficial effects that:
the invention provides a vehicle braking intention recognition method, a vehicle braking device and a vehicle, wherein the vehicle braking intention recognition method comprises the following steps: determining a relational expression between a rotation angle of the brake pedal and a displacement of a piston of the master cylinder based on a mutual positional relationship of the brake pedal, the booster, the mount and the master cylinder; acquiring map1 between the rotation angle of the brake pedal and the pressure of the brake master cylinder; the map2 of the displacement of the piston and the pressure of the master cylinder is determined based on the relational expression between the rotational angle of the brake pedal and the displacement of the piston and the map1 between the rotational angle of the brake pedal and the pressure of the master cylinder. The corresponding relation between the displacement of the brake master cylinder and the oil pressure of the brake master cylinder can guarantee that the braking intention of a driver can be accurately reflected.
Drawings
FIG. 1 is a schematic structural diagram of a brake according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram illustrating the brake moving from the initial position to the braking position according to an embodiment of the present invention;
FIG. 3 is a graph showing the relationship between the piston displacement of the master cylinder and the pressure of the master cylinder in the embodiment of the present invention.
In the figure:
1. a brake pedal; 2. a booster; 21. a push rod; 3. a mounting seat; 4. and a brake master cylinder.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships 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, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Where the terms "first position" and "second position" are two different positions, and where a first feature is "over", "above" and "on" a second feature, it is intended that the first feature is directly over and obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The driver braking identification usually judges the braking requirement of the driver based on the stroke of a brake pedal or the pressure of a brake master cylinder, but in an electric vehicle provided with an electro-hydraulic coordinated braking system, as the braking comprises hydraulic braking and motor feedback braking, the braking torque of a motor has the external characteristic of changing along with the rotating speed, in order to ensure constant brake pedal feeling, the braking hydraulic pressure can change along with the change of the motor feedback torque, and the braking requirement of the driver cannot be reflected due to the change of the braking pressure in the braking process, so that the braking intention of the driver can be identified by using the stroke of the brake pedal or the stroke of a push rod of a booster.
In the prior art, a brake pedal position sensor is usually installed on a connecting rod of a brake pedal, and the target brake strength of a driver is calculated and judged according to the position change of the brake pedal acquired by the brake pedal position sensor. Although this method can recognize the braking intention of the driver, it is difficult to ensure the recognition accuracy because the most accurate method for representing the target braking strength of the driver is represented by the relationship between the displacement of the piston of the brake master cylinder and the pressure of the brake master cylinder, and the existing method for recognizing the braking intention of the driver by the position change of the brake pedal collected by the pedal position sensor usually directly relates the position change of the brake pedal and the pressure change of the brake master cylinder.
In order to ensure the accuracy of identifying the braking intention of a driver, in the prior art, the relationship between the displacement of the piston and the pressure of the brake master cylinder is directly obtained by directly acquiring the displacement of the piston and the oil pressure of the brake master cylinder when the brake pedal moves through a position sensor, but the scheme of arranging the position sensor in the brake master cylinder is complex, and the position sensor is integrated in a brake module, so that the maintenance is inconvenient.
In view of the above, the present embodiment provides a vehicle braking intention recognition method, which embodies the braking intention of the driver through the relationship between the displacement of the piston of the brake master cylinder 4 and the pressure of the brake master cylinder 4 to ensure the braking accuracy; meanwhile, the maintenance is convenient.
As shown in FIG. 1, the brake comprises a brake pedal 1, a booster 2, a mounting seat 3 and a brake master cylinder 4, wherein the mounting seat 3 is used for being mounted on the floor of a vehicle, the brake pedal 1 is rotatably connected with the mounting seat 3, the mounting seat 3 is fixedly connected with the brake master cylinder 4, a push rod 21 of the brake pedal 1 is rotatably connected with a push rod 21 of the booster 2, the push rod 21 is in spherical hinge with a piston of the brake master cylinder 4, wherein the brake pedal 1 can rotate relative to the mounting seat 3 and has an initial position when not being stepped and a braking position when being stepped and rotating relative to the mounting seat 3, when the brake pedal 1 is rotated by an angle after moving from the initial position to the braking position, meanwhile, the brake pedal 1 pushes the piston of the brake master cylinder 4 to translate for a certain distance through the push rod 21 of the booster 2, the master cylinder 4 then outputs a brake oil pressure for braking, which can be used to recognize the intention of the driver to brake.
Because the piston of the brake master cylinder 4 only translates relative to the mounting seat 3, the rotation angle of the brake pedal 1 and the translation distance of the piston of the brake master cylinder 4 have a clear relational expression, and the displacement of the piston of the brake master cylinder 4 can be clear as long as the rotation angle of the brake pedal 1 is clear. And then the corresponding relation between the displacement of the piston of the brake master cylinder 4 and the pressure of the brake master cylinder 4 can be clarified only by acquiring the corresponding relation between the rotation angle of the brake pedal 1 and the pressure of the brake master cylinder 4. And because the rotation angle of the brake pedal 1 and the displacement of the piston of the brake master cylinder 4 have a clear relational expression, the corresponding relation between the rotation angle of the brake pedal 1 and the pressure of the brake master cylinder 4 is acquired, which is equivalent to directly acquiring the corresponding relation between the displacement of the brake master cylinder 4 and the oil pressure of the brake master cylinder 4, and the braking intention of a driver can be accurately reflected.
Specifically, the vehicle braking intention identifying method in the present embodiment includes the following steps.
S10: the relational expression between the rotational angle of the brake pedal 1 and the displacement of the piston of the master cylinder 4 is determined based on the mutual positional relationship of the brake pedal 1, the booster 2, the mount 3, and the master cylinder 4.
As shown in fig. 1, in the present embodiment, the position of the transfer point between the brake pedal 1 and the mounting seat 3 is P1, the position of the transfer point between the brake pedal 1 and the push rod 21 of the booster 2 is P2, and the position of the ball joint of the ball head of the push rod 21 and the piston is P3; the relationship between the rotational angle of the brake pedal 1 and the displacement of the piston may be determined based on the distance between P1 and P2, the spacing between P2 and P3, and the spacing between P1 and P3 in the vertical direction. The distance between the P1 and the P2, the distance between the P2 and the P3 and the distance between the P1 and the P3 in the vertical direction can be obtained by measuring data of the brake real object, and the distance can be captured on a digital model through a 3D digital model of the vehicle and can be provided by a brake supplier.
Specifically, the method comprises the following steps:
Figure BDA0003321745000000071
wherein S ispushrodFor the displacement of the piston, alpha is the angle of rotation of the brake pedal, alpha1Angle alpha when the brake pedal is not depressed1α is the angle of the brake pedal after it has been stepped on, LpedalIs the distance between P1 and P2, SrodIs the spacing between P2 and P3, YrodIs the spacing in the vertical direction between P1 and P3.
The rotation angle of the brake pedal 1 is collected through the rotation angle sensor, and the rotation angle sensor can be arranged outside the brake module, so that the brake pedal is convenient to maintain.
S20: map1 between the rotation angle of the brake pedal 1 and the pressure of the master cylinder 4 is acquired.
Specifically, at the time of the stationary idling of the vehicle, the master cylinder oil pressure in the master cylinder 4 at the time when the brake pedal 1 is at each position is collected within the rotational range of the brake pedal 1 to establish a map1 between the rotational angle of the brake pedal 1 and the pressure of the master cylinder 4. This step can be obtained by a large number of preliminary experiments. In other embodiments, the information may be provided by the manufacturer.
S30: the map2 of the displacement of the piston and the pressure of the master cylinder 4 is determined based on the relational expression between the rotational angle of the brake pedal 1 and the displacement of the piston and the map1 between the rotational angle of the brake pedal 1 and the pressure of the master cylinder 4.
When the above relationship is available, the rotation angle of the brake pedal 1 at map1 is replaced with the displacement of the piston, and map2 of the displacement of the piston and the pressure of the master cylinder 4 is obtained. Fig. 3 shows map2 of the displacement of the piston and the pressure of the master cylinder 4.
Map1 and map2 may be stored in the locomotive controller.
S40: the actual rotational angle of the brake pedal 1 is acquired.
S50: the actual rotation angle is input to a relational expression between the rotation angle of the brake pedal 1 and the displacement of the piston, and the actual displacement of the piston is output.
S60: the map2 is queried based on the actual displacement of the piston to obtain the actual pressure of the master cylinder 4.
S70: and acquiring the efficiency coefficient of the brake.
Each brake has its own coefficient of performance, which can be supplied by the manufacturer producing the brake.
S80: the target braking torque of the brake is determined based on the actual pressure of the master cylinder 4 and the coefficient of performance of the brake.
It is prior art to determine a target braking torque of the brake based on the actual pressure of the master cylinder 4 and the coefficient of performance of the brake.
S90: and feeding back the braking target braking torque.
The target braking torque can be fed back by electric motor braking and/or hydraulic braking.
Specifically, in this embodiment, the regenerative braking target braking torque includes:
judging whether the target braking torque is in the range of motor feedback braking, if so, feeding back the target braking torque through the motor braking; and if the target braking torque is not in the range of motor feedback braking, feeding back the target braking torque through motor braking and hydraulic braking.
The embodiment also provides a vehicle braking device, which is used for implementing the vehicle braking intention identification method, and the vehicle braking device comprises a driving controller, a memory, a brake and a rotation angle sensor, wherein, as shown in fig. 1, the brake comprises a brake pedal 1, a booster 2, a mounting seat 3 and a brake master cylinder 4, the brake pedal 1 is rotatably connected with the mounting seat 3, the mounting seat 3 is fixedly connected with the brake master cylinder 4, the brake pedal 1 is rotatably connected with a push rod 21 of the booster 2, and the push rod 21 is spherically hinged with a piston of the brake master cylinder 4; the rotation angle sensor is used to detect the rotation angle of the brake pedal 1 and send it to the controller. The memory is used for storing one or more programs; when the one or more programs are executed by the vehicle controller, the vehicle controller is caused to implement a vehicle braking intention identification method.
The memory is used as a computer readable storage medium for storing software programs, computer executable programs and modules, and the driving controller executes various functional applications and data processing of the vehicle by running the software programs, instructions and modules stored in the memory, so as to realize the vehicle braking intention identification method of the above embodiment.
The memory mainly comprises a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory may further include memory remotely located from the vehicle controller, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The embodiment also provides a vehicle which comprises the vehicle braking device.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should it be exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A vehicle braking intention recognition method, a brake comprises a brake pedal (1), a booster (2), a mounting seat (3) and a brake master cylinder (4), the brake pedal (1) and the mounting seat (3) are rotatably connected, the mounting seat (3) and the brake master cylinder (4) are fixedly connected, the brake pedal (1) and a push rod (21) of the booster (2) are rotatably connected, and the push rod (21) and a piston of the brake master cylinder (4) are in spherical hinge joint, the vehicle braking intention recognition method is characterized by comprising the following steps:
determining a relational expression between a rotation angle of a brake pedal (1) and a displacement of a piston of a master cylinder (4) based on a mutual positional relationship of the brake pedal (1), a booster (2), a mounting seat (3) and the master cylinder (4);
acquiring map1 between the rotation angle of the brake pedal (1) and the pressure of the brake master cylinder (4);
determining a map2 of the displacement of the piston and the pressure of the master cylinder (4) based on a relational expression between the rotational angle of the brake pedal (1) and the displacement of the piston and a map1 between the rotational angle of the brake pedal (1) and the pressure of the master cylinder (4).
2. The vehicle braking intention recognition method according to claim 1, characterized in that a position of a transition point between the brake pedal (1) and the mount (3) is P1, a position of a transition point between the brake pedal (1) and a push rod (21) of the booster (2) is P2, and a position of a ball pivot point of the push rod (21) and the piston is P3;
the distance between P2 and P3 and the distance between P1 and P3 in the vertical direction determine the relationship between the rotational angle of the brake pedal (1) and the displacement of the piston on the basis of the distance between P1 and P2.
3. The vehicle braking intention recognition method according to claim 2, characterized in that determining the relationship between the rotational angle of the brake pedal (1) and the displacement of the piston based on the distance between P1 and P2, the spacing between P2 and P3, and the spacing in the vertical direction between P1 and P3 comprises:
Figure FDA0003321744990000021
wherein S ispushrodFor the displacement of the piston, alpha is the angle of rotation of the brake pedal, alpha1Angle alpha when the brake pedal is not depressed1α is the angle of the brake pedal after it has been stepped on, LpedalIs the distance between P1 and P2, SrodIs the spacing between P2 and P3, YrodIs the spacing in the vertical direction between P1 and P3.
4. The vehicle braking intention recognition method according to claim 1, characterized in that acquiring a map1 between a rotation angle of the brake pedal (1) and a pressure of the master cylinder (4) includes:
when the vehicle is at idle and is stationary, the master cylinder oil pressure in the master cylinder (4) when the brake pedal (1) is at each position is acquired in the rotation range of the brake pedal (1) to establish a map1 between the rotation angle of the brake pedal (1) and the pressure of the master cylinder (4).
5. The vehicle braking intention recognition method according to claim 4, characterized in that the rotation angle of the brake pedal (1) is acquired by a rotation angle sensor.
6. The vehicle braking intention recognition method according to claim 1, characterized in that the vehicle braking intention recognition method further comprises;
acquiring an actual rotation angle of the brake pedal (1);
inputting the actual rotation angle into a relational expression between the rotation angle of the brake pedal (1) and the displacement of the piston, and outputting the actual displacement of the piston;
inquiring the map2 to obtain the actual pressure of the master brake cylinder (4) based on the actual displacement of the piston;
acquiring the efficiency coefficient of the brake;
determining a target braking torque of the brake based on the actual pressure of the master brake cylinder (4) and the efficiency coefficient of the brake;
and carrying out feedback braking on the target braking torque.
7. The vehicle braking intention recognition method according to claim 6, wherein regenerative braking the target braking torque includes:
and judging whether the target braking torque is in the range of motor feedback braking, and if the target braking torque is in the range of motor feedback braking, feeding back the target braking torque through motor braking.
8. The vehicle braking intention recognition method according to claim 7, wherein the target braking torque is returned by the motor braking and the hydraulic braking if the target braking torque is not within a range of the motor regenerative braking.
9. A vehicle braking device is characterized by comprising a driving controller, a memory, a brake and a rotation angle sensor;
the brake comprises a brake pedal (1), a booster (2), a mounting seat (3) and a brake master cylinder (4), wherein the brake pedal (1) is rotatably connected with the mounting seat (3), the mounting seat (3) is fixedly connected with the brake master cylinder (4), a push rod (21) of the brake pedal (1) is rotatably connected with a push rod (21) of the booster (2), and the push rod (21) is in spherical hinge with a piston of the brake master cylinder (4);
the rotation angle sensor is used for detecting the rotation angle of the brake pedal (1) and sending the rotation angle to the controller;
the memory is used for storing one or more programs;
when the one or more programs are executed by the driving vehicle controller, the driving vehicle controller is caused to implement the vehicle braking intention identification method according to any one of claims 1 to 8.
10. A vehicle characterized by comprising the vehicle brake device according to claim 9.
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