A Fuzzy Recognition Method of Braking Intensity Considering Braking Intent
A technology of braking strength and fuzzy recognition, applied in the direction of braking transmission, brakes, braking safety systems, etc., can solve the problem that the braking system cannot better meet the driver's real intention, and achieve the recognized braking intention Accurate, faster recognition speed, narrowing the effect of the range
Active Publication Date: 2021-07-20
JIANGSU UNIV
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Problems solved by technology
However, the current brake-by-wire system does not analyze the relationship between braking intention and braking intensity, and the actual braking intensity of the braking system cannot better meet the driver's real intention.
Method used
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Embodiment
[0047] 1. Experimental data acquisition and preprocessing:
[0048] (1) Experimenters: 10 professional experimenters of different age groups, five men and five women each, were selected to complete the experiment.
[0049] (2) Experimental tools: electric vehicles, displacement sensors, force sensors and deceleration sensors.
[0050] (3) Experimental content: Each experimenter drives the car to complete the braking process of the following four braking intentions: slight pedaling, light pedaling, medium pedaling and heavy pedaling, and obtains the time series of brake pedal displacement under the four braking intentions , the change rate of brake pedal displacement, brake pedal force and brake deceleration, and use the braking intensity as the standard to classify according to the braking intention (as shown in Table 1); remove the abnormal value of the brake pedal displacement time series. Each experimenter repeated 20 experiments on the braking process of each braking inte...
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The invention provides a fuzzy identification method of braking intensity considering braking intention. Firstly, the data of the brake pedal is obtained through experiments, and the braking intensity is used as the standard to classify according to the braking intention, and the method of "identifying while verifying" is used. The parameters of the HMM model are identified offline to obtain the parameters of the HMM model for each braking intention at each output moment; then, according to the time series of brake pedal displacement acquired in real time, the method of "time-sharing output, reasonable prediction, and comprehensive judgment" is used to control the braking force. On-line recognition of moving intentions, further taking the brake pedal displacement and brake pedal force as the input of the first layer fuzzy controller, and outputting the braking intention coefficient; finally taking the braking intention coefficient and the change rate of the brake pedal displacement as the second layer fuzzy controller The input of the controller, the output braking strength, obtains the estimated braking strength. The invention can reflect the driver's braking intention accurately and in real time and adapt to the changing braking intention of the driver.
Description
technical field [0001] The invention belongs to the technical field of automobile driving, and in particular relates to a fuzzy identification method of braking intensity considering braking intention. Background technique [0002] For electric vehicles, adopting braking energy recovery strategy has become an important method to effectively increase their driving range. However, the braking energy recovery efficiency of electric vehicles is affected by many factors, among which the braking strength is an important factor that cannot be ignored. Within a certain range, the greater the braking intensity, the greater the required braking force, and the more braking energy available for recovery. At the same time, due to the introduction of motor braking, in order to ensure the consistency of braking feeling during braking, the brake pedal is generally decoupled from the service braking system. At this time, the change of the displacement of the brake pedal cannot directly gene...
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IPC IPC(8): B60T13/74B60T17/22
CPCB60T13/74B60T17/22
Inventor 盘朝奉黄爱宝王健陈燎陈哲朱雅晶
Owner JIANGSU UNIV